CN107640016A - Intelligent mobile chassis, intelligent mobile device based on universal wheel and traveling method is controlled accordingly - Google Patents

Intelligent mobile chassis, intelligent mobile device based on universal wheel and traveling method is controlled accordingly Download PDF

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Publication number
CN107640016A
CN107640016A CN201711030488.2A CN201711030488A CN107640016A CN 107640016 A CN107640016 A CN 107640016A CN 201711030488 A CN201711030488 A CN 201711030488A CN 107640016 A CN107640016 A CN 107640016A
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CN
China
Prior art keywords
universal wheel
intelligent mobile
chassis
mobile chassis
driving force
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
CN201711030488.2A
Other languages
Chinese (zh)
Inventor
齐欧
陈召强
廉兴宇
任国荣
樊斌
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Smart Technology (beijing) Co Ltd
Lingdong Technology Beijing Co Ltd
Original Assignee
Smart Technology (beijing) Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Smart Technology (beijing) Co Ltd filed Critical Smart Technology (beijing) Co Ltd
Priority to CN201711030488.2A priority Critical patent/CN107640016A/en
Publication of CN107640016A publication Critical patent/CN107640016A/en
Priority to CN201810810519.4A priority patent/CN109602131B/en
Priority to CN201821164125.8U priority patent/CN209594953U/en
Priority to PCT/CN2018/096545 priority patent/WO2019080559A1/en
Priority to CN201821164672.6U priority patent/CN209449955U/en
Priority to CN201911090341.1A priority patent/CN110786609B/en
Priority to CN201911090338.XA priority patent/CN110764508B/en
Priority to CN201810810676.5A priority patent/CN109674162B/en
Priority to US16/046,194 priority patent/US10271623B1/en
Priority to US16/292,872 priority patent/US11439215B2/en
Withdrawn legal-status Critical Current

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Classifications

    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
    • A—HUMAN NECESSITIES
    • A45—HAND OR TRAVELLING ARTICLES
    • A45C—PURSES; LUGGAGE; HAND CARRIED BAGS
    • A45C13/00—Details; Accessories
    • A45C13/001—Accessories
    • A—HUMAN NECESSITIES
    • A45—HAND OR TRAVELLING ARTICLES
    • A45C—PURSES; LUGGAGE; HAND CARRIED BAGS
    • A45C15/00—Purses, bags, luggage or other receptacles covered by groups A45C1/00 - A45C11/00, combined with other objects or articles
    • A—HUMAN NECESSITIES
    • A45—HAND OR TRAVELLING ARTICLES
    • A45C—PURSES; LUGGAGE; HAND CARRIED BAGS
    • A45C5/00—Rigid or semi-rigid luggage
    • A45C5/04—Trunks; Travelling baskets
    • A45C5/045—Travelling baskets
    • A—HUMAN NECESSITIES
    • A45—HAND OR TRAVELLING ARTICLES
    • A45C—PURSES; LUGGAGE; HAND CARRIED BAGS
    • A45C5/00—Rigid or semi-rigid luggage
    • A45C5/14—Rigid or semi-rigid luggage with built-in rolling means
    • A45C5/141—Rigid or semi-rigid luggage with built-in rolling means the rolling means being formed by the trunk itself
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • 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
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • 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
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • 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
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • A—HUMAN NECESSITIES
    • A45—HAND OR TRAVELLING ARTICLES
    • A45C—PURSES; LUGGAGE; HAND CARRIED BAGS
    • A45C5/00—Rigid or semi-rigid luggage
    • A45C5/14—Rigid or semi-rigid luggage with built-in rolling means
    • A45C2005/142—Rigid or semi-rigid luggage with built-in rolling means with spherical rolling means, e.g. ball casters
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention provides a kind of method of the intelligent mobile device and control on intelligent mobile chassis based on universal wheel including the chassis intelligent mobile chassis walking.The intelligent mobile chassis includes chassis body, controller and at least three universal wheels, at least three universal wheel is arranged on the lower surface of the chassis body, it is separately provided for driving the motor of the universal wheel in each universal wheel, wherein described controller electrically connects with the motor in each universal wheel, and can according to the intelligent mobile chassis it is to be moved to the distance and bearing information control of at least one target point be respectively applied to the size of current of motor and the rotation direction of motor in each universal wheel, wherein apply to the size of the electric current of the motor in each universal wheel apply with the motor it is directly proportional to the driving force of corresponding universal wheel or speed.More preferable travelling control and pose adjustment can be provided and controlled by the intelligent mobile chassis of the present invention and the method for corresponding control walking.

Description

Intelligent mobile chassis, intelligent mobile device and corresponding control based on universal wheel Traveling method
Technical field
The present invention relates to the intelligent mobile device on the intelligent mobile chassis based on universal wheel including the chassis and corresponding Control traveling method.Specifically, the present invention relates to a kind of intelligent mobile chassis that can carry out autonomous and pose adjustment With the intelligent mobile device including the chassis, and corresponding movement and pose adjustment control method.
Background technology
With the continuous development of artificial intelligence technology, people are also increasing for the demand of intelligent mobile device, at present In the market has emerged the intelligent mobile device with various additional functions, such as intelligent mobile luggage case or intelligent mobile machine People etc..But most of intelligent mobile device exactly, efficiently and/or with economizing on electricity can not carry out autonomous or posture Adjustment.
Therefore, a kind of intelligent mobile chassis that disclosure satisfy that at least one above-mentioned requirements and corresponding control walking side are needed badly Method.
The content of the invention
The purpose of the present invention aims to solve the problem that at least one in above mentioned problem.
On the one hand, the present invention provides a kind of intelligent mobile chassis based on universal wheel, it is characterised in that the intelligent mobile Chassis includes chassis body, controller and at least three universal wheels, and at least three universal wheel is arranged on the chassis sheet The lower surface of body, be separately provided for driving the motor of the universal wheel in each universal wheel, wherein the controller with it is every The motor in individual universal wheel electrically connects and can be according to the intelligent mobile chassis at least one mesh to be moved arrived The distance and bearing information control of punctuate is respectively applied to the size of current of motor in each universal wheel and the rotation side of motor To applying wherein applying to the size of the electric current of the motor in each universal wheel with the motor to the driving force of corresponding universal wheel Or speed is directly proportional.
The intelligent mobile chassis overall structure of the present invention is novel, and the intelligent mobile bottom can be controlled by the controller Disk automatically proceeds at least one target point according to predetermined walking manner, and thus provides more preferable travelling control and posture tune Whole control.
In a preferred embodiment, the controller includes memory and processor, wherein the memory storage There is computer instruction, following steps can be realized when the computer instruction is executed by processor：
(a) angle information of each universal wheel relative to the setting positive direction of the chassis body is obtained；
(b) obtain with a distance from each central point of the universal wheel from the chassis body, to determine the arm of force of each universal wheel Information；
(c) determine from the central point of the mobile chassis to the direction of at least one target point；
(d) determine to treat to apply to the driving force of each universal wheel or speed, to apply to described at least three The direction of the driving force of individual universal wheel or the vector of speed in above-mentioned steps (c) with determining from the center of the mobile chassis The direction of point at least one target point is identical.
For example, the size of current of motor and the rotation direction of motor in each universal wheel are respectively applied to by control, So that at least three universal wheel driving force or speed vector (for example, make a concerted effort) direction with from intelligent mobile chassis Central point at least one target point direction it is consistent, the controller can control the intelligent mobile chassis according to Preset posture walking manner advances at least one target point, so as to provide efficient, accurate travelling control.
In a preferred embodiment, the memory is also stored with other computer instruction, the other meter The instruction of calculation machine can realize following steps when being executed by processor：
(e) make a concerted effort decompose by way of, obtain at least three universal wheel make a concerted effort respectively positive direction and with The size of making a concerted effort of its vertical vertical direction.
In a preferred embodiment, the memory is also stored with other computer instruction, the other meter The instruction of calculation machine can realize following steps when being executed by processor：
According to following first Constrained equations (1), it is determined that treat to apply to the vector size of the driving force of each universal wheel, With cause the vector of the driving force of each universal wheel positive direction and perpendicular vertical direction meet respectively with Lower constraint equation：
Wherein fiIt is the driving force of application to be determined to each universal wheel, αiIt is each universal wheel relative to the chassis The angle of the positive direction of body, λ1For the first empirical, at least one target point is apart from the central point on the chassis Distance and the target point to central point straight line and the positive direction angulation respectively (ρ, θ).
In a preferred embodiment, the memory is also stored with other computer instruction, the other meter The instruction of calculation machine can realize following steps when being executed by processor：
Assuming that the speed S of driving force and universal wheeliIt is directly proportional, then according to following second Constrained equations (2), it is determined that waiting to want Apply to the vector size of the speed of each universal wheel, with cause the vector of the speed of each universal wheel positive direction with And perpendicular vertical direction meets following constraint equation respectively：
Wherein SiIt is the speed of application to be determined to each universal wheel, αiIt is each universal wheel relative to the chassis sheet The angle of the positive direction of body, λ1For the first empirical, at least one target point apart from the central point on the chassis away from From and straight line and the positive direction angulation of the target point to central point be (ρ, θ).
In a preferred embodiment, the memory is also stored with other computer instruction, the other meter The instruction of calculation machine can realize following steps when being executed by processor：
The driving force to be applied to each universal wheel is calculated, the resultant moment of the driving force meets following 3rd constraint side Journey：
WhereinIt is arm of force vector of each universal wheel relative to chassis body central point,It is application to be determined to every The velocity of individual universal wheel, the velocity is directly proportional to the driving force vector of application to be determined to each universal wheel, f (x) linear function, constant function, power function, the simple harmonic oscillation function or specified to need to set according to pose adjustment control Any of ordinal function.
Considering f (x) in a preferred embodiment of simple linear function, the memory is also stored with addition Computer instruction, the other computer instruction can realize following steps when being executed by processor：
The driving force to be applied to each universal wheel is calculated, the resultant moment of the driving force meets following 4th constraint side Journey：
WhereinIt is arm of force vector of each universal wheel relative to chassis body central point,It is application to be determined to every The velocity of individual universal wheel, the velocity is directly proportional to the driving force vector of application to be determined to each universal wheel, λ2 For the second empirical, the straight line of at least one target point to central point is with the positive direction angulation vector
In a preferred embodiment, the 4th constraint equation can also be converted into the 5th of following scalar form about Shu Fangcheng：
∑liSi sin(αi-βi)=λ2θ (5),
Driving force to be applied to each universal wheel is calculated according to above-mentioned 5th constraint equation, wherein the conjunction of the driving force Torque must meet above-mentioned 5th constraint equation.
By universal according to the 3rd constraint equation, the 4th constraint equation or the 5th constraint equation, control described at least three The driving force of wheel or the resultant moment of speed, the adjustment of walking posture can be carried out to the intelligent mobile chassis, makes it along song Line walking manner or any setting sequence advance at least one target point.
In a preferred embodiment, the memory is also stored with other computer instruction, the other meter The instruction of calculation machine can realize following steps when being executed by processor：Calculate and meet to cause | fi| or | Si| absolute value sum most The f of smallizationiOr SiSet (be f for example, in the case of four universal wheels1To f4Set or S1To S4Set), According to the f calculatediOr SiSet, the controller applies corresponding power or speed to corresponding each universal wheel.The execution Step can be easy to make the intelligent mobile chassis be moved at least according to predetermined walking manner in the case where most saving electric power One target point, so as to save the power consumption on intelligent mobile chassis, extend the battery durable ability on intelligent mobile chassis.
In a preferred embodiment, the intelligent mobile chassis includes three universal wheels, three universal wheel phases To triangular in shape arranged spaced apart in the lower surface on the intelligent mobile chassis；Or the intelligent mobile chassis includes four ten thousand To wheel, four universal wheels are relatively rectangular or other geometries following table arranged spaced apart on the intelligent mobile chassis Face.
In a preferred embodiment, the intelligent mobile chassis also includes corresponding with least three universal wheel One or more angular transducers, the angular transducer are arranged on inside or outside corresponding universal wheel and are configured as Measure the angle of corresponding universal wheel, wherein the angle of measured universal wheel be the universal wheel relative to the chassis sheet The angle of the setting positive direction of body.
In a preferred embodiment, wherein the angular transducer includes being arranged on the central shaft of the universal wheel Magnet and electromagnetic induction device for sensing direction of an electric field caused by the magnet, the magnet is with the universal wheel Rotation and rotate, the electromagnetic induction device can determine the magnet according to the direction of an electric field of the detected magnet Direction and thereby determine that the angle of the universal wheel.Although this angular transducer design is simple, can play reliable Measurement, effect easy for installation.
In a preferred embodiment, wherein the intelligent mobile chassis include be coupled to the controller, be used for The electric-motor drive unit of the motor is driven, the electric-motor drive unit includes motor positive inversion control circuit, and the motor is just Reverse turn control circuit determines that the motor carries out forward or reverse according to the control information from the controller.
In a preferred embodiment, the chassis body is surface plate or curved slab, at least three universal wheel It is evenly-spaced installed in the surface plate of the chassis body or the lower surface of curved slab so that the chassis body is along straight line Movement is steadily moved along during curve movement.
In a preferred embodiment, at least three universal wheel is connected to described by corresponding connector respectively Chassis body, reinforcing plate is provided between the connector and the chassis body, the connector is by riveting or bolting The reinforcing plate is connected to, when the universal wheel rotates, the connector is rotated with the universal wheel but the reinforcing plate Do not rotated with the universal wheel.
On the other hand, the present invention provides a kind of intelligent mobile device, and it is included according to any of the above-described based on universal wheel Intelligent mobile chassis.
In a preferred embodiment, the intelligent mobile device is intelligent walking luggage case or intelligent wheel type machine People.
Another further aspect, the present invention provide a kind of method for the intelligent mobile chassis walking for controlling any of the above-described, this method For realizing that the intelligent mobile chassis is moved with predetermined walking manner towards target point, it is characterised in that the controller quilt It is configured to be applied to the driving force or speed of at least three universal wheel according to following steps control：
(a) angle information of each universal wheel relative to the setting positive direction of the chassis body is obtained；
(b) obtain with a distance from each central point of the universal wheel from the chassis body, to determine the arm of force of each universal wheel Information；
(c) determine from the central point of the mobile chassis to the direction of at least one target point；
(d) determine to treat to apply to the driving force of each universal wheel or speed, to apply to described at least three The direction of the driving force of individual universal wheel or the vector of speed in above-mentioned steps (c) with determining from the center of the mobile chassis The direction of point at least one target point is identical.
In a preferred embodiment, methods described is further comprising the steps of：
(e) by way of making a concerted effort to decompose, obtain at least three universal wheel make a concerted effort respectively in positive direction (D1) and The size of making a concerted effort of the vertical direction vertical with D1.
In a preferred embodiment, methods described is further comprising the steps of：
According to following first Constrained equations (1), it is determined that treat to apply to the vector size of the driving force of each universal wheel, With cause the vector of the driving force of each universal wheel positive direction and perpendicular vertical direction meet respectively with Lower constraint equation：
Wherein fiIt is the driving force of application to be determined to each universal wheel, αiIt is each universal wheel relative to the chassis The angle of the positive direction of body, λ1For the first empirical, at least one target point is apart from the central point on the chassis Distance and the target point to central point straight line and the positive direction angulation be (ρ, θ).
In a preferred embodiment, methods described is further comprising the steps of：
Assuming that the speed S of driving force and universal wheeliIt is directly proportional, then according to following second Constrained equations (2), it is determined that waiting to want Apply to the vector size of the speed of each universal wheel, with cause the vector of the speed of each universal wheel positive direction with And perpendicular vertical direction meets following constraint equation respectively：
Wherein SiIt is the speed of application to be determined to each universal wheel, αiIt is each universal wheel relative to the chassis sheet The angle of the positive direction of body, λ1For the first empirical, at least one target point apart from the central point on the chassis away from From and straight line and the positive direction angulation of the target point to central point be (ρ, θ).
In a preferred embodiment, methods described also includes being used to carry out pose adjustment to the intelligent mobile chassis Following steps：
The driving force to be applied to each universal wheel is calculated, the resultant moment of the driving force meets following 3rd constraint side Journey：
WhereinIt is arm of force vector of each universal wheel relative to chassis body central point,It is application to be determined to every The velocity of individual universal wheel, the velocity is directly proportional to the driving force vector of application to be determined to each universal wheel, f (x) linear function, constant function, power function, the simple harmonic oscillation function or specified to need to set according to pose adjustment control Any of ordinal function.
In a preferred embodiment, methods described also includes being used to carry out pose adjustment to the intelligent mobile chassis Following steps：
The driving force to be applied to each universal wheel is calculated, the resultant moment of the driving force meets following 4th constraint side Journey,
WhereinIt is arm of force vector of each universal wheel relative to chassis body central point,It is application to be determined to every The velocity of individual universal wheel, the velocity is directly proportional to the driving force vector of application to be determined to each universal wheel, λ2 For the second empirical, the straight line of at least one target point to central point is with the positive direction angulation vector
Preferably, the 4th constraint equation can also be converted into the 5th constraint equation of following scalar form：∑liSi sin(αi-βi)=λ2θ (5)。
Preferably, satisfaction can be solved to cause | Si| absolute value sum minimize Si, to save intelligent mobile bottom The power consumption of disk, extend the battery durable ability on intelligent mobile chassis.
Preferably, after current mobile control or pose adjustment control is carried out, can recalculate at regular intervals, To repeat above-mentioned calculating process, continuously the intelligent mobile chassis or the intelligent mobile device are moved so as to realize Control and pose adjustment control so that the intelligent mobile chassis or the intelligent mobile device can be according to predetermined walking paths Advance at least one target point.
Another aspect, the present invention provide a kind of computer-readable recording medium, are stored thereon with computer instruction, the meter The step of instruction of calculation machine realizes any of the above-described method when being executed by processor.
Brief description of the drawings
Fig. 1 is the top view for schematically showing an exemplary preferred embodiment according to the present invention.
Fig. 2 is the upward view for schematically showing an exemplary preferred embodiment according to the present invention.
Fig. 3 is the stereogram for schematically showing an exemplary preferred embodiment according to the present invention.
Fig. 4 is the right side view for schematically showing an exemplary preferred embodiment according to the present invention.
Fig. 5 is the positive side view for schematically showing an exemplary preferred embodiment according to the present invention.
Fig. 6 is the rough schematic view for schematically showing an exemplary according to the present invention.
Embodiment
It should be appreciated that foregoing general remark and following detailed description are only exemplary and explanatory, and it is not It is the limitation to appended claim.
The present invention is described in further detail below.
The present invention proposes a kind of intelligent mobile chassis based on universal wheel.The intelligent mobile chassis includes chassis body 100th, controller (MCU, being not shown) and at least three universal wheels.At least three universal wheel may be mounted at the chassis The lower section of body 100, is separately provided for driving the motor of the universal wheel in each universal wheel, the motor respectively with institute State controller electrical connection and can according to the distance of the intelligent mobile chassis at least one target point to be moved arrived and Azimuth information control is respectively applied to the size of current of motor and the rotation direction of motor at least three universal wheel, with Control applies to the driving force or speed of at least three universal wheel so that the intelligent mobile chassis is with predetermined walking manner Moved towards at least one target point, wherein the size applied to the electric current of the motor in each universal wheel and the motor apply to The driving force or speed of corresponding universal wheel are directly proportional.
For example, the size of current of motor and the rotation direction of motor in each universal wheel are respectively applied to by control, So that at least three universal wheel driving force or speed vector (for example, make a concerted effort) direction with from intelligent mobile chassis Central point at least one target point direction it is consistent, the controller can control the intelligent mobile chassis according to Preset posture walking manner advances at least one target point.In addition, the drive by controlling at least three universal wheel The resultant moment of power or speed, the adjustment of walking posture can be carried out to the intelligent mobile chassis, makes it along curved path walking Mode advances at least one target point.
At least three universal wheel can be such as three, four, five, six or more universal wheels.
Fig. 1-Fig. 3 is to schematically show the top view of an exemplary preferred embodiment according to the present invention, face upward respectively View and stereogram.
Fig. 4 and Fig. 5 is to schematically show the exemplary intelligent mobile chassis according to being shown in Fig. 2-Fig. 3 respectively Right side view and positive side view.
As shown in Fig. 2 and Fig. 3 clearly, the intelligent mobile chassis can preferably include chassis body 100 and four The relatively rectangular following tables arranged spaced apart on the intelligent mobile chassis of universal wheel M1-M4, four universal wheel M1-M4 Face.Although the specific implementation of the present invention, those skilled in the art are described below in conjunction with the example of four universal wheels It should be apparent that by the modification no more than routine variations, the present invention is also applicable to including three and more than four universal wheels Intelligent mobile chassis situation.For example, three universal wheels are relatively triangular in shape arranged spaced apart in the intelligent mobile The lower surface on chassis, in other words, three universal wheels are arranged to three triangle summits.
Preferably, the intelligent mobile chassis can include corresponding one or more with least three universal wheel Angular transducer.For example, each universal wheel can nearby or inside it be provided with an angular transducer, and the angle passes Sensor can measure angle of the universal wheel relative to any positive direction of the chassis body.The positive direction can be basis Any setting is needed, such as can be the direction shown in the arrow D1 in Fig. 2, the direction is through the chassis body 100 Central point C1 horizontal direction.
In a preferred embodiment, the angular transducer includes the magnetic being arranged on the central shaft of the universal wheel Iron and the electromagnetic induction device for sensing direction of an electric field caused by the magnet.The magnet can be with the universal wheel Rotation and rotate, the electromagnetic induction device can determine the magnet according to the direction of an electric field of the detected magnet Direction and thus measure the angle of the universal wheel.The angle of the measured universal wheel can be that the universal wheel is relative In the angle of any positive direction of the chassis body.
Certainly, those skilled in the art can also use it is known in the art can realize identical function (that is, measure it is universal Take turns angle) other any suitable angular transducers.
In addition, the intelligent mobile chassis can preferably include be coupled to the controller be used for drive the motor Electric-motor drive unit.The electric-motor drive unit can include motor positive inversion control circuit, the motor positive and inverse control Circuit determines that the motor rotate forward according to the control information from the controller and still inverted.
The electric-motor drive unit can be used for providing driving current to motor so that motor operates.For example, motor can be by Metal-oxide-semiconductor driving in electric-motor drive unit.Motor can known principle running, can also be driven by known driver circuit； Here repeated not to this.Certainly, the motor occurred after the applying date of the application is also applied for row involved in the present invention Lee's case.
The current value that being supplied to the electric current of motor can be sensed and be sensed by current measurement circuit is provided to control Device processed, controller can calculate the driving force or speed that motor provides to wheel according to the current value sensed.The driving force Or speed can be directly proportional to the electric current sensed, such as equal to the electric current sensed it is multiplied by a coefficient, the coefficient can be electricity Machine is specific, depending on motor in itself.For example, current measurement circuit can be a part for controller, or it can be motor A part for driver element.
For example, electric-motor drive unit may be provided with above-mentioned current measurement circuit to using the electric current sensed as simulation electricity Signal output is flowed, controller can be provided with an analog-digital converter, for the analog current letter for exporting current measurement circuit Number it is converted into data signal.Controller determines the driving force or speed that motor provides to wheel according to the data signal.
In addition, motor can be based on the electric current that current measurement circuit is sensed come controlled motor drive circuit, so that motor Drive circuit applies required driving force or speed to wheel.For example, controller can include pulse width modulation (PWM) list Member, the pwm unit are coupled to metal-oxide-semiconductor driver to control metal-oxide-semiconductor driver；Thus, controller controlled motor Drive circuit provides electric current to motor.
In addition, the chassis body 100 can be surface plate (for example, bottom plate of luggage case) or curved slab (for example, part Spherical shape), at least three universal wheel is evenly-spaced installed in the lower section of the chassis body, so that the chassis sheet Body steadily moves when along rectilinear movement or along curve movement.
In a preferred embodiment, as shown in Fig. 3 clearly, at least three universal wheel is respectively by corresponding Connector 200 be connected to the chassis body, be provided with reinforcing plate between the connector 200 and the chassis body 300, the connector 200 is connected to the reinforcing plate 300 by riveting or bolting.Turn in the universal wheel (such as M1-M4) When dynamic, the connector 200 rotates with the universal wheel but the reinforcing plate 300 does not rotate with the universal wheel.It is described to add Strong part 300 is fixed to the lower surface of the chassis body.Preferably, in the combination of the connector 200 and the reinforcer 300 Place can set a pad 400, to keep effective combination between the connector and the reinforcer.In addition, such as Fig. 2- Clearly shown in Fig. 4, the connector 200 can be made into integration, and be arranged in the interior of the universal wheel M1-M4 Side.
Furthermore the present invention also provides a kind of method for the intelligent mobile chassis walking for controlling any of the above-described, this method is used In realizing that the intelligent mobile chassis moved with predetermined walking manner towards target point, the controller is configured as according to following Step control applies to the driving force or speed of at least three universal wheel：
(a) each universal wheel (for example, M1-M4) is obtained relative to the setting positive direction of the chassis body (for example, Fig. 2 In D1) angle information；
(b) obtain each universal wheel from the central point (for example, C1) of the chassis body with a distance from, it is each universal to determine The arm of force information of wheel；
(c) determine the direction from the central point of the mobile chassis at least one target point (for example, P1) (for example, Fig. 1 In for the signified direction of the arrow from C1 to P1)；
(d) determine to treat to apply to the driving force or speed of each universal wheel (for example, M1-M4), to apply Extremely the direction of the vector of the driving force of at least three universal wheel or speed in above-mentioned steps (c) with determining from the shifting The direction of central point at least one target point on dynamic chassis is identical.
In a preferred embodiment, methods described is further comprising the steps of：
(e) make a concerted effort decompose by way of, obtain at least three universal wheel make a concerted effort respectively positive direction and with The size of making a concerted effort of its vertical vertical direction.
In a preferred embodiment, methods described is further comprising the steps of：
According to following first Constrained equations (1), it is determined that treat to apply to the vector size of the driving force of each universal wheel, The vector of the driving force of wherein described each universal wheel meets following respectively in positive direction D1 and the vertical direction vertical with D1 Constraint equation：
Wherein fiIt is the driving force of application to be determined to each universal wheel, αiIt is each universal wheel relative to the chassis The setting positive direction D1 of body angle, λ1For the first empirical, at least one target point is in the chassis Heart point C1 distance and angle is (ρ, θ).
In a preferred embodiment, methods described is further comprising the steps of：
Assuming that the speed S of driving force and universal wheeliIt is directly proportional, then according to following second Constrained equations (2), it is determined that waiting to want Apply to the vector size of the speed of each universal wheel, with cause the vector of the speed of each universal wheel positive direction with And perpendicular vertical direction meets following constraint equation respectively：
Wherein SiIt is the speed of application to be determined to each universal wheel, αiIt is each universal wheel relative to the chassis sheet The setting positive direction D1 of body angle, λ1For the first empirical, at least one target point is apart from the center on the chassis Point C1 distance and angle is (ρ, θ).
Preferably, methods described also includes being used for the following steps for carrying out the intelligent mobile chassis pose adjustment：
The driving force to be applied to each universal wheel is calculated, the resultant moment of the driving force meets following 3rd constraint side Journey：
WhereinIt is arm of force vector of each universal wheel relative to chassis body central point,It is application to be determined to every The velocity of individual universal wheel, the velocity is directly proportional to the driving force vector of application to be determined to each universal wheel, f (x) linear function, constant function, power function, the simple harmonic oscillation function or specified to need to set according to pose adjustment control Any of ordinal function.
For example, as those skilled in the art according to the disclosure teaching it is contemplated that, can by f (x) set exemplified by Such as linear function λ2θ (such as illustrated below), can also be set as constant function, power function, simple harmonic oscillation function, specify Ordinal function or other any functions.Different f (x) type function is set, the walking posture on intelligent mobile chassis will be determined Advanced according to different attitudes vibration modes.
In a preferred embodiment, methods described also includes being used to carry out pose adjustment to the intelligent mobile chassis Following steps：
The driving force to be applied to each universal wheel is calculated, the resultant moment of the driving force meets following 4th constraint side Journey：
WhereinIt is arm of force vector of each universal wheel relative to chassis body central point C1,For application to be determined extremely The velocity of each universal wheel, the velocity is directly proportional to the driving force vector of application to be determined to each universal wheel, λ2For the second empirical, the straight line of at least one target point to central point is with the positive direction angulation vector
Preferably, the 4th constraint equation can also be converted into the 5th constraint equation of following scalar form：∑liSi sin(αi-βi)=λ2θ (5)。
Advantageously, when needing to control posture, it is only necessary to change λ2θ items, above-mentioned Constrained equations can using abbreviation as Linear Constraints, so according to numerical analysis method, S can be calculated in real timei, so as to reach the purpose of real-time attitude control.
By universal according to the 3rd constraint equation, the 4th constraint equation or the 5th constraint equation, control described at least three The driving force of wheel or the resultant moment of speed, the adjustment of walking posture can be carried out to the intelligent mobile chassis, makes it along song Line walking manner or arbitrarily setting sequence (that is, can meet the 3rd constraint equation, the 4th constraint equation or the 5th constraint by choosing The f of equationiOr SiMultiple data acquisition systems in selected set realize) advance at least one target point.
Preferably, satisfaction can be solved to cause | Si| absolute value sum minimize Si, according to the f calculatediOr Si's Set, the controller apply corresponding power or speed to corresponding each universal wheel.For example, in the situation of four universal wheels Under, calculate and meet to cause f1To f4Absolute value sum minimize f1、f2、f3、f4, or calculate and meet to cause S1To S4It is exhausted The S minimized to value sum1、S2、S3、S4).The execution step enables to apply to the driving force of each motor or speed And minimum, consequently facilitating making the intelligent mobile chassis be moved to according to predetermined walking manner in the case where most saving electric power At least one target point, to save the power consumption on intelligent mobile chassis.
In a preferred embodiment, the controller on the intelligent mobile chassis includes memory and processor, wherein The memory storage has computer instruction, and above-described one can be realized when the computer instruction is executed by processor Or multiple steps.
After current mobile control or pose adjustment control is carried out, it can recalculate at regular intervals, to repeat Above-mentioned calculating process, so as to realize continuously to the intelligent mobile chassis or the intelligent mobile device move control and Pose adjustment controls so that the intelligent mobile chassis or the intelligent mobile device can advance to according to predetermined walking path At least one target point.
Specifically, with reference to the intelligent mobile chassis provided in Fig. 6 embodiment rough schematic view, can pass through Following manner explains the method walked according to the control intelligent mobile chassis of the present invention：
As shown in fig. 6, a positive direction (D1, other directions can be set as needed as positive direction) be present in setting chassis, All angle informations (including angular transducer provide) are commonly referred to as the angle with the setting positive direction.In addition, it is assumed that should The central point of the chassis body on intelligent mobile chassis is C1.
Universal wheel be marked as in figure 6 M1-M4 (it is assumed herein that be 4 universal wheels, or three or more than four). , can known each distance of the universal wheel apart from center chassis according to chassis design structure and angular transducer and other sensors For li(wherein " i " refers to the number or numbering of universal wheel), straight line and setting between each universal wheel and device central point Angle between positive direction is βi(such as the β shown in Fig. 61、β2、β3、β4), each universal wheel relative to positive direction angle Information is αi(such as the α shown in Fig. 61、α2、α3、α4), the distance and angle of the target point distance center point of wheel for (ρ, θ)。
The Given information obtained more than, it is contemplated that equilibrium condition, the resultant direction that chassis four wheels provide should be with Target point is consistent, therefore can obtain the first Constrained equations by that will make a concerted effort to decompose according to positive direction and its vertical direction：
Wherein ∑ ficosαi=λ1ρ cos θ are the constraint equation that positive direction is made a concerted effort,
∑fisinαi=λiρ sin θs are the constraint equation that the vertical direction vertical with positive direction is made a concerted effort.
It is assumed that the driving force f of universal wheeliWith speed SiDirectly proportional, then it is second about that first Constrained equations are rewritable Beam equation group：
Above-mentioned first Constrained equations and the second Constrained equations can be carry out straight line moving control when, according to it is above-mentioned Know parameter be used for calculate solution driving force fiOr speed SiConstrained equations.As long as meet the driving force of above-mentioned Constrained equations fiOr speed SiOne or more values (for example, selected set in multiple optionally numerical value set) can apply to corresponding Universal wheel, with realize the intelligent mobile chassis is moved at least one target point.
Preferably, it can also further calculate satisfaction and cause f1To f4Absolute value sum minimize f1、f2、f3、f4, or Person, which calculates, to be met to cause S1To S4Absolute value sum minimize S1、S2、S3、S4).The execution step enables to apply to every The driving force of individual motor or speed and minimize.
When carrying out pose adjustment to intelligent mobile chassis, the resultant moment of each universal wheel can be caused to meet the following 4th Constrained equations (or being referred to as " pose adjustment Constrained equations ")：
5th Constrained equations can be converted into the 4th Constrained equations of following scalar form：
∑liSisin(αi-βi)=λ2θ (5)
When needing to control posture, it is only necessary to change λ2θ items, such as by by λ2θ be changed to other linear relationships, The numerical value set of constant relation, power function relationship or specified sequence, it is possible to achieve more complicated gesture stability.On for example, Constrained equations (1)-(5) are stated, can be Linear Constraints by abbreviation.According to numerical analysis method, can be stated about to above-mentioned Any one or more in beam equation group (1)-(5) are calculated in real time, with to unknown quantity fiOr SiSolved, and according to meter The f calculatediOr SiThe driving force or speed of the corresponding motor of control, mobile control in real time is carried out to intelligent mobile chassis so as to reach Or the purpose of gesture stability.
After current mobile control or pose adjustment control is carried out, it can recalculate at regular intervals, to repeat Above-mentioned calculating process, so as to realize continuously to the intelligent mobile chassis or the intelligent mobile device move control and Pose adjustment controls so that the intelligent mobile chassis or the intelligent mobile device can advance to according to predetermined walking path At least one target point.
Another aspect of the present invention provides a kind of intelligent mobile device, and it includes the intelligence based on universal wheel of any of the above-described Can mobile chassis.In a preferred embodiment, the intelligent mobile device is intelligent walking luggage case or the wheeled machine of intelligence Device people.But the invention is not restricted to above-mentioned certain types of intelligent mobile device, but be intended to include above-mentioned intelligent mobile Any type of intelligent mobile device on chassis.
Another aspect, the present invention provide a kind of computer-readable recording medium, are stored thereon with computer instruction, the meter The step of instruction of calculation machine realizes any of the above-described method when being executed by processor.
In addition, it should be understood that " directly proportional " specifically described herein covers the situation of " substantially directly proportional ", such as error is being marked " the situation within ± 10% " scope of quasi- value.
Although being described in detail by example embodiment, preceding description is all illustrative in all respects rather than limit Property processed.It should be appreciated that can be designed that a number of other remodeling and variant without departing from the scope of example embodiment, these all fall Enter protection scope of the present invention.Therefore, protection scope of the present invention should be determined by the appended claims.

Claims (10)

1. a kind of intelligent mobile chassis based on universal wheel, it is characterised in that the intelligent mobile chassis includes chassis body, control Device processed and at least three universal wheels, at least three universal wheel is arranged on the lower surface of the chassis body, each universal It is separately provided for driving the motor of the universal wheel in wheel, wherein the controller and the motor in each universal wheel Electrically connect and can be according to the distance and bearing information of the intelligent mobile chassis at least one target point to be moved arrived Control is respectively applied to the size of current of motor and the rotation direction of motor in each universal wheel, wherein applying to each universal The size of the electric current of motor in wheel applies directly proportional to the driving force of corresponding universal wheel or speed with the motor.
2. the intelligent mobile chassis according to claim 1 based on universal wheel, it is characterised in that the controller includes depositing Reservoir and processor, wherein the memory storage has computer instruction, the computer instruction can when being executed by processor Realize following steps：
(a) angle information of each universal wheel relative to the setting positive direction of the chassis body is obtained；
(b) obtain with a distance from each central point of the universal wheel from the chassis body, to determine the arm of force information of each universal wheel；
(c) determine from the central point of the mobile chassis to the direction of at least one target point；
(d) determine to treat to apply to the driving force of each universal wheel or speed, to apply to described 10,000 The direction of the vector of driving force or speed to wheel and the central point from the mobile chassis that is determined in above-mentioned steps (c) to The direction of at least one target point is identical.
3. the intelligent mobile chassis according to claim 1 based on universal wheel, it is characterised in that the intelligent mobile chassis Including three universal wheels, three universal wheels following table arranged spaced apart on the intelligent mobile chassis relatively triangular in shape Face；Or the intelligent mobile chassis includes four universal wheels, four universal wheels are relatively rectangular or other geometries It is arranged spaced apart in the lower surface on the intelligent mobile chassis.
4. the intelligent mobile chassis according to claim 1 or 2 based on universal wheel, it is characterised in that the intelligent mobile Chassis also includes one or more angular transducers corresponding with least three universal wheel difference, the angular transducer Universal wheel is internal or external corresponding to being arranged on and is configured as measuring the angle of corresponding universal wheel, wherein measured Universal wheel angle for the universal wheel relative to the setting positive direction of the chassis body angle.
A kind of 5. intelligent mobile device, it is characterised in that including according to any one of claim 1-4 based on universal wheel Intelligent mobile chassis.
6. a kind of method of the intelligent mobile chassis walking controlled according to any one of claim 1-4, this method are used for Realize that the intelligent mobile chassis is moved with predetermined walking manner towards target point, it is characterised in that the controller is configured To be applied according to following steps control to the driving force or speed of at least three universal wheel：
(a) angle information of each universal wheel relative to the setting positive direction of the chassis body is obtained；
(b) obtain with a distance from each central point of the universal wheel from the chassis body, to determine the arm of force information of each universal wheel；
(c) determine from the central point of the mobile chassis to the direction of at least one target point；
(d) determine to treat to apply to the driving force of each universal wheel or speed, to apply to described 10,000 The direction of the vector of driving force or speed to wheel and the central point from the mobile chassis that is determined in above-mentioned steps (c) to The direction of at least one target point is identical.
7. the method for control intelligent mobile chassis according to claim 6 walking, it is characterised in that methods described also includes Following steps：
(e) by way of making a concerted effort to decompose, being hung down respectively in positive direction and with it with joint efforts at least three universal wheel is obtained The size of making a concerted effort of straight vertical direction.
8. the method for the control intelligent mobile chassis walking according to claim 6 or 7, it is characterised in that methods described is also Comprise the following steps：
It is determined that treat to apply to the vector size of the driving force of each universal wheel, wherein the arrow of the driving force of each universal wheel Measure and meet following first Constrained equations respectively in positive direction and perpendicular vertical direction：
<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mo>&amp;Sigma;</mo> <msub> <mi>f</mi> <mi>i</mi> </msub> <msub> <mi>cos&amp;alpha;</mi> <mi>i</mi> </msub> <mo>=</mo> <msub> <mi>&amp;lambda;</mi> <mn>1</mn> </msub> <mi>&amp;rho;</mi> <mi>cos</mi> <mi>&amp;theta;</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>&amp;Sigma;</mo> <msub> <mi>f</mi> <mi>i</mi> </msub> <msub> <mi>sin&amp;alpha;</mi> <mi>i</mi> </msub> <mo>=</mo> <msub> <mi>&amp;lambda;</mi> <mn>1</mn> </msub> <mi>&amp;rho;</mi> <mi>sin</mi> <mi>&amp;theta;</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow>
Wherein fiIt is the driving force of application to be determined to each universal wheel, αiIt is each universal wheel relative to the chassis body Positive direction angle, λ1For the first empirical, the distance of central point of at least one target point apart from the chassis, It is respectively (ρ, θ) with the straight line of the target point to central point and the positive direction angulation.
9. the method for the control intelligent mobile chassis walking according to claim 6 or 7, it is characterised in that methods described is also Including the following steps for carrying out pose adjustment to the intelligent mobile chassis：
The driving force to be applied to each universal wheel is calculated, the resultant moment of the driving force meets following 3rd constraint equation：
<mrow> <mo>&amp;Sigma;</mo> <mover> <msub> <mi>l</mi> <mi>i</mi> </msub> <mo>&amp;RightArrow;</mo> </mover> <mo>&amp;times;</mo> <mover> <msub> <mi>S</mi> <mi>i</mi> </msub> <mo>&amp;RightArrow;</mo> </mover> <mo>=</mo> <mi>f</mi> <mrow> <mo>(</mo> <mi>x</mi> <mo>)</mo> </mrow> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>3</mn> <mo>)</mo> </mrow> </mrow>
WhereinIt is arm of force vector of each universal wheel relative to chassis body central point,For application to be determined to each ten thousand To the velocity of wheel, the velocity is directly proportional to the driving force vector of application to be determined to each universal wheel, and f (x) is Linear function, constant function, power function, simple harmonic oscillation function or the specified sequence letter for needing and setting are controlled according to pose adjustment Any of number.
10. a kind of computer-readable recording medium, is stored thereon with computer instruction, it is characterised in that the computer instruction Realized when being executed by processor according to the step of claim 6-9 methods describeds.
CN201711030488.2A 2017-10-27 2017-10-27 Intelligent mobile chassis, intelligent mobile device based on universal wheel and traveling method is controlled accordingly Withdrawn CN107640016A (en)

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Application Number Priority Date Filing Date Title
CN201711030488.2A CN107640016A (en) 2017-10-27 2017-10-27 Intelligent mobile chassis, intelligent mobile device based on universal wheel and traveling method is controlled accordingly
CN201810810676.5A CN109674162B (en) 2017-10-27 2018-07-20 Self-driven luggage case and self-driving device
CN201821164672.6U CN209449955U (en) 2017-10-27 2018-07-20 From driving luggage case and from driving chassis
CN201821164125.8U CN209594953U (en) 2017-10-27 2018-07-20 From driving luggage case and from driving chassis
PCT/CN2018/096545 WO2019080559A1 (en) 2017-10-27 2018-07-20 Smart self-driving systems with motorized wheels
CN201810810519.4A CN109602131B (en) 2017-10-27 2018-07-20 Self-driven luggage case and self-driven chassis
CN201911090341.1A CN110786609B (en) 2017-10-27 2018-07-20 Self-driven luggage case and self-driving device
CN201911090338.XA CN110764508B (en) 2017-10-27 2018-07-20 Self-driven luggage case and self-driven device
US16/046,194 US10271623B1 (en) 2017-10-27 2018-07-26 Smart self-driving systems with motorized wheels
US16/292,872 US11439215B2 (en) 2017-10-27 2019-03-05 Smart self-driving systems with motorized wheels

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CN201810810519.4A Active CN109602131B (en) 2017-10-27 2018-07-20 Self-driven luggage case and self-driven chassis
CN201911090341.1A Active CN110786609B (en) 2017-10-27 2018-07-20 Self-driven luggage case and self-driving device
CN201821164125.8U Active CN209594953U (en) 2017-10-27 2018-07-20 From driving luggage case and from driving chassis
CN201821164672.6U Active CN209449955U (en) 2017-10-27 2018-07-20 From driving luggage case and from driving chassis
CN201810810676.5A Active CN109674162B (en) 2017-10-27 2018-07-20 Self-driven luggage case and self-driving device
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CN201821164125.8U Active CN209594953U (en) 2017-10-27 2018-07-20 From driving luggage case and from driving chassis
CN201821164672.6U Active CN209449955U (en) 2017-10-27 2018-07-20 From driving luggage case and from driving chassis
CN201810810676.5A Active CN109674162B (en) 2017-10-27 2018-07-20 Self-driven luggage case and self-driving device
CN201911090338.XA Active CN110764508B (en) 2017-10-27 2018-07-20 Self-driven luggage case and self-driven device

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