CN105425800A - Unmanned all-terrain vehicle control method based on preview - Google Patents
Unmanned all-terrain vehicle control method based on preview Download PDFInfo
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- CN105425800A CN105425800A CN201510887235.1A CN201510887235A CN105425800A CN 105425800 A CN105425800 A CN 105425800A CN 201510887235 A CN201510887235 A CN 201510887235A CN 105425800 A CN105425800 A CN 105425800A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000013016 damping Methods 0.000 claims abstract description 49
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 230000005284 excitation Effects 0.000 claims abstract description 9
- 230000003139 buffering effect Effects 0.000 claims abstract description 5
- 210000000689 upper leg Anatomy 0.000 claims description 24
- 210000002414 leg Anatomy 0.000 claims description 14
- 230000004888 barrier function Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 230000001276 controlling effect Effects 0.000 claims description 4
- 239000011435 rock Substances 0.000 claims description 4
- 239000004575 stone Substances 0.000 claims description 4
- 239000006096 absorbing agent Substances 0.000 claims description 3
- 230000035939 shock Effects 0.000 claims description 3
- 230000001629 suppression Effects 0.000 claims description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
Abstract
The invention relates to an unmanned all-terrain vehicle control method based on preview. The unmanned all-terrain vehicle comprises a control system and an unmanned all-terrain vehicle wheel walking system, wherein the control system comprises a detection module for detecting the driving environment, an analysis module for analyzing the detection result, a preview module for making an optimum obstacle passing strategy according to the analysis result, and an execution module for execution according to the optimum strategy; the unmanned all-terrain vehicle wheel walking system comprises a steering mechanism for controlling the driving direction, a main vibration damping mechanism for buffering and damping the ground excitation, an auxiliary vibration damping mechanism for assisting buffering and damping of the ground excitation, and a walking mechanism for controlling the driving speed and direction; and the control method comprises the steps: detecting the driving environment, analyzing the detection result, making the obstacle passing strategy and performing execution according to the strategy. The unmanned all-terrain vehicle can make a strategy and preparation for passing an obstacle in advance, and can save the time, improve the efficiency and reduce vibration.
Description
Technical field
The present invention relates to all-terrain vehicle (ATV) field, specifically a kind of control method of the unmanned all-terrain vehicle (ATV) based on taking aim in advance.
Technical background
Along with the development of all-terrain vehicle (ATV) technology and perfect, will be used widely in the fields such as all-terrain vehicle (ATV) is searched and rescued at resource exploration, jungle, sandy beach is chased, engineering is explored, military surveillance, disaster search and rescue.The control method of all-terrain vehicle (ATV) wheel leg walking mechanism directly affects travel speed, by property and comfortableness.Under the help do not taken aim in advance, be in when working in rugged surroundings, obstacle, disturbance of analysis can not be found in advance, find best by obstructed paths or method, the speed of a motor vehicle, travel direction can not be changed in advance and regulate the soft or hard of vibration damper.Therefore, be forced through often when facing obstacle, causing wasting time and energy better to play the advantage of unmanned all-terrain vehicle (ATV) wheel leg running gear.
Current all-terrain vehicle (ATV) lacks the control method with taking aim at function in advance, can not adapt to unmanned all-terrain vehicle (ATV) carries out operation requirement at complex landform.As resource exploration etc.In order to improve the work efficiency in the complex environments such as resource exploration, designing and a kind ofly more can be adapted at unmanned all-terrain vehicle (ATV) wheel leg running gear and the control method thereof that complex landform carries out work, seeming very important.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, providing a kind of control method of the unmanned all-terrain vehicle (ATV) based on taking aim in advance, this all-terrain vehicle (ATV) can make strategy by obstacle and preparation in advance, save the time by obstacle, raise the efficiency, reduce vibration, ride comfort is good.
The object of the present invention is achieved like this, and this unmanned all-terrain vehicle (ATV) comprises control system and unmanned all-terrain vehicle (ATV) wheel leg running gear two major parts;
Described control system comprises:
Be used for detect running environment detecting module,
Be used for analyze result of detection analysis module,
Be used for according to analysis result formulate best by Barrier Strategy take aim in advance module,
Be used for carrying out according to optimal strategy the execution module that performs;
Described unmanned all-terrain vehicle (ATV) wheel leg running gear comprises:
Be used for control travel direction steering mechanism I,
Be used for cushion and decay ground excitation main damper mechanism II,
Be used for auxiliary buffering and the excitation of decay ground auxiliary damper mechanism III,
Be used for controlling the travel mechanism IV of travel speed and direction (advance, fall back).
Described steering mechanism I is by turning to swing arm, turning to swing arm input shaft, turning to swing arm output shaft and steer-drive to form, wherein drive unit to be arranged on all-terrain vehicle (ATV) domain and to be connected with turning to swing arm input shaft, turn to swing arm input shaft to be arranged on and turn in swing arm and be connected with all-terrain vehicle (ATV) chassis, turn to swing arm output shaft to be arranged on turn in swing arm and be connected with thigh, turn to swing arm to be controlled by steer-drive relative to the corner on all-terrain vehicle (ATV) chassis;
Described main damper mechanism II is by thigh, swinging kick drive unit, shank, vibration damper swing arm, vibration damper locking system and vibration damper two (comprising flexible member and damping element) are formed, wherein thigh one end is connected with turning to swing arm output shaft, the other end is connected with shank, steer-drive is arranged on thigh, and be connected with shank, vibration damper two one end and thigh are linked together by pin six, the other end and vibration damper swing arm are linked together by pin two, vibration damper swing arm and shank are linked together by pin one, vibration damper locking system is arranged on shank, whether vibration damper swing arm is in lockup state (whether namely vibration damper swing arm can swing relative to shank) is controlled by vibration damper locking system, when vibration damper swing arm is in lockup state, shank is controlled by the damping characteristic of vibration damper two and elastic element rigidity relative to the pivot angle of thigh, when vibration damper swing arm is not in lockup state, shank is controlled by swinging kick drive unit relative to the pivot angle of thigh,
Described auxiliary damper mechanism III is made up of shank, vibration damping tripod, vibration damper one (comprising flexible member and damping element) and drive wheel bracket two, wherein vibration damping tripod is linked together by pin five with shank, one end is linked together by pin three with drive wheel bracket one, the other end is connected with vibration damper one, described vibration damper one other end is connected with drive wheel bracket two, and the effectiveness in vibration suppression of auxiliary damper mechanism III is controlled by vibration damper one damping characteristic;
Described travel mechanism IV is made up of driving wheel tire, drive wheel bracket one, wheel hub motor and drive wheel bracket two, wherein driving wheel tire is arranged on wheel hub motor and forms driving wheel, wheel hub motor and drive wheel bracket one and drive wheel bracket two-way wheel shaft of overdriving links together, drive wheel bracket two and shank are linked together by pin four, and the main story of driving wheel, reversion and rotating speed are all by hub motor control.
The control method of this unmanned all-terrain vehicle (ATV) comprises the following steps:
The first step, running environment detects, the running environment of unmanned all-terrain vehicle (ATV) is detected by the detecting module in control system, detection is the center of circle with all-terrain vehicle (ATV), have an area of the running environment in a kilometer range, find obstacle in advance, obtain the information such as the height (degree of depth) of obstacle, size, orientation, distance and shape.
Second step, result of detection is analyzed, according to detecting module detection result be used for analysis result of detection analysis module, first obstacle has been judged whether, if do not have obstacle, analysis module sends the normal instruction of running environment, and unmanned all-terrain vehicle (ATV) normally travels, otherwise analysis module sends the instruction finding obstacle, analysis module continues to analyze, then analysis module judges that the obstacle found is the need of avoiding, for the obstacle needing to avoid, the analysis module as required large wisp of angle of turn needs the obstacle avoided to be divided into two kinds, a kind of is the obstacle needing wide-angle to turn, analysis module sends the instruction being needed differential assisted diversion by this obstacle, another kind is the obstacle needing low-angle to turn, analysis module sends the instruction not needed differential assisted diversion by this obstacle, for the obstacle not needing to avoid, analysis module does not need the obstacle avoided to be divided into two kinds according to the large wisp of the obstacle gradient, one is picture trench, rock, the steep gradient topographic obstacle such as step, analysis module sends the instruction being needed swinging kick by this obstacle, another kind is image-stone, mound, the obstacle of the gentle slope landform such as deceleration strip, analysis module sends does not need swinging kick instruction by this obstacle, also send the instruction needing the damping characteristic changing vibration damper simultaneously.
3rd step, formulate obstacle detouring strategy, formulate the best by analysis result and pass through Barrier Strategy, according to the different instruction that analysis module sends, make and take aim at behavior in advance by corresponding obstacle, make the best strategy by corresponding obstacle, the instruction being needed differential assisted diversion by this obstacle is sent for analysis module, take aim at module in advance to make and take aim at behavior in advance by corresponding obstacle, then how far place starts to turn, angle of turn is how many, turning rate is how many to make distance obstacle, how to carry out the strategies such as differential assisted diversion as required; The instruction not needed differential assisted diversion by this obstacle is sent for analysis module, take aim at module in advance to make and take aim at behavior in advance by corresponding obstacle, then how far place starts to turn, angle of turn is how many to make distance obstacle, and it is tactful that to be how many wait turning rate; For the instruction being needed swinging kick by this obstacle that analysis module sends, take aim at module in advance and make and take aim at behavior in advance by corresponding obstacle, then make how far distance obstacle locates to start swinging kick, swinging kick speed is how many, the final swinging kick height strategy such as be how many; Send for analysis module and do not need swinging kick instruction by this obstacle, also send the instruction needing the damping characteristic changing vibration damper simultaneously, take aim at module in advance to make and take aim at behavior in advance by corresponding obstacle, then make distance obstacle and how far start to change the damping characteristic of vibration damper one and vibration damper two, vibration damper one and vibration damper two damping and should change the strategies such as how many in place.
4th step, strategically performs, and is performed by corresponding obstacle according to taking aim at the optimal strategy that module makes in advance by execution module; Described execution module comprises speed control, steering controller, damping controller and swinging kick controller four controllers, also comprises wheel hub motor, steer-drive, vibration damper (comprising vibration damper one and vibration damper two), swinging kick drive unit four execution architectures.Speed control controls wheel hub motor, and steering controller controls steer-drive, and damping controller controls vibration damper (comprising vibration damper one and vibration damper two), and swinging kick controller controls swinging kick drive unit; The instruction being needed differential assisted diversion by this obstacle is sent for analysis module, according to the corresponding optimum obstacle detouring strategy taken aim at module in advance and make, execution module performs as follows: control steer-drive by steering controller, steer-drive controls to turn to the sense of rotation of swing arm, angle and rotational angular velocity, the rotating speed of speed control control wheel hub motor carries out differential assisted diversion as required, and then realizes turning to passing through obstacle; The instruction not needed differential assisted diversion by this obstacle is sent for analysis module, according to the corresponding optimum obstacle detouring strategy taken aim at module in advance and make, execution module performs as follows: control steer-drive by steering controller, steer-drive controls to turn to the sense of rotation of swing arm, angle and rotational angular velocity, and then realizes turning to passing through obstacle; For the instruction being needed swinging kick by this obstacle that analysis module sends, according to the corresponding optimum obstacle detouring strategy taken aim at module in advance and make, execution module performs as follows: control swinging kick drive unit by swinging kick controller, swinging kick drive unit controls the swing speed of shank relative to thigh and the pivot angle of needs, also need vibration damper locking system to control vibration damper swing arm makes it be in not lockup state simultaneously, control the suitable deceleration of the rotating speed of wheel hub motor by speed control in addition, and then realize swinging kick and pass through obstacle; Send for analysis module and do not need swinging kick instruction by this obstacle, according to the corresponding optimum obstacle detouring strategy taken aim at module in advance and make, execution module performs as follows: the damping characteristic being controlled vibration damper (comprising vibration damper one and vibration damper two) by damping controller, in addition by the deceleration that the rotating speed of speed control control wheel hub motor is suitable, and then realize regulating resistance of shock absorber characteristic to pass through obstacle.
The present invention has the following advantages and good effect:
(1), owing to finding in advance to travel obstacle, unmanned all-terrain vehicle (ATV) can make strategy by obstacle and preparation in advance, saves the time by obstacle, raises the efficiency, and reduces vibration, improves the ride comfort of unmanned all-terrain vehicle (ATV).
(2), when running into the gentle slope obstacles such as stone, mound, deceleration strip, the damping of vibration damper just can be regulated in advance by taking aim at module in advance, at utmost cushion and decay ground excitation band come vibration, brake hard can be avoided, also obstacle can be passed through with speed faster, save time, raise the efficiency.
(3), when running into the abrupt slope obstacles such as rock, trench, step, just the height needing swinging kick can be known in advance by taking aim at module in advance, swinging kick in advance, brake hard can be avoided and swinging kick again after stopping, all-terrain vehicle (ATV) vehicle body in by this obstructive process can also be avoided to produce larger fluctuating, swinging kick can complete completely in the process of walking, saves time, raises the efficiency.
(4), when running into the obstacle needing to detour, the angle that unmanned all-terrain vehicle (ATV) four wheel leg system needs to rotate respectively can be known in advance by taking aim at module in advance and the need of differential assisted diversion, unmanned all-terrain vehicle (ATV) is turned to more flexibly steadily.
Accompanying drawing explanation
Fig. 1 is the control principle drawing that the present invention is based on the unmanned all-terrain vehicle (ATV) taken aim in advance.
Fig. 2 is the structural representation that the present invention is based on the unmanned all-terrain vehicle (ATV) taken aim in advance.
Fig. 3 is the structural representation of all-terrain vehicle (ATV) of the present invention wheel leg running gear.
Fig. 4 the present invention is based on the unmanned all-terrain vehicle (ATV) taken aim in advance to find the schematic diagram that trench is taken aim in advance.
Fig. 5 the present invention is based on the unmanned all-terrain vehicle (ATV) taken aim in advance after taking aim in advance, perform the schematic diagram of swinging kick by trench.
Description of reference numerals:
1-all-terrain vehicle (ATV) chassis 2-steer-drive 3-turns to swing arm input shaft 4-to turn to swing arm
5-thigh 6-swinging kick drive unit 7-shank 8-pin one
9-vibration damper swing arm 10-pin two 11-drive wheel bracket one 12-driving wheel tire
13-wheel hub motor 14-live axle 15-pin three 16-pin four
17-pin five 18-drive wheel bracket two 19-vibration damper one 20-vibration damping tripod
21-vibration damper locking system 22-vibration damper two 23-pin six 24-turns to swing arm output shaft
25-ground 26-trench 27-all-terrain vehicle (ATV) wheel leg running gear
Embodiment
Below in conjunction with accompanying drawing, a kind of unmanned all-terrain vehicle (ATV) wheel leg running gear control method of the present invention is further described:
Shown in Fig. 1,2: this unmanned all-terrain vehicle (ATV) comprises control system and unmanned all-terrain vehicle (ATV) wheel leg running gear two parts;
Described control system comprises:
Be used for detect running environment detecting module,
Be used for analyze result of detection analysis module,
Be used for according to analysis result formulate best by Barrier Strategy take aim in advance module,
Be used for carrying out according to optimal strategy the execution module that performs;
Shown in Fig. 2: described execution module comprises speed control, steering controller, damping controller and swinging kick controller four controllers, also comprise wheel hub motor 13, steer-drive 2, vibration damper (comprising vibration damper 1 and vibration damper 2 22), swinging kick drive unit 6 four execution architectures.Described speed control controls wheel hub motor 13, can realize moving ahead, retreats, brakes, accelerates, slow down; Steering controller controls steer-drive 2, can realize Angulation changes travel direction as required; Damping controller controls vibration damper (comprising vibration damper 1 and vibration damper 2 22), can realize the damping characteristic regulating vibration damper as required; Swinging kick controller controls swinging kick drive unit 6, and the height that can realize as required carries out swinging kick.
Shown in Fig. 3: described unmanned all-terrain vehicle (ATV) wheel leg running gear comprises:
Be used for control travel direction steering mechanism I,
Be used for cushion and decay ground excitation main damper mechanism II,
Be used for auxiliary buffering and the excitation of decay ground auxiliary damper mechanism III,
Be used for controlling the travel mechanism IV of travel speed and direction (advance, fall back).
Described steering mechanism I is by turning to swing arm 4, turning to swing arm input shaft 3, turning to swing arm output shaft 24 and steer-drive 2 to form, wherein drive unit 2 to be arranged on all-terrain vehicle (ATV) domain 1 and to be connected with turning to swing arm input shaft 3, to turn to swing arm input shaft 3 to be arranged on to turn in swing arm 4 and to be connected with all-terrain vehicle (ATV) chassis 1, to turn to swing arm output shaft 24 to be arranged on to turn in swing arm 4 and to be connected with thigh, turning to swing arm 4 to be controlled by steer-drive 2 relative to the corner on all-terrain vehicle (ATV) chassis 1;
Described main damper mechanism II is by thigh 5, swinging kick drive unit 6, shank 7, vibration damper swing arm 9, vibration damper locking system 21 and vibration damper two (comprising flexible member and damping element) 22 are formed, wherein thigh 5 one end is connected with turning to swing arm output shaft 24, the other end is connected with shank 7, steer-drive 6 is arranged on thigh 5, and be connected with shank 7, vibration damper 2 22 one end and thigh 5 are linked together by pin 6 23, the other end and vibration damper swing arm 9 are linked together by pin 2 10, vibration damper swing arm 9 and shank 7 are linked together by pin 1, vibration damper locking system 21 is arranged on shank 7, whether vibration damper swing arm 9 is in lockup state (whether namely vibration damper swing arm 9 can swing relative to shank 7) is controlled by vibration damper locking system 21, when vibration damper swing arm 9 is in lockup state, shank 7 is controlled by the damping characteristic of vibration damper 2 22 and elastic element rigidity relative to the pivot angle of thigh 5, when vibration damper swing arm 9 is not in lockup state, shank 7 is controlled by swinging kick drive unit 6 relative to the pivot angle of thigh 5,
Described auxiliary damper mechanism III is made up of shank 7, vibration damping tripod 20, vibration damper one (comprising flexible member and damping element) 19 and drive wheel bracket 2 18, wherein vibration damping tripod 20 is linked together by pin 5 17 with shank 7, one end is linked together by pin 3 15 with drive wheel bracket 1, the other end is connected with vibration damper 1, described vibration damper 1 other end is connected with drive wheel bracket 2 18, and the effectiveness in vibration suppression of auxiliary damper mechanism III is controlled by vibration damper 1 damping characteristic;
Described travel mechanism IV is made up of driving wheel tire 12, drive wheel bracket 1, wheel hub motor 13 and drive wheel bracket 2 18, wherein driving wheel tire 12 is arranged on wheel hub motor 13 and forms driving wheel, wheel hub motor 13 is linked together by live axle 14 with drive wheel bracket 1 and drive wheel bracket 2 18, drive wheel bracket 2 18 and shank 7 are linked together by pin 4 16, and the main story of driving wheel, reversion and rotating speed are all by hub motor control.
This unmanned all-terrain vehicle (ATV) control method comprises the following steps:
The first step, running environment detects.Being used in unmanned all-terrain vehicle (ATV) control system detects the detecting module of running environment, can detect with all-terrain vehicle (ATV) is the center of circle, have an area of the running environment in a kilometer range, find obstacle in advance, obtain the information such as the height (degree of depth) of obstacle, size, orientation, distance and shape.
Second step, result of detection analysis.Being used in unmanned all-terrain vehicle (ATV) control system analyzes the analysis module of result of detection, according to the result of detecting module detection, first obstacle has been judged whether, if there is no obstacle, analysis module sends the normal instruction of running environment, unmanned all-terrain vehicle (ATV) normally travels, otherwise analysis module sends the instruction finding obstacle, and analysis module continues to analyze, then analysis module judges that the obstacle found is the need of avoiding, for the obstacle needing to avoid, the analysis module as required large wisp of angle of turn needs the obstacle avoided to be divided into two kinds, a kind of is the obstacle needing wide-angle to turn, analysis module sends the instruction being needed differential assisted diversion by this obstacle, another kind is the obstacle needing low-angle to turn, analysis module sends the instruction not needed differential assisted diversion by this obstacle, for the obstacle not needing to avoid, analysis module does not need the obstacle avoided to be divided into two kinds according to the large wisp of the obstacle gradient, one is picture trench, rock, the steep gradient topographic obstacle such as step, analysis module sends the instruction being needed swinging kick by this obstacle, another kind is image-stone, mound, the obstacle of the gentle slope landform such as deceleration strip, analysis module sends does not need swinging kick instruction by this obstacle, also send the instruction needing the damping characteristic changing vibration damper simultaneously.
3rd step, formulates obstacle detouring strategy.Being used for according to analysis result formulate in unmanned all-terrain vehicle (ATV) control system best takes aim at module in advance by Barrier Strategy, according to the different instruction that analysis module sends, makes and takes aim at behavior in advance by corresponding obstacle, make the best strategy by corresponding obstacle.The instruction being needed differential assisted diversion by this obstacle is sent for analysis module, take aim at module in advance to make and take aim at behavior in advance by corresponding obstacle, then how far place starts to turn, angle of turn is how many, turning rate is how many to make distance obstacle, how to carry out the strategies such as differential assisted diversion as required; The instruction not needed differential assisted diversion by this obstacle is sent for analysis module, take aim at module in advance to make and take aim at behavior in advance by corresponding obstacle, then how far place starts to turn, angle of turn is how many to make distance obstacle, and it is tactful that to be how many wait turning rate; For the instruction being needed swinging kick by this obstacle that analysis module sends, take aim at module in advance and make and take aim at behavior in advance by corresponding obstacle, then make how far distance obstacle locates to start swinging kick, swinging kick speed is how many, the final swinging kick height strategy such as be how many; Send for analysis module and do not need swinging kick instruction by this obstacle, also send the instruction needing the damping characteristic changing vibration damper simultaneously, take aim at module in advance to make and take aim at behavior in advance by corresponding obstacle, then make distance obstacle and how far start to change the damping characteristic of vibration damper 1 and vibration damper 2 22, vibration damper 1 and vibration damper 2 22 damping and should change the strategies such as how many in place.
4th step, strategically performs.Being used in unmanned all-terrain vehicle (ATV) control system is carried out according to optimal strategy the execution module that performs and is performed by corresponding obstacle according to taking aim at the optimal strategy that module makes in advance.Execution module comprises four controllers and four execution architectures.Controller comprises speed control, steering controller, damping controller, swinging kick controller; Execution architecture comprises wheel hub motor, steer-drive, vibration damper, swinging kick drive unit.Speed control controls wheel hub motor 13, and steering controller controls steer-drive 2, and damping controller controls vibration damper (comprising vibration damper 1 and vibration damper 2 22), and swinging kick controller controls swinging kick drive unit 6.The instruction being needed differential assisted diversion by this obstacle is sent for analysis module, according to the corresponding optimum obstacle detouring strategy taken aim at module in advance and make, execution module performs as follows: control steer-drive 2 by steering controller, steer-drive 2 controls to turn to the sense of rotation of swing arm 4, angle and rotational angular velocity, the rotating speed of speed control control wheel hub motor 13 carries out differential assisted diversion as required, and then realizes turning to passing through obstacle; The instruction not needed differential assisted diversion by this obstacle is sent for analysis module, according to the corresponding optimum obstacle detouring strategy taken aim at module in advance and make, execution module performs as follows: control steer-drive 2 by steering controller, steer-drive 2 controls to turn to the sense of rotation of swing arm 4, angle and rotational angular velocity, and then realizes turning to passing through obstacle; For the instruction being needed swinging kick by this obstacle that analysis module sends, according to the corresponding optimum obstacle detouring strategy taken aim at module in advance and make, execution module performs as follows: control swinging kick drive unit 6 by swinging kick controller, swinging kick drive unit 6 controls the swing speed of shank 7 relative to thigh and the pivot angle of needs, also need vibration damper locking system 21 to control vibration damper swing arm 9 makes it be in not lockup state simultaneously, control the suitable deceleration of the rotating speed of wheel hub motor 13 by speed control in addition, and then realize swinging kick and pass through obstacle; Send for analysis module and do not need swinging kick instruction by this obstacle, according to the corresponding optimum obstacle detouring strategy taken aim at module in advance and make, execution module performs as follows: the damping characteristic being controlled vibration damper (comprising vibration damper 1 and vibration damper 2 22) by damping controller, in addition by the deceleration that the rotating speed of speed control control wheel hub motor 13 is suitable, and then realize regulating resistance of shock absorber characteristic to pass through obstacle.
Shown in Fig. 4: first, unmanned all-terrain vehicle (ATV) finds on traveling ahead track, have an obstacle by detecting module; Then, the information that analysis module detects according to detecting module, judges that preceding object is a trench; Finally, take aim at module in advance and for how to carry out obstacle detouring by trench take aim in advance, make the optimal strategy by this trench.
Shown in Fig. 5: according to taking aim at the best that module makes in advance by the strategy of trench, perform swaying legs action by topworks, and success passes through obstacle fast.
Claims (6)
1. based on the unmanned all-terrain vehicle (ATV) taken aim in advance, it is characterized in that: this unmanned all-terrain vehicle (ATV) comprises control system and unmanned all-terrain vehicle (ATV) wheel leg running gear two major parts;
Described control system comprises: the detecting module being used for detecting running environment, the analysis module being used for analyzing result of detection, be used for formulating best taking aim at module in advance, be used for carrying out according to optimal strategy the execution module that performs by Barrier Strategy according to analysis result;
Described unmanned all-terrain vehicle (ATV) wheel leg running gear comprises: be used for controlling the steering mechanism I of travel direction, be used for cushioning and the excitation of decay ground main damper mechanism II, be used for auxiliary buffering and the excitation of decay ground auxiliary damper mechanism III, be used for controlling the travel mechanism IV of travel speed and direction (advance, fall back).
2. a kind of unmanned all-terrain vehicle (ATV) based on taking aim in advance according to claim 1, it is characterized in that: described steering mechanism I is by turning to swing arm (4), turn to swing arm input shaft (3), swing arm output shaft (24) and steer-drive (2) is turned to form, wherein drive unit (2) is arranged on all-terrain vehicle (ATV) domain (1), and be connected with turning to swing arm input shaft (3), turn to swing arm input shaft (3) to be arranged on and turn in swing arm (4), and be connected with all-terrain vehicle (ATV) chassis (1), turn to swing arm output shaft (24) to be arranged on and turn in swing arm (4), and be connected with thigh, swing arm (4) is turned to be controlled by steer-drive (2) relative to the corner of all-terrain vehicle (ATV) chassis (1).
3. a kind of unmanned all-terrain vehicle (ATV) based on taking aim in advance according to claim 1, it is characterized in that: described main damper mechanism II is by thigh (5), swinging kick drive unit (6), shank (7), vibration damper swing arm (9), vibration damper locking system (21) and vibration damper two (22) are formed, wherein thigh (5) one end is connected with turning to swing arm output shaft (24), the other end is connected with shank (7), steer-drive (6) is arranged on thigh (5), and be connected with shank (7), vibration damper two (22) one end and thigh (5) are linked together by pin six (23), the other end and vibration damper swing arm (9) are linked together by pin two (10), vibration damper swing arm (9) and shank (7) are linked together by pin one (8), vibration damper locking system (21) is arranged on shank (7), whether vibration damper swing arm (9) is in lockup state is controlled by vibration damper locking system (21), when vibration damper swing arm (9) is in lockup state, shank (7) is controlled by the damping characteristic of vibration damper two (22) and elastic element rigidity relative to the pivot angle of thigh (5), when vibration damper swing arm (9) is not in lockup state, shank (7) is controlled by swinging kick drive unit (6) relative to the pivot angle of thigh (5).
4. a kind of unmanned all-terrain vehicle (ATV) based on taking aim in advance according to claim 1, it is characterized in that: described auxiliary damper mechanism III is by shank (7), vibration damping tripod (20), vibration damper one (19) and drive wheel bracket two (18) are formed, wherein vibration damping tripod (20) and shank (7) are linked together by pin five (17), one end and drive wheel bracket one (11) are linked together by pin three (15), the other end is connected with vibration damper one (19), described vibration damper one (19) other end is connected with drive wheel bracket two (18), the effectiveness in vibration suppression of auxiliary damper mechanism III is controlled by vibration damper one (19) damping characteristic.
5. a kind of unmanned all-terrain vehicle (ATV) based on taking aim in advance according to claim 1, it is characterized in that: described travel mechanism IV is by driving wheel tire (12), drive wheel bracket one (11), wheel hub motor (13) and drive wheel bracket two (18) are formed, wherein driving wheel tire (12) is arranged on wheel hub motor (13) and forms driving wheel, wheel hub motor (13) is linked together by live axle (14) with drive wheel bracket one (11) and drive wheel bracket two (18), drive wheel bracket two (18) and shank (7) are linked together by pin four (16), the main story of driving wheel, reversion and rotating speed are all by hub motor control.
6., based on a control method for the unmanned all-terrain vehicle (ATV) taken aim in advance, it is characterized in that: the method comprises the following steps:
The first step, running environment detects, the running environment of unmanned all-terrain vehicle (ATV) is detected by the detecting module in control system, detection is the center of circle with all-terrain vehicle (ATV), have an area of the running environment in a kilometer range, find obstacle in advance, obtain the information such as the height of obstacle, size, orientation, distance and shape;
Second step, result of detection is analyzed, according to detecting module detection result be used for analysis result of detection analysis module, first obstacle has been judged whether, if do not have obstacle, analysis module sends the normal instruction of running environment, and unmanned all-terrain vehicle (ATV) normally travels, otherwise analysis module sends the instruction finding obstacle, analysis module continues to analyze, then analysis module judges that the obstacle found is the need of avoiding, for the obstacle needing to avoid, the analysis module as required large wisp of angle of turn needs the obstacle avoided to be divided into two kinds, a kind of is the obstacle needing wide-angle to turn, analysis module sends the instruction being needed differential assisted diversion by this obstacle, another kind is the obstacle needing low-angle to turn, analysis module sends the instruction not needed differential assisted diversion by this obstacle, for the obstacle not needing to avoid, analysis module does not need the obstacle avoided to be divided into two kinds according to the large wisp of the obstacle gradient, one is picture trench, rock, the steep gradient topographic obstacle such as step, analysis module sends the instruction being needed swinging kick by this obstacle, another kind is image-stone, mound, the obstacle of the gentle slope landform such as deceleration strip, analysis module sends does not need swinging kick instruction by this obstacle, also send the instruction needing the damping characteristic changing vibration damper simultaneously,
3rd step, formulate obstacle detouring strategy, formulate the best by analysis result and pass through Barrier Strategy, according to the different instruction that analysis module sends, make and take aim at behavior in advance by corresponding obstacle, make the best strategy by corresponding obstacle, the instruction being needed differential assisted diversion by this obstacle is sent for analysis module, take aim at module in advance to make and take aim at behavior in advance by corresponding obstacle, then how far place starts to turn, angle of turn is how many, turning rate is how many to make distance obstacle, how to carry out the strategies such as differential assisted diversion as required; The instruction not needed differential assisted diversion by this obstacle is sent for analysis module, take aim at module in advance to make and take aim at behavior in advance by corresponding obstacle, then how far place starts to turn, angle of turn is how many to make distance obstacle, and it is tactful that to be how many wait turning rate; For the instruction being needed swinging kick by this obstacle that analysis module sends, take aim at module in advance and make and take aim at behavior in advance by corresponding obstacle, then make how far distance obstacle locates to start swinging kick, swinging kick speed is how many, the final swinging kick height strategy such as be how many; Send for analysis module and do not need swinging kick instruction by this obstacle, also send the instruction needing the damping characteristic changing vibration damper simultaneously, take aim at module in advance to make and take aim at behavior in advance by corresponding obstacle, then make distance obstacle and how far start to change the damping characteristic of vibration damper one and vibration damper two, vibration damper one and vibration damper two damping and should change the strategies such as how many in place;
4th step, strategically performs, and is performed by corresponding obstacle according to taking aim at the optimal strategy that module makes in advance by execution module; Described execution module comprises speed control, steering controller, damping controller and swinging kick controller four controllers, also comprises wheel hub motor, steer-drive, vibration damper (comprising vibration damper one and vibration damper two), swinging kick drive unit four execution architectures; Speed control controls wheel hub motor, and steering controller controls steer-drive, and damping controller controls vibration damper, and swinging kick controller controls swinging kick drive unit; The instruction being needed differential assisted diversion by this obstacle is sent for analysis module, according to the corresponding optimum obstacle detouring strategy taken aim at module in advance and make, execution module performs as follows: control steer-drive by steering controller, steer-drive controls to turn to the sense of rotation of swing arm, angle and rotational angular velocity, the rotating speed of speed control control wheel hub motor carries out differential assisted diversion as required, and then realizes turning to passing through obstacle; The instruction not needed differential assisted diversion by this obstacle is sent for analysis module, according to the corresponding optimum obstacle detouring strategy taken aim at module in advance and make, execution module performs as follows: control steer-drive by steering controller, steer-drive controls to turn to the sense of rotation of swing arm, angle and rotational angular velocity, and then realizes turning to passing through obstacle; For the instruction being needed swinging kick by this obstacle that analysis module sends, according to the corresponding optimum obstacle detouring strategy taken aim at module in advance and make, execution module performs as follows: control swinging kick drive unit by swinging kick controller, swinging kick drive unit controls the swing speed of shank relative to thigh and the pivot angle of needs, also need vibration damper locking system to control vibration damper swing arm makes it be in not lockup state simultaneously, control the suitable deceleration of the rotating speed of wheel hub motor by speed control in addition, and then realize swinging kick and pass through obstacle; Send for analysis module and do not need swinging kick instruction by this obstacle, according to the corresponding optimum obstacle detouring strategy taken aim at module in advance and make, execution module performs as follows: the damping characteristic being controlled vibration damper by damping controller, in addition by the deceleration that the rotating speed of speed control control wheel hub motor is suitable, and then realize regulating resistance of shock absorber characteristic to pass through obstacle.
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