CN107223105B - Chassis, chassis control system, chassis control method, and ground mobile robot - Google Patents
Chassis, chassis control system, chassis control method, and ground mobile robot Download PDFInfo
- Publication number
- CN107223105B CN107223105B CN201680004468.5A CN201680004468A CN107223105B CN 107223105 B CN107223105 B CN 107223105B CN 201680004468 A CN201680004468 A CN 201680004468A CN 107223105 B CN107223105 B CN 107223105B
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- chassis
- wheels
- steering
- wheel
- steering device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
A chassis truck (10) comprises a chassis (11), a steering engine steering device (15) arranged on the chassis (11) and a motor (17), wherein the motor (17) can be in transmission connection with wheels and is used for driving the wheels to rotate; the steering engine steering device (15) is arranged on the chassis (11) and can be connected with the wheels; the steering engine steering device (15) can be selectively in a transmission state or a locking state according to the type of the wheel; when the wheels are one-way wheels, the steering gear steering device (15) is in a transmission state, and the one-way wheels are controlled to swing to realize steering; when the wheels are omni wheels, the steering gear steering device (15) is in a locked state, and the omni wheels are controlled not to swing randomly. The chassis (10) can be switched to a wheel control mode corresponding to the type of the wheel according to the difference of the type of the wheel, so that the chassis (10) and the ground mobile robot can be used outdoors and indoors.
Description
Technical Field
The invention relates to the field of robots, in particular to a chassis, a control system and a control method thereof, and a ground mobile robot with the chassis.
Background
Existing ground mobile platforms generally have different steering devices and wheel structures according to different environments in which the platforms are located. For example, if the environment is a field mountain, the ground mobile platform can smoothly turn and advance by matching the one-way wheel with the steering device; if the environment is indoor, the wheel structure of the omni wheel is generally adopted, a steering device is not needed, and the steering and the speed of each peripheral driven wheel of the omni wheel are controlled to finally synthesize a resultant force vector in any required direction, so that the ground moving platform can be ensured to freely move in the direction of the final resultant force vector without changing the direction of the wheel. However, in the above two cases, the wheels are different, and the corresponding vehicle body structures are also different, so that the use of the two cases is limited by the environment, and the use in both the field and the indoor cannot be realized.
Disclosure of Invention
In view of the above, it is desirable to provide a chassis, a chassis control system, a chassis control method, and a ground mobile robot that solve the above problems.
A chassis vehicle comprises a chassis, a steering gear steering device arranged on the chassis and a motor, wherein the motor can be in transmission connection with wheels and is used for driving the wheels to rotate; the steering gear steering device is arranged on the chassis and can be connected with the wheels; the steering engine steering device can be selectively in a transmission state or a locking state according to the type of the wheel; when the wheels are one-way wheels, the steering gear steering device is in a transmission state, and the one-way wheels are controlled to swing to realize steering; when the wheels are omni wheels, the steering gear steering device is in a locked state, and the omni wheels are controlled not to swing randomly.
A ground moving robot, comprising: the chassis vehicle comprises a chassis, a steering gear steering device arranged on the chassis and a motor, wherein the motor can be in transmission connection with wheels and is used for driving the wheels to rotate; the steering gear steering device is arranged on the chassis and can be connected with the wheels; the steering engine steering device can be selectively in a transmission state or a locking state according to the type of the wheel; when the wheels are one-way wheels, the steering gear steering device is in a transmission state, and the one-way wheels are controlled to swing to realize steering; when the wheels are omni wheels, the steering gear steering device of the steering engine is in a locked state, and the omni wheels are controlled not to swing randomly; and the carrier is used for bearing a load and is arranged on a chassis of the chassis vehicle.
A control system for a chassis, comprising: one or more processors, working individually or collectively, the processors to: acquiring the wheel type of the chassis vehicle; and switching to a wheel control mode corresponding to the wheel type according to the wheel type.
A control method of a chassis, characterized in that the method comprises: acquiring the wheel type of the chassis vehicle; and switching to a wheel control mode corresponding to the wheel type according to the wheel type.
Compared with the prior art, the chassis truck and the ground mobile robot provided by the invention have the advantages that the steering engine steering device can control the chassis truck to realize steering when the wheels are unidirectional wheels and idle when the wheels are omnidirectional wheels, so that the wheels connected with a chassis of the chassis truck can be replaced according to the environment, the steering engine steering device is selectively in a transmission or locking state according to the type of the wheels, and the chassis truck and the ground mobile robot can be used outdoors and indoors; the chassis control system provided by the invention can be switched to the wheel control mode corresponding to the type of the wheel according to the difference of the type of the wheel, so that the chassis and the ground mobile robot can be used outdoors and indoors.
Drawings
Fig. 1 is a perspective view of an omni-wheel mounted chassis provided in a first embodiment of the present invention.
Fig. 2 is a side view of the chassis shown in fig. 1.
Fig. 3 is a perspective view of the chassis truck in which the omni wheels of fig. 1 are replaced with uni-directional wheels.
Fig. 4 is a perspective view of a transmission mechanism of a chassis with omni wheels according to a second embodiment of the present invention.
Fig. 5 is a schematic view of a ground-based mobile robot provided in an embodiment of the present invention.
Fig. 6 is a flowchart of a control method of a chassis provided in an embodiment of the present invention.
Description of the main elements
Wheel 13
Processors 143, 103
Driving timing pulley 111
Main spherical drive member 114
Ground mobile robot 100
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may be present, or both elements may be directly formed, if desired. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
In addition, the terms of orientation such as up, down, front, and rear appearing in the present embodiment are based on the normal operation posture of the chassis or the ground moving robot, and should not be considered as limiting.
Referring to fig. 1, 2 and 3, a chassis truck 10 according to an embodiment of the present invention includes a chassis 11, wheels 13, a steering device 15 of a steering engine, and a motor 17. The wheels 13 can alternatively be connected to the chassis 11. The steering gear 15 and the motor 17 are arranged on the chassis 11. The steering engine steering device 15 and the motor 17 can be in transmission connection with the wheels 13. In this embodiment, the number of the motors 17 and the number of the wheels 13 are both multiple, and the motors 17 are in one-to-one corresponding transmission connection with the wheels 13. Each motor 17 is in transmission connection with the corresponding wheel 13 through a transmission mechanism 19. Each motor 17 drives the corresponding wheel 13 to rotate.
The wheels 13 may be omni-directional wheels or unidirectional wheels depending on the environment. For example, when the environment is a field mountain land, the wheel 13 is a one-way wheel; when the environment is indoor, the wheels 13 are omni wheels.
The steering engine steering device 15 can be selectively in a transmission state or a locking state according to the type of the wheels 13. When the wheels 13 are one-way wheels, the steering gear steering device 15 is in a transmission state; when the wheels 13 are omni wheels, the steering gear steering device 15 is in a locked state, and the wheels 13 are controlled not to swing randomly. In this embodiment, the steering engine 15 includes a transmission motor 151 and a transmission mechanism 152. The steering engine steering device 15 enables the steering engine steering device 15 to be in a locking state by enabling the transmission motor 151 to be in an electric control locking state.
It is understood that in other embodiments, the steering engine 15 further includes an electrically controlled locking mechanism. When the transmission motor 151 of the steering engine steering device 15 is in a power-off state, the electric control locking mechanism locks the transmission mechanism 152 between the steering engine steering device 15 and the wheels 13 and/or directly locks the wheels 13, and the wheels 13 are controlled not to swing randomly.
In the illustrated embodiment, the chassis 10 also includes a plurality of suspensions 12. The plurality of suspensions 12 are provided on the chassis 11 in one-to-one correspondence with the plurality of wheels 13. Each of the suspensions 12 is used to connect the corresponding wheel 13 to the chassis 11. The suspension 12 may be a trailing arm suspension, a multi-link suspension, a candle suspension, or a macpherson suspension. In the present embodiment, the suspension 12 is a macpherson suspension.
In this embodiment, the chassis truck 10 further includes an obstacle avoidance system 14. The obstacle avoidance system 14 is arranged on the chassis 11 and is used for helping the chassis 10 avoid obstacles in the driving process of the chassis 10. The obstacle avoidance system 14 includes at least one of: visual sensors, ultrasonic sensors, lidar sensors. In this embodiment, the obstacle avoidance system 14 is a composite obstacle avoidance system including different types of sensors. In the illustrated embodiment, the obstacle avoidance system 14 includes a plurality of obstacle detectors 141 and at least one processor 143. The plurality of obstacle detectors 141 are provided on the chassis 11, and each obstacle detector 141 is located between two of the wheels 13. The plurality of obstacle detectors 141 are oriented in different directions and have different detection ranges. The plurality of obstacle detectors 141 may be a vision sensor, an ultrasonic sensor, a laser radar sensor, or the like. Specifically, in the illustrated embodiment, each of the obstacle detecting members 141 includes a binocular sensor and an ultrasonic sensor.
The at least one processor 143 works individually or cooperatively. In this embodiment, there is one processor 143. The processor 143 is disposed on the chassis 11 between the plurality of obstacle detectors 143. The processor 143 is in communication connection with the plurality of obstacle detectors 141, and is electrically connected with the steering engine steering device 15 and the plurality of motors 17. The processor 143 is configured to control the steering engine steering device 15 and the motors 17 according to the detection results of the obstacle detectors 141, and further control the traveling direction and the traveling speed of the chassis 10.
It is understood that in other embodiments, there may be one obstacle detector 141. At this time, the obstacle detecting member 141 may rotate about an axis perpendicular to the chassis 11. Preferably, the obstacle detector 141 is protrusively provided at a middle portion of the chassis 11.
In this embodiment, the chassis truck 10 further includes a plurality of support members 16. The plurality of supporting members 16 correspond to the plurality of obstacle detecting members 141 one to one. Each of the supporting members 16 is used for erecting the corresponding obstacle detecting member 141 on the chassis 11 in a protruding manner, so as to prevent the obstacle detecting member 141 from being influenced by the obstacle detecting member 141 due to the blocking of the obstacle detecting member 141 by the structure of the chassis 10.
In the illustrated embodiment, the chassis 10 also includes a plurality of motor mounts 18. The plurality of motor mounts 18 correspond one-to-one to the plurality of motors 17. Each of the motor mounts 18 mounts the corresponding motor 17 on the chassis 11.
Each motor 17 is connected with each wheel 13 by a transmission mechanism 19. The transmission mechanism 19 may be a belt transmission mechanism, a gear transmission mechanism, a worm gear transmission mechanism, or the like.
The chassis 10 also includes a control system 101. The control system 101 includes a processor 103, a communication device 105, wheel sensors (not shown), a plurality of first electronic governors (not shown) and a second electronic governor (not shown).
The processor 103 may be one or more. In this embodiment, there is one processor 103. The processor 103 of the control system 101 may be the same processor as the processor 143, or may be provided separately from the processor 143. In this embodiment, the processor 103 and the processor 143 are the same processor.
The communication device 105 is disposed on the chassis 11 for receiving remote control signals. The processor 103 is communicatively coupled to the communication device 105. The remote control signals include a control signal for indicating the type of the wheel and a control signal for indicating the motion state of the wheel 13. The motion state of the wheel 13 includes at least one of: steering, advancing, backing, accelerating and decelerating.
The wheel sensor is in communication with the processor 103, and is configured to detect a wheel type and send information of the wheel type to the processor 103.
The plurality of first electronic speed regulators correspond one-to-one to the plurality of motors 17. The plurality of first electronic governors are communicatively coupled to the processor 103 and are configured to control the plurality of motors 17, respectively. And the second electronic speed regulator is in communication connection with the processor 103 and is used for controlling a steering engine of the steering engine device 15.
In the illustrated embodiment, the chassis truck 10 further includes a frame 110. The frame 110 is fixed to the chassis 11. The suspension 12 is attached to the frame 110. The frame 110 is used for carrying the steering gear 15, the obstacle avoidance system 14, the support member 16, the control system 101 and other components, or other peripheral devices, such as a camera, a microphone, a video camera, a life detector, a manipulator, and the like. The frame 110 may have a single-layer, double-layer or multi-layer structure. In the illustrated embodiment, the frame 110 has a double-layered structure. In this embodiment, the steering gear 15 is disposed on the upper layer of the frame 110; the plurality of obstacle detectors 141 are mounted on the upper layer of the frame 110 via the plurality of supports 16; the communication device 19 is arranged on the upper layer of the frame 110; the processor 143 is disposed in a middle layer of the frame 110.
It is understood that in other embodiments, the frame 110 may be omitted, and the steering gear 15, the obstacle avoidance system 14, the support member 16, the control system 101, and other components for maintaining the normal operation of the chassis vehicle 10, or other peripheral devices, such as a camera, a microphone, a video camera, a life detector, a manipulator, etc., may be directly disposed on the chassis 11.
Referring to fig. 4, the transmission mechanism of the chassis truck according to the second embodiment of the present invention is a belt transmission mechanism, which includes a driving synchronous pulley 111, a synchronous belt 112, a driven synchronous pulley 113, a main spherical rotating member 114, a transmission shaft 115 and an auxiliary spherical transmission member 116. The driving timing pulley 111 is connected to the motor 17. The synchronous belt 112 is in transmission connection with the driving synchronous pulley 111 and the driven synchronous pulley 113. The driven timing pulley 113 is in driving connection with the main spherical transmission element 114. The drive shaft 115 drivingly connects the primary spherical drive element 114 and the secondary spherical drive element 116. The auxiliary spherical rotating part is in transmission connection with the wheel 13. The motor 17 drives the driving synchronous pulley 111 to rotate. The driving synchronous pulley 111 drives the driven synchronous pulley 113 to rotate through the synchronous belt 112. The driven synchronous pulley 113 drives the transmission shaft 115 to transmit power through the main spherical transmission element 114. The transmission shaft 115 drives the auxiliary spherical transmission member 116 to rotate, and further drives the wheel 13 to rotate.
Referring to fig. 5, the present invention further provides a ground mobile robot 100 including the chassis 10a and a carrier 20 disposed on the chassis 10 a. The carrier 20 is disposed on the chassis 11a of the chassis truck 10 a. Preferably, the carrier 20 is disposed on the frame 110a of the chassis truck 10 a. The carrier is used for carrying a load. The carrier 20 includes at least one of: cloud platform, support. The load 30 includes at least one of: video camera, life detector, manipulator.
The chassis 10a may also be the chassis 10 according to the above embodiments.
Referring to fig. 6, the present invention further provides a control method 600 of the chassis truck 10. The method 500 includes the following steps.
The wheel types of the chassis 10 include omni wheels, uni-directional wheels, and the like. The information of the wheel type may be input by a user or automatically sensed and acquired by a sensor. For example, the wheel sensor detects a wheel type of the chassis 10, and transmits information of the detected wheel type to the processor 103.
And step 602, switching to a wheel control mode corresponding to the wheel type according to the wheel type.
When the wheel type detected by the wheel sensor is an omni wheel, the processor 103 communicates with the second electronic speed regulator to control the second electronic speed regulator to idle (lock) the steering engine steering device 15; when the wheel type detected by the wheel sensor is a one-way wheel, the processor 103 communicates with the second electronic speed regulator to control the second electronic speed regulator to release the steering engine steering device 15.
In this embodiment, the communication device 105 of the chassis 10 receives a remote control signal regarding the vehicle motion state and communicates with the processor 103. The processor 103 communicates with the first electronic governor to control the chassis truck 10 to enter a corresponding motion state.
Compared with the prior art, the chassis truck and the ground mobile robot provided by the invention have the advantages that the steering engine steering device can control the chassis truck to realize steering when the wheels are unidirectional wheels and idle when the wheels are omnidirectional wheels, so that the wheels connected with a chassis of the chassis truck can be replaced according to the environment, the steering engine steering device is selectively in a transmission or locking state according to the type of the wheels, and the chassis truck and the ground mobile robot can be used outdoors and indoors; the chassis control system provided by the invention can be switched to the wheel control mode corresponding to the type of the wheel according to the difference of the type of the wheel, so that the chassis and the ground mobile robot can be used outdoors and indoors.
It will be apparent to those skilled in the art that various other changes and modifications may be made in the invention without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (34)
1. A chassis vehicle comprises wheels, a chassis, a steering gear steering device arranged on the chassis, a motor, the wheels, a sensor, a processor, a plurality of obstacle detection pieces, a plurality of support pieces, a communication device and a vehicle frame;
the wheels are alternatively connected to the chassis, the wheels being one-way wheels or omni-wheels;
the motor can be in transmission connection with the wheels and is used for driving the wheels to rotate;
the steering gear steering device is arranged on the chassis and can be connected with the wheels;
the steering engine steering device can be selectively in a transmission state or a locking state according to the type of the wheel;
the sensor is in communication connection with the processor, wherein the wheel information of the wheel can be automatically sensed and acquired by the sensor, and the processor can acquire the wheel information and control the steering gear steering device to be in a transmission state or a locking state according to the wheel information; the processor is also used for controlling the steering engine steering device according to the detection results of the plurality of obstacle detection pieces;
each support piece is used for convexly erecting the corresponding obstacle detection piece on the chassis;
the frame is fixed on a chassis and used for bearing the steering gear, the plurality of obstacle detecting pieces and the supporting piece; the frame is of a double-layer structure; the steering gear steering device is arranged on the upper layer of the frame; the plurality of obstacle detecting members are arranged on the upper layer of the frame through a plurality of supporting members;
when the wheels are the one-way wheels and are connected to the chassis, the steering gear steering device is in a transmission state so as to control the one-way wheels to swing to realize steering; when the wheels are omni wheels and are connected to the chassis, the steering gear steering device is in a locked state so as to control the omni wheels to be incapable of swinging randomly.
2. The chassis vehicle as recited in claim 1, wherein said plurality of motors and said plurality of wheels are respectively provided, and each of said plurality of motors drives a corresponding one of said plurality of wheels to rotate.
3. The chassis truck as claimed in claim 1, wherein a transmission motor of the steering gear steering device is in an electrically controlled locked state, so that the steering gear steering device is in a locked state;
or the steering engine steering device further comprises an electric control locking mechanism, a transmission motor of the steering engine steering device is in a power-off state, and the electric control locking mechanism locks the transmission mechanism of the steering engine steering device or directly locks the wheels.
4. The chassis of claim 1, further comprising a plurality of suspensions, one for each of the wheels, each of the suspensions connecting a corresponding one of the wheels to the chassis.
5. The chassis of claim 4, wherein the suspension is a wishbone, trailing arm, multi-link, candle, or McPherson suspension.
6. The chassis vehicle as recited in claim 1, further comprising an obstacle avoidance system disposed on said chassis for assisting said chassis vehicle in avoiding obstacles during travel of said chassis vehicle.
7. The chassis of claim 6, wherein the obstacle avoidance system comprises at least one of: a vision sensor, an ultrasonic sensor, a laser radar sensor;
or the obstacle avoidance system is a composite obstacle avoidance system comprising different types of sensors.
8. The chassis of claim 1, further comprising a plurality of motor mounts corresponding to the motors, each of the motors being mounted to the chassis by one of the motor mounts.
9. A ground moving robot, comprising:
the chassis vehicle comprises a chassis, a steering gear steering device arranged on the chassis, a motor, wheels, a sensor, a processor, a plurality of obstacle detection pieces, a plurality of supporting pieces, a communication device and a vehicle frame;
the wheels are alternatively connected to the chassis, the wheels being one-way wheels or omni-wheels;
the motor can be in transmission connection with the wheels and is used for driving the wheels to rotate; the steering gear steering device is arranged on the chassis and can be connected with the wheels; the steering engine steering device can be selectively in a transmission state or a locking state according to the type of the wheel; the processor is also used for controlling the steering engine steering device according to the detection results of the plurality of obstacle detection pieces;
each support piece is used for convexly erecting the corresponding obstacle detection piece on the chassis;
the frame is fixed on a chassis and used for bearing the steering gear, the plurality of obstacle detecting pieces and the supporting piece; the frame is of a double-layer structure; the communication device is arranged on the upper layer of the frame; the plurality of obstacle detecting members are arranged on the upper layer of the frame through a plurality of supporting members;
the sensor is in communication connection with the processor, wherein the wheel information of the wheel can be automatically sensed and acquired by the sensor, and the processor can acquire the wheel information and control the steering gear steering device to be in a transmission state or a locking state according to the wheel information;
when the wheels are one-way wheels and are connected to the chassis, the steering gear steering device is in a transmission state and controls the one-way wheels to swing to realize steering; when the wheels are omni wheels and are connected to the chassis, the steering gear steering device is in a locked state, and the omni wheels are controlled not to swing randomly; and
and the carrier is used for bearing a load and is arranged on the chassis of the chassis truck.
10. The ground mobile robot of claim 9, wherein the load comprises at least one of: video camera, life detector, manipulator.
11. A ground mobile robot as recited in claim 9, wherein said carrier comprises at least one of: cloud platform, support.
12. The ground moving robot as claimed in claim 9, wherein said motors and said wheels are plural, and each of said motors drives a corresponding one of said wheels to rotate.
13. The ground mobile robot as claimed in claim 9, wherein a transmission motor of the steering gear steering device is in an electric control locking state, so that the steering gear steering device is in a locking state;
or the steering engine steering device further comprises an electric control locking mechanism, a transmission motor of the steering engine steering device is in a power-off state, and the electric control locking mechanism locks the transmission mechanism of the steering engine steering device or directly locks the wheels.
14. The ground moving robot as recited in claim 9, wherein said chassis further comprises a plurality of suspensions, said suspensions corresponding one to said wheels, each of said suspensions connecting a corresponding said wheel to said chassis.
15. The ground mobile robot of claim 14, wherein the suspension is a wishbone, trailing arm, multi-link, candle, or macpherson suspension.
16. The ground mobile robot as recited in claim 9, wherein said chassis further comprises an obstacle avoidance system disposed on said chassis for assisting said chassis in avoiding obstacles during driving of said chassis.
17. A ground moving robot as recited in claim 16, wherein said obstacle avoidance system comprises at least one of: a vision sensor, an ultrasonic sensor, a laser radar sensor;
or the obstacle avoidance system is a composite obstacle avoidance system comprising different types of sensors.
18. The ground mobile robot of claim 9, wherein the chassis further comprises a plurality of motor mounts corresponding to the motors, each of the motors being mounted to the chassis by one of the motor mounts.
19. The control system of the chassis truck is characterized by being applied to the chassis truck, wherein the chassis truck comprises wheels, a chassis, a steering gear steering device arranged on the chassis, a motor, the wheels, a sensor, one or more processors, a plurality of obstacle detection pieces, a plurality of support pieces, a communication device and a frame; the wheels are alternatively connected to the chassis, the wheels being one-way wheels or omni-wheels;
each support piece is used for convexly erecting the corresponding obstacle detection piece on the chassis;
the frame is fixed on a chassis and used for bearing the steering gear, the plurality of obstacle detecting pieces and the supporting piece; the frame is of a double-layer structure; the communication device is arranged on the upper layer of the frame; the plurality of obstacle detecting members are arranged on the upper layer of the frame through a plurality of supporting members;
the one or more processors, working individually or collectively, to: acquiring the wheel type of the chassis vehicle; and switching to a wheel control mode corresponding to the wheel type according to the wheel type; the processor is also used for controlling the steering engine steering device according to the detection results of the plurality of obstacle detection pieces.
20. The control system of the chassis according to claim 19, wherein the wheel type of the chassis includes: omni wheels and unidirectional wheels.
21. The control system for a chassis according to claim 19, wherein the chassis control system further comprises a communication device for receiving remote control signals, the processor communicatively coupled to the communication device.
22. The chassis control system according to claim 21, wherein the remote control signal includes a control signal indicating the type of the wheel.
23. The control system of the chassis according to claim 21, wherein the remote control signal includes a control signal for indicating a motion state of the wheel.
24. The control system of the chassis vehicle according to claim 23, wherein the motion state of the wheel includes at least one of: steering, advancing, backing, accelerating and decelerating.
25. The control system for a chassis according to claim 19, further comprising a wheel sensor communicatively coupled to the processor, the wheel sensor configured to detect a wheel type and send information of the wheel type to the processor.
26. The chassis vehicle control system of claim 19, wherein the chassis vehicle includes a plurality of wheels and a plurality of motors that respectively drive the wheels into rotation, the control system further comprising a plurality of first electronic governors communicatively coupled to the processor and configured to respectively control the plurality of motors.
27. The control system of the chassis truck according to claim 26, further comprising a steering engine steering device, the control system further comprising a second electronic governor, the second electronic governor being communicatively connected to the processor for controlling a steering engine of the steering engine steering device.
28. The control method of the chassis truck is characterized by being applied to the chassis truck, wherein the chassis truck comprises wheels, a chassis, a steering gear steering device arranged on the chassis, a motor, the wheels, a sensor, a plurality of obstacle detection pieces, a plurality of supporting pieces, a communication device and a frame, and the wheels are one-way wheels or omni-directional wheels;
each support piece is used for convexly erecting the corresponding obstacle detection piece on the chassis;
the frame is fixed on a chassis and used for bearing the steering gear, the plurality of obstacle detecting pieces and the supporting piece; the frame is of a double-layer structure; the communication device is arranged on the upper layer of the frame; the plurality of obstacle detecting members are arranged on the upper layer of the frame through a plurality of supporting members;
the method comprises the following steps:
acquiring the wheel type of the chassis vehicle;
switching to a wheel control mode corresponding to the wheel type according to the wheel type; and the number of the first and second groups,
and controlling the steering engine steering device according to the detection results of the plurality of obstacle detection pieces.
29. The control method of a chassis according to claim 28, wherein the wheel type of the chassis includes: omni wheels and unidirectional wheels.
30. The control method of the chassis truck according to claim 28, characterized by further comprising: and receiving a remote control signal of a user, and controlling the chassis vehicle according to the remote control signal.
31. The control method of the chassis according to claim 30, wherein the remote control signal includes a control signal for indicating the type of the wheel.
32. The control method of the chassis according to claim 31, wherein the remote control signal includes a control signal for indicating a motion state of the wheel.
33. The control method of the chassis according to claim 32, wherein the motion state of the wheel includes at least one of: steering, advancing, backing, accelerating and decelerating.
34. The control method of the chassis according to claim 28, wherein the wheel type is detected by the wheel sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011562094.3A CN112606899A (en) | 2016-07-29 | 2016-07-29 | Chassis, chassis control system and chassis control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/092402 WO2018018625A1 (en) | 2016-07-29 | 2016-07-29 | Chassis vehicle, chassis vehicle control system, chassis vehicle control method and ground mobile robot |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011562094.3A Division CN112606899A (en) | 2016-07-29 | 2016-07-29 | Chassis, chassis control system and chassis control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107223105A CN107223105A (en) | 2017-09-29 |
| CN107223105B true CN107223105B (en) | 2021-01-15 |
Family
ID=59928244
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011562094.3A Pending CN112606899A (en) | 2016-07-29 | 2016-07-29 | Chassis, chassis control system and chassis control method |
| CN201680004468.5A Expired - Fee Related CN107223105B (en) | 2016-07-29 | 2016-07-29 | Chassis, chassis control system, chassis control method, and ground mobile robot |
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| CN202011562094.3A Pending CN112606899A (en) | 2016-07-29 | 2016-07-29 | Chassis, chassis control system and chassis control method |
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| CN (2) | CN112606899A (en) |
| WO (1) | WO2018018625A1 (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108687740A (en) * | 2018-05-14 | 2018-10-23 | 聊城大学 | A kind of continuous transport manipulator based on short range wireless transmission control |
| US11845372B2 (en) | 2018-09-07 | 2023-12-19 | Murata Machinery, Ltd. | Transport vehicle |
| CN109343520B (en) * | 2018-09-14 | 2021-05-28 | 中职北方智扬(北京)教育科技有限公司 | Unmanned driving system |
| CN109343440B (en) * | 2018-11-30 | 2020-09-22 | 北京星航机电装备有限公司 | Wheeled flexible omnidirectional transfer trolley control system and method |
| CN110254253A (en) * | 2019-07-17 | 2019-09-20 | 合肥工业大学 | A kind of robot |
| CN110632926A (en) * | 2019-09-24 | 2019-12-31 | 汕头大学 | Dolly for picking up spherical objects |
| CN112046604B (en) * | 2020-09-18 | 2022-11-01 | 纳恩博（北京）科技有限公司 | Chassis drive system, control method and device and traveling equipment |
| CN113233381B (en) * | 2021-05-07 | 2022-05-24 | 盐城工学院 | Intelligent unmanned vehicle moving robot and operation process thereof |
| CN113778087A (en) * | 2021-09-10 | 2021-12-10 | 郭春婷 | Artificial intelligence keeps away barrier dolly |
| CN114148430B (en) * | 2021-12-04 | 2023-06-02 | 李岳 | Detection equipment for underground space structure formed by mineral exploitation |
| CN114313061A (en) * | 2021-12-27 | 2022-04-12 | 无锡协联信息技术有限公司 | Movable type monitoring robot chassis structure with double steering mechanisms |
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- 2016-07-29 WO PCT/CN2016/092402 patent/WO2018018625A1/en active Application Filing
- 2016-07-29 CN CN202011562094.3A patent/CN112606899A/en active Pending
- 2016-07-29 CN CN201680004468.5A patent/CN107223105B/en not_active Expired - Fee Related
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| CN202439506U (en) * | 2012-01-18 | 2012-09-19 | 杭州师范大学 | Omni-directional wheel with two movement patterns |
| CN202563346U (en) * | 2012-04-27 | 2012-11-28 | 吉林大学 | Gesture/posture-based remotely-controlled travel robot |
| CN204319757U (en) * | 2014-12-13 | 2015-05-13 | 李川涛 | A kind of vehicle structure |
| CN104960573A (en) * | 2015-07-06 | 2015-10-07 | 南京航空航天大学 | Intelligent all-dimensional probing vehicle with three steering engines and switchable steering modes |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018018625A1 (en) | 2018-02-01 |
| CN107223105A (en) | 2017-09-29 |
| CN112606899A (en) | 2021-04-06 |
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