CN110562001A - Walking type height intelligent adjusting carrier - Google Patents
Walking type height intelligent adjusting carrier Download PDFInfo
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- CN110562001A CN110562001A CN201910815030.0A CN201910815030A CN110562001A CN 110562001 A CN110562001 A CN 110562001A CN 201910815030 A CN201910815030 A CN 201910815030A CN 110562001 A CN110562001 A CN 110562001A
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- vehicle
- control system
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- vehicle body
- motor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/001—Arrangements for attachment of dampers
- B60G13/003—Arrangements for attachment of dampers characterised by the mounting on the vehicle body or chassis of the damper unit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
- B60G17/08—Characteristics of fluid dampers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0038—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the wheel axle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
Abstract
The invention discloses a walking type intelligent height adjusting carrier which comprises an upper mounting module, a vehicle body module, a suspension module, a detection positioning system and a control system, wherein the suspension module is arranged at the bottom of the vehicle body module; the detection positioning system and the control system are arranged on the vehicle body module, and the control system is connected with the detection positioning system and the suspension module respectively. The riding comfort and the stability of the vehicle are enhanced, the vehicle has high maneuverability, can be remotely transported, patrolled and reconnaissance, can have high maneuverability under the condition of cross-country road, can adjust the height and the posture of the vehicle body according to the working condition requirement, and can be used for remote transportation, patrolling and reconnaissance.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a walking type height intelligent adjusting carrier.
background
The vehicle model of katahh produced in italy as early as many years ago obtains the competitive bidding of the universal 4 x 4 light off-road vehicle developed by the army in the united states, and the vehicle is mainly characterized by four-wheel double-cross-arm independent suspension and four-wheel drive. Due to the superior performance in gulf war. Basically becomes a high-maneuverability pronoun, and thus raises the wave of developing 3 rd generation light high-maneuverability off-road vehicles in all countries of the world. However, domestic research on light and high-mobility off-road vehicles is still basically blank. Although many vehicle models are called high mobility vehicles, this is not the case in practice.
The high mobility vehicle needs to be capable of implementing the forces of arms, the maneuvers of arms and the accompanying operations, ensuring the capability of rapidly reaching a destination during a task, and rapidly passing through the fluctuation, the muddy state, the desert, the beach, the accumulated snow, the jungle, the water barrier and the geometric barrier of which the mobility is difficult to pass by other wheeled vehicles, so that the high performance vehicle has the mobility close to that of the all-wheel driven tracked vehicle.
According to the requirement of modern equipment of military in China, the design of a high-mobility vehicle for bearing a transport tool needs to be continuously improved, and needs to be improved to a tactical platform design with tactical mobility, firepower configuration and protection capability (including electronic countermeasure), so that the high-mobility vehicle can carry an information communication, reconnaissance and ground-air percussion system, can be cooperated with other land, sea and air equipment, has strategic and battle mobility, and forms a complete operation system.
Meanwhile, public security counter-terrorism, field rescue and relief work, scientific investigation, geological exploration, overseas market, export external aid and off-road extreme sports enthusiasts also put strong demands on the type of vehicles. Therefore, the invention has wide prospect.
Disclosure of Invention
The invention aims to solve the technical problem that the walking type height intelligent adjusting carrier aims at the defects in the prior art, improves the running smoothness and stability of the carrier, has high maneuverability, can be used for remote transportation, patrol and reconnaissance, can have high maneuverability under the condition of off-road, can adjust the height and the posture of a vehicle body according to the working condition, and can be used for remote transportation, patrol and reconnaissance.
The technical scheme adopted by the invention for solving the technical problems is as follows:
A walking type intelligent height adjusting carrier comprises an upper mounting module, a vehicle body module, a suspension module, a detection positioning system and a control system, wherein the suspension module is arranged at the bottom of the vehicle body module, the upper mounting module is arranged on the vehicle body module, the upper mounting module is provided with a connecting device, the vehicle body module is used for connecting the suspension module and the upper mounting module, the suspension module is used for bearing the vehicle body module and the upper mounting module, and the bottom of the suspension module is provided with a driving wheel; the detection positioning system and the control system are arranged on the vehicle body module, and the control system is connected with the detection positioning system and the suspension module respectively.
According to the technical scheme, the detection positioning system comprises a differential DGPS, a binocular camera, a laser radar, a millimeter wave radar and a displacement sensor, wherein the differential DGPS, the binocular camera, the laser radar, the millimeter wave radar and the displacement sensor are respectively connected with the control system.
According to above-mentioned technical scheme, the number of two mesh cameras is 2, arranges in the place ahead of automobile body module, and laser radar's number is 8, arranges in automobile body module whole body, and millimeter wave radar and difference DGPS arrange in the top of automobile body module, and laser displacement sensor's number is 4, arranges in the bottom of automobile body module.
according to the technical scheme, the suspension module comprises a height adjusting speed reducing motor, two torsion bar springs, two longitudinal arms, two blade dampers and a frame, the two torsion bar springs are distributed on two sides of the height adjusting speed reducing motor, two output ends of the height adjusting speed reducing motor are respectively connected with one ends of the two torsion bar springs, the other ends of the two torsion bar springs are respectively connected and fixed with the two longitudinal arms, the two blade dampers are respectively sleeved on the two torsion bar springs, the two blade dampers are respectively connected and fixed with two ends of the height adjusting speed reducing motor, the height adjusting speed reducing motor is fixedly arranged on the frame, the outer ends of the two torsion bar springs are respectively connected with two ends of the frame through bearings, and the height adjusting speed reducing motor is connected with a control system.
According to the technical scheme, the blade shock absorber comprises a shock absorber shell and a shock absorber sleeve, the shock absorber shell is sleeved with the shock absorber sleeve, the shock absorber sleeve is sleeved on the torsion bar spring, the outer end of the shock absorber sleeve is connected with the longitudinal arm on the same side, a cavity between the shock absorber shell and the shock absorber sleeve is a sealed cavity, and shock absorption oil is filled in the cavity.
According to the technical scheme, a partition plate inside the shock absorber shell and blades on the sleeve form a sealing cavity, the outer end of the shock absorber shell is sleeved into the transverse extension section of the longitudinal arm and is connected with the longitudinal arm through a needle roller bearing, a convex shoulder of the shell is in contact with the end face of the transverse extension section of the longitudinal arm through a first thrust ball bearing, a framework oil seal is arranged inside the shock absorber shell to realize sealing with the sleeve, the inner end face of the shell is connected with the partition plate on the end face and the output shaft shell through a flange, and meanwhile, a damping hole. When the vibration reduction blades and the vibration reduction partition plate move relatively, liquid is pressed into the damping holes by pressure, damping force is generated by the throttling action of the damping holes, the vibration reduction function is realized, the electromagnetic valves are externally connected with the damping holes, and the electromagnetic valves outside the damping holes are connected with the control system, so that the damping adjustment function of the vibration absorber can be realized. When the transverse force is transmitted from the longitudinal arm, the housing shoulder bears the transverse force of the longitudinal arm through the contact with the first thrust ball bearing, and the transverse force is transmitted to the frame.
According to the technical scheme, the control system is connected with an energy supply system, and the energy supply system is a battery pack and is arranged in the vehicle body module.
According to the technical scheme, the driving wheel is connected with the wheel hub motor through the rotating shaft, the rotating shaft is provided with the wheel speed sensor, and the wheel hub motor and the wheel speed sensor are both connected with the control system.
According to the technical scheme, the hub motor is a three-phase asynchronous alternating current motor, three phase lines are connected between the hub motor and the control system and used for controlling the rotation of the hub motor, and five Hall lines are connected between the hub motor and the control system and used for controlling the rotation direction and the rotation speed of the hub motor.
According to the technical scheme, the wireless communication equipment is additionally arranged on the vehicle body module and is connected with the control system.
The invention has the following beneficial effects:
The walking type height intelligent adjusting carrier detects the running load, the speed and the road condition of the carrier through the detection positioning system, so that the height and the running state of the carrier are changed through the suspension module, the running smoothness and the running stability of the carrier are enhanced, high mobility is achieved, remote transportation, patrol and reconnaissance can be carried out, the high mobility can be achieved under the cross-country road condition, meanwhile, the height and the posture of a vehicle body can be adjusted according to working condition requirements, and the walking type height intelligent adjusting carrier can be used for remote transportation, patrol and reconnaissance.
Drawings
Fig. 1 is an elevation view of a walking height intelligent adjustment vehicle in an embodiment of the present invention;
FIG. 2 is an elevational view of a suspension module in an embodiment of the invention;
FIG. 3 is an elevational view of a body module in an embodiment of the present invention;
FIG. 4 is a front view of a body module in an embodiment of the present invention;
3 FIG. 3 5 3 is 3 a 3 sectional 3 view 3 A 3- 3 A 3 of 3 FIG. 3 4 3; 3
FIG. 6 is a schematic view of the structure of a driving wheel in the embodiment of the present invention;
FIG. 7 is a schematic diagram of the height adjustment of the walking height intelligent adjustment vehicle in an embodiment of the present invention;
FIG. 8 is a block diagram of a control architecture for a walking height intelligent adjustment vehicle in accordance with an embodiment of the present invention;
FIG. 9 is a cross-sectional view of a suspension module in an embodiment of the invention;
In the figure, 1-trailing arm, 2-blade damper, 3-worm gear reduction box, 4-transverse plate, 5-lifting lug, 6-motor, 7-binocular camera, 8-laser radar, 9-millimeter wave radar, 10-displacement sensor, 11-differential DGPS, 12-battery pack, 13-industrial personal computer, 14-single chip microcomputer, 15-driving wheel, 16-vehicle body module, 17-suspension module, 18-upper mounting module, 19-wheel speed sensor, 20-phase line and 21-Hall line;
1-4-motor support, 1-5-motor output shaft, 1-6-output shaft shell, 1-7-coupler, 1-8-partition plate, 1-9-shock absorber shell, 1-10-shock absorber sleeve, 1-11-torsion bar spring, 1-12-angular contact ball bearing, 1-13-framework oil seal, 1-14-first thrust ball bearing, 1-15-needle bearing, 1-17-second thrust ball bearing, 1-18-hollow nut, 1-19-sealing ring and 1-20-frame pin.
Detailed Description
the present invention will be described in detail below with reference to the accompanying drawings and examples.
Referring to fig. 1 to 9, the walking height intelligent adjustment carrier in one embodiment of the present invention includes an upper mounting module 18, a vehicle body module 16, a suspension module 17, a detection positioning system and a control system, wherein the suspension module 17 is disposed at the bottom of the vehicle body module 16, the upper mounting module 18 is disposed on the vehicle body module 16, and the upper mounting module 18 is provided with a connecting device for bearing materials such as an unmanned aerial vehicle and a box; the vehicle body module 16 is used for connecting the suspension module 17 and the loading module 18 and is installed on a control component of the intelligent vehicle; the suspension module 17 is used for bearing a vehicle body module 16 and an upper mounting module 18, and the bottom of the suspension module 17 is provided with a driving wheel 15; the three are in modular design, so that the reconstruction can be performed quickly;
The detection positioning system and the control system are both arranged on the vehicle body module 16, and the control system is respectively connected with the detection positioning system and the suspension module 17.
Further, the detection positioning system comprises a differential DGPS11, a binocular camera 7, a laser radar 8, a millimeter wave radar 9 and a displacement sensor 10 which are arranged on the vehicle body module 16, and the differential DGPS, the binocular camera, the laser radar, the millimeter wave radar and the displacement sensor are respectively connected with the control system; the differential DGPS11 is used for realizing vehicle positioning, the binocular camera 7 is used for path tracking and recognition, and the millimeter wave radar 9 and the multi-thread laser radar 8 are used as sensing equipment for lane keeping/collision avoidance redundancy.
Further, the number of the binocular cameras 7 is 2, the binocular cameras are arranged in front of the vehicle body module 16, the number of the laser radars 8 is 8, the binocular cameras are arranged around the vehicle body module 16, the millimeter wave radar 9 and the differential DGPS11 are arranged on the top of the vehicle body module 16, the number of the laser displacement sensors 10 is 4, and the laser displacement sensors are arranged on the bottom of the vehicle body module 16, as shown in fig. 3-5.
Further, a wheel speed sensor 19 is additionally arranged on the driving wheel 15; for acquiring a speed signal of the vehicle, the driving wheel 15 is a wheel.
Further, the laser displacement sensor 10 and the pulse type encoder are used as a collecting device for a vehicle height signal and a rotation speed signal of the height adjusting motor, and the pulse type encoder is arranged on the driving wheel 15.
Further, the suspension module 17 comprises a height adjusting gear motor, two torsion bar springs 1-11, two longitudinal arms 1, two blade dampers 2 and a frame, wherein the two torsion bar springs 1-11 are distributed on two sides of the height adjusting gear motor, two output ends of the height adjusting gear motor are respectively connected with one ends of the two torsion bar springs 1-11, the other ends of the two torsion bar springs 1-11 are respectively connected and fixed with the two longitudinal arms 1, the two blade dampers 2 are respectively sleeved on the two torsion bar springs 1-11, the two blade dampers 2 are respectively connected and fixed with two ends of the height adjusting gear motor, the height adjusting gear motor is fixedly arranged on the frame, the outer ends of the two torsion bar springs 1-11 are respectively connected with two ends of the frame through bearings, and the height adjusting gear motor is connected with a control system.
Further, the height adjusting speed reducing motor comprises a worm and gear speed reducing box 3 and a motor 6 which are connected with each other.
Further, the blade damper 2 comprises a damper shell 1-9 and a damper sleeve 1-10, the damper sleeve 1-10 is sleeved in the damper shell 1-9, the damper sleeve 1-10 is sleeved on the torsion bar spring 1-11, the outer end of the damper sleeve 1-10 is connected with the trailing arm 1 on the same side, a cavity between the damper shell 1-9 and the damper sleeve 1-10 is a sealed cavity, and damping oil is filled in the cavity.
Furthermore, a partition plate 1-8 inside the shell 1-9 of the shock absorber and a blade on the sleeve form a sealing cavity, the outer end of the sealing cavity is sleeved into the transverse extension section of the longitudinal arm 1 and is connected with the longitudinal arm 1 through a needle bearing 1-15, a shell shoulder is in contact with the end face of the transverse extension section of the longitudinal arm 1 through a first thrust ball bearing 1-14, a framework oil seal 1-13 is arranged inside the sealing cavity to realize sealing with the sleeve, the end face partition plate 1-8 and the output shaft shell 1-6 are connected with the inner end face of the shell through flanges, and meanwhile, a damping hole is formed outside the shell and is connected with the. When the vibration reduction blades and the vibration reduction partition plates 1-8 move relatively, liquid is pressed into the damping holes under pressure, damping force is generated under the throttling action of the damping holes, the vibration reduction function is achieved, the electromagnetic valves are connected with the damping holes externally, and the electromagnetic valves outside the damping holes are connected with the control system, so that the damping adjustment function of the vibration absorber can be achieved. When the longitudinal arm 1 has transverse force transmitted, the housing shoulder bears the transverse force of the longitudinal arm 1 through the contact with the first thrust ball bearings 1-14, and transmits the transverse force to the vehicle frame.
Further, the outer end of a shock absorber sleeve 1-10 is fixedly connected with the longitudinal arm 1 through a spline, the inner end of the shock absorber sleeve 1-10 is connected with a torsion bar spring 1-11 through a bearing, the inner end of the shock absorber sleeve 1-10 is provided with an end plate to form an expanded end, a sealing ring 1-19 is arranged between the inner end plate of the shock absorber sleeve 1-10 and a shock absorber shell 1-9 to realize sealing connection, the outer end face of the longitudinal arm 1 is provided with a second thrust ball bearing 1-17, the longitudinal arm 1 is connected with a frame through the second thrust ball bearing 1-17, the inner end face of the longitudinal arm 1 is provided with a first thrust ball bearing 1-14, and the longitudinal arm 1 is connected with the outer end of the shock absorber shell 1-9 through the first thrust ball.
Further, the frame comprises a frame cross plate, two frame lifting lugs 5 and two hollow nuts 1-18, the frame lifting lugs 5 are distributed at two ends of a frame transverse plate 4, the two hollow nuts 1-18 are respectively sleeved on the two frame lifting lugs 5 through threads, two torsion bar springs 1-11 are respectively connected with the two hollow nuts 1-18 through bearings, second thrust ball bearings 1-17 are arranged on the outer end face of the trailing arm 1, and the trailing arm 1 is connected with the hollow nuts 1-18 through the second thrust ball bearings 1-17; the speed reducing motor is fixedly connected with a cross plate 4 of the frame through motor brackets 1-4.
furthermore, the upper end of the frame lifting lug 5 is fixedly connected with the transverse plate 4 of the frame through a mortise and tenon structure, and frame pins 1-20 are inserted between the frame lifting lug 5 and the transverse plate 4 of the frame for fixing.
Further, a motor output shaft 1-5 of the speed reducing motor is connected with a torsion bar spring 1-11 through a coupler 1-7.
Furthermore, the outer ends of the couplers 1-7 are sleeved with output shaft shells 1-6, two ends of each output shaft shell 1-6 are respectively connected with a speed reducing motor and a blade shock absorber, and partition plates 1-8 are connected between the blade shock absorbers and the output shaft shells 1-6.
Furthermore, the suspension module 17 is internally integrated with an elastic element, a damping element, components for driving, steering, braking and the like, and is quickly installed with the vehicle body through a standard interface, so that the structure is simple and compact, the suspension can be quickly assembled, and the damping, the spring stiffness and the vehicle body posture of the suspension can be quickly adjusted according to the requirements, thereby greatly improving the maneuverability of the carrier; the active adjustable damping of the shock absorber is that the electromagnetic valve is arranged in an external oil way of the blade shock absorber 2, and the damping of the shock absorber can be controlled with extremely low energy consumption by adjusting the duty ratio of the electromagnetic valve, in addition, the blade shock absorber 2 also has the advantages of large thermal load and strong shock resistance, and is more suitable for being applied to high-mobility off-road vehicles; the elastic element with the actively adjustable spring stiffness is the torsion bar spring 1-11, has compact structure, does not need lubrication and maintenance, and can change the spring stiffness through the adjustment of pretightening force; the frame is connected with and fixed with automobile body module 16, and the frame includes diaphragm 4 and two lugs 5, and two lugs 5 are arranged at the both ends of cross board, and altitude mixture control gear motor includes motor and worm gear reducing box 3, and the output of motor is connected with the input of worm gear reducing box 3, and two outputs of worm gear reducing box 3 are connected with the one end of two torsion bar springs 1-11 respectively.
The control system mainly comprises an execution layer, a perception layer, a decision layer and electrical components forming the three control layers. The execution layer comprises a vehicle height control and vehicle posture adjusting system and a basic behavior control system for the movement, stop, rotation and the like of the carrier, the sensing layer mainly comprises a path recognition system and an obstacle recognition system, and the decision layer is mainly responsible for processing relevant information of the sensing layer and initiating an instruction to the execution layer after processing.
Further, the control system is connected with an energy supply system, which is a battery pack 12 and is arranged in the vehicle body module 16.
Further, control system includes that industrial computer 13 and/or singlechip 14 arrange in automobile body module 16, is equipped with corresponding interface on the automobile body module 16, can dock with facial make-up module 18 and suspension module 17.
Further, the driving wheel 15 is connected with a wheel hub motor through a rotating shaft, the rotating shaft is provided with a wheel speed sensor 19, and both the wheel hub motor and the wheel speed sensor 19 are connected with a control system; the wheel speed sensor 19 is used to collect a speed signal of the vehicle.
Furthermore, the hub motor is a three-phase asynchronous alternating current motor, three phase lines 20 are connected between the hub motor and the control system, the three phase lines 20 are used for controlling the rotation of the hub motor, five hall lines 21 are further connected between the hub motor and the control system, and the five hall lines 21 are used for controlling the rotation direction and the rotation speed of the hub motor.
Furthermore, the control system can decide the motion state of the vehicle according to the remote sensing signals or the signals of each sensor, control the actions of the electric wheels and the suspension system, realize the actions of acceleration, braking, obstacle crossing and the like, and adapt to the actual motion requirements of the vehicle under different working conditions; the energy supply system supplies power for the hub motor or the wheel edge motor, the vehicle body height adjusting motor, the shock absorber damping adjusting electromagnetic valve, the control system circuit and the matched related sensors.
further, the upper assembling module 18 is used for carrying required tools, and different types of interfaces are designed between the upper assembling module 18 and the vehicle body module 16 in a matched mode, so that a fire control system or a reconnaissance system and the like can be matched on the high-mobility walking type height intelligent adjusting vehicle according to different task requirements.
further, the vehicle body module 16 is additionally provided with wireless communication equipment, and the wireless communication equipment is connected with the control system; the wireless communication equipment ensures remote human remote control intervention.
a control method adopting the walking type height intelligent adjusting carrier comprises the following steps: the control system acquires the position of the carrier, the road condition, the speed, the rotating speed of each driving wheel 15 and the yaw angular velocity through the detection positioning system; the control system determines the driving torque of each wheel according to the acquired information and judges whether the vehicle runs in a straight line or turns; if the vehicle is in straight line driving, judging whether the vehicle is in slip according to the slip rate, if so, carrying out a driving anti-slip control strategy, and if not, enabling the torque to be evenly distributed; if the vehicle is judged to be in turning driving, whether the vehicle is in risk of steering instability is further determined, if the vehicle is in risk of steering instability, the vehicle enters a stability control strategy, so that the vehicle is ensured to normally turn, and otherwise, the vehicle directly enters a differential speed cooperative control strategy.
furthermore, the driving anti-skid control strategy is to aim at some wheel slip conditions, such as uphill, low and split road surfaces, the system monitors the slip rate of the wheels in real time, the deviation of the actual wheels acquired by the wheel speed sensor 19 and the ideal value is used, the output torque of the driving motor is adjusted through the control system, the longitudinal vehicle speed and the road surface adhesion are estimated through multi-sensor fusion, which one or more wheel slip rates exceed the control threshold is identified, the expected torque of the wheel side motor is determined through the improved PID controller, and therefore the controlled wheels are kept near the ideal slip rate.
Further, the differential speed cooperative control strategy is that the control system calculates the wheel speeds of the inner side wheels and the outer side wheels required for reaching the expected yaw rate according to the difference value between the actual yaw rate and the expected yaw rate of the vehicle, wherein a three-dimensional lookup table about the vehicle speed, the yaw rate and the differential speed degree needs to be obtained through actual experimental data fitting, and the control system obtains the wheel rim moment of each wheel through sliding mode control according to the expected wheel speed input by upper layer control and the current actual wheel speed, so that the inner side wheels and the outer side wheels are subjected to differential speed, and differential steering of the vehicle is realized.
Further, the vehicle body stability control strategy is that the control system selects yaw velocity, mass center slip angle and roll angle velocity as state variables representing the vehicle body stability, and determines the expected generalized control moment through sliding mode control; by utilizing a quadratic programming algorithm and taking the minimum tire adhesion utilization rate as an optimization index, the expected moment is optimally distributed in the wheel side moment of each wheel, so that instability risks such as insufficient/excessive steering, rollover on a high-adhesion road surface, sideslip risk rollover on a low-adhesion road surface and the like of the vehicle are solved by controlling the yaw stability and the roll stability of the vehicle.
The torque distribution module mainly comprises a single chip microcomputer 14, a hub motor and a rotating speed sensor, actual wheels acquired by a wheel speed sensor 19 of the module are deviated from command values of the single chip microcomputer 14, and input voltage of a wheel edge motor is changed through a PID controller, so that the output torque of the motor is changed, and differential driving of an inner wheel and an outer wheel is achieved.
The working principle of the invention is as follows:
A walking type height intelligent adjusting carrier comprises a mechanical power unit and a control system unit of the intelligent carrier. The mechanical power unit mainly comprises a vehicle body module 16, an upper mounting module 18 and a suspension module 17, can actively control the suspension to adjust the height of the vehicle body, adjust the damping and adjust the rigidity of the spring, and has extremely strong active displacement adjusting capability. The control system of the intelligent carrier comprises an intelligent carrier body height control system and a running control system of the intelligent carrier. The intelligent vehicle body height control system is used for adjusting the height of a vehicle body, so that the vehicle can keep the optimal height of the vehicle body under different working conditions, for example, the height of the vehicle body can be reduced during high-speed running so as to improve the operation stability during high-speed running; the running control system of the intelligent vehicle is used for ensuring that the vehicle is always in a normal and stable running state, for example, wheels do not slip when the vehicle runs in a straight line.
Further, referring to fig. 1 and 2, the suspension module 17 is shown in the figure, and has a structure of a trailing arm 1, a blade damper 2, a worm and gear reduction box 3, a transverse plate 4, a lifting lug 5, a motor 6, and a worm and gear reduction box 3 for reducing the speed of the motor, wherein the lifting lug 5 is connected with a vehicle body module 16.
Furthermore, the suspension module 17 is internally integrated with components including an elastic element, a damping element, driving, steering, braking and the like, and is quickly installed with the vehicle body through a standard interface, so that the structure is simple and compact, and the suspension module can be quickly assembled. And the damping of the shock absorber of the suspension, the rigidity of the spring and the posture of the vehicle body can be quickly adjusted according to the requirements, so that the maneuverability of the carrier is greatly improved.
Furthermore, the active adjustable damping of the shock absorber is realized by arranging an electromagnetic valve in an external oil way of the blade shock absorber 2, and the damping of the shock absorber can be controlled with extremely low energy consumption by adjusting the duty ratio of the electromagnetic valve, in addition, the blade shock absorber 2 also has the advantages of large thermal load and strong shock resistance, and is more suitable for being applied to high-mobility off-road vehicles.
Furthermore, the elastic element with the actively adjustable spring stiffness adopts torsion bar springs 1-11, is compact in structure, does not need lubrication and maintenance, and can change the spring stiffness through pretightening force adjustment.
further, referring to fig. 3, a schematic diagram of the body module 16 is shown, and various sensors are disposed on the body module 16. Wherein two binocular cameras 7 are equipped with in automobile body the place ahead, 8 lidar 8 whole bodies are arranged, and millimeter wave radar 9 and difference DGPS11 arrange the top layer at the automobile body, and 4 laser displacement sensor 10 are installed respectively at the automobile body bottom. Referring to fig. 4, a cross-sectional view of the body module 16 is shown, in which the battery pack 12, the industrial personal computer 13, and the single chip microcomputer 14 are arranged. The body module 16 has corresponding interfaces for interfacing with the upper mount module 18 and the suspension module 17.
Further, referring to fig. 6, there is shown a schematic view of a wheel portion of the present invention in which a wheel speed sensor 19 is mounted on a kingpin for measuring the rotational speed of each wheel. The hub motor selected by the invention is a three-phase asynchronous alternating current motor, and comprises three phase lines 20 for controlling the rotation of the motor, and five Hall lines 21 for controlling the rotation direction and the rotation speed of the motor
Further, a central control system and an energy supply system are arranged inside the vehicle body module 16: the central control system can decide the motion state of the vehicle according to the remote sensing signals or the signals of the sensor, control the actions of the electric wheels and the suspension system, realize the actions of acceleration, braking, obstacle crossing and the like, and adapt to the actual motion requirements of the vehicle under different working conditions; the energy supply system supplies power for the hub motor or the wheel edge motor, the vehicle body height adjusting motor, the shock absorber damping adjusting electromagnetic valve, the central control system circuit and the matched related sensors.
Further, the upper assembling module 18 is used for carrying required tools, and different types of interfaces are designed between the upper assembling module 18 and the vehicle body module 16 in a matching manner, so that a fire control system or a reconnaissance system and the like can be matched on the high-mobility walking type intelligent vehicle according to different task requirements.
Further, the perception layer of the intelligent vehicle comprises a differential DGPS11, a binocular camera 7, a laser radar 8, a millimeter wave radar 9 and a laser displacement sensor 10. Wherein difference DGPS11 is used for realizing the vehicle location, adopts binocular camera 7 to carry out route tracking and discernment, and millimeter wave radar 9 and multithread laser radar 8 are arranged around the body, and as the redundant perception equipment of lane keeping/collision avoidance, adopt laser displacement sensor 10 and pulsed encoder as the collection system of vehicle height signal and height control motor rotational speed signal, drive wheel 15 installs additional fast sensor 19 of wheel, gathers the speed signal of carrier, installs wireless communication equipment additional in order to ensure long-range artificial remote control intervention.
Furthermore, a decision layer of the intelligent vehicle receives signals transmitted from the sensing layer, and determines the behaviors of the vehicle, including driving, braking, steering and crawling, through analysis and calculation.
Furthermore, the vehicle body height adjusting system is mainly used for adjusting the height of a vehicle during running, so that the height level of the vehicle body is maintained, the vehicle body is always at a proper height, and the smoothness of the vehicle is improved.
Furthermore, the vehicle body posture adjusting system can accurately identify the outline of the obstacle in front of the vehicle and obtain the size l of the widest part of the obstacle in frontmaxAnd the size h of the highest pointmaxThe system determines how to make the vehicle efficiently and safely cross the obstacle ahead according to the acquired information, and makes decisions including driving directly over the obstacle, lifting the vehicle body, climbing over the obstacle, and detouring. After making a decision, the system sends a signal to the vehicle body height adjusting module to change the angle between the trailing arm 1 and the road surface, so as to change the vehicle body posture.
Further, referring to fig. 7, it is a structural diagram of an intelligent vehicle body posture adjusting system, and the adjusting step of the intelligent vehicle body posture adjusting system includes:
When an obstacle exists in the forward direction of the vehicle, the binocular camera 7 collects the outline information of the obstacle, the laser displacement sensor 10 collects the height information of the vehicle body in real time, and then the wheel speed sensor 19 is used for assisting in collecting the current speed information.
The information received by the camera and the sensor is input to the industrial personal computer 13, and the industrial personal computer 13 calculates the size l of the widest position of the front obstacle according to the input informationmaxAnd the size h of the highest pointmax. Dimension h of the highest pointmaxLess than h1When the vehicle is driven, the vehicle directly passes over the obstacle; dimension h of the highest pointmaxGreater than h1But less than h2And the track width is larger than the dimension l at the widest positionmaxWhen the vehicle body is lifted to cross the obstacle; dimension h of the highest pointmaxGreater than h2But less than h3in time, the vehicle is caused to "climb over" the barrier; dimension h of the highest pointmaxGreater than h4While the vehicle is caused to bypass the obstacle. The industrial personal computer 13 calculates a proper vehicle body attitude according to the above conditions, and outputs a signal to control the height adjuster.
The height adjuster works, and the height adjuster drives the longitudinal arm 1 to rotate through the torsion bar springs 1-11, so that the angle between the longitudinal arm 1 and the road surface is changed, and the posture of the vehicle body is adjusted.
Further, the "crawling" state specifically means that the postures of the four trailing arms 1 are independently adjusted, the wheels are used as the "feet", the suspension trailing arms 1 are used as the "limbs", and the "crawling" action is simulated, and even the jumping action can be simulated through the cooperative control with the braking system.
Furthermore, the height adjusting mechanism takes a driving motor and a worm gear reducer as driving parts for height adjustment, when the height of the vehicle body needs to be adjusted, the driving motor drives an output shaft of the reducer to rotate, the output shaft twists a torsion bar spring 1-11 fixedly connected with the trailing arm 1 through a coupling 1-7, so that the angle between the trailing arm 1 and the vehicle body is changed, and the posture of the vehicle body is further changed.
Further, referring to fig. 8, it is a structural diagram of an intelligent vehicle driving control system, in this example, the intelligent vehicle driving control system is composed of the following modules: the anti-skid braking system comprises an anti-skid driving control system, a vehicle body stability control system, a differential steering control system, a driving and power-off braking module, a torque distribution module and a hub motor control system.
Furthermore, the intelligent vehicle running control system mainly comprises a vehicle control unit, a hub motor control system, a hub motor, a power battery and various sensors. Firstly, the differential DGPS11 is used as a main navigation positioning device, and the millimeter wave radar 9 and the camera are used as a perception collision avoidance device. On the basis, the aim of maximizing safety and environmental robustness is taken into consideration, an embedded controller is adopted, the laser radar 8 is added to serve as lane keeping/collision avoidance redundancy, following of a vehicle queue can be expanded, automatic driving under multi-bend environments in mountainous areas and complex road conditions can be achieved, wireless communication equipment is additionally arranged, and remote control intervention can be achieved.
In step S1, the sensing layer of the system collects relevant signals including the position of the vehicle, the road surface condition, the vehicle speed, the rotation speed of each wheel, the yaw rate, etc. by means of the differential DGPS11, the camera, the millimeter wave radar 9, the wheel speed sensor 19, etc. Based on the received information, the drive and brake module initially determines a drive torque for each wheel.
And step S2, the decision-making layer judges whether the driving route is straight driving or turning driving according to the received signals.
Step S3, if the vehicle is running straight, judging whether the vehicle is slipping according to the slipping rate, if the vehicle is slipping, driving the anti-slipping control module, and if the vehicle is not slipping, evenly distributing the torque; if the vehicle is judged to be in a turning working condition, whether the vehicle is in a steering instability risk is further determined, if the vehicle is in the turning working condition, a stability control strategy is entered, so that the vehicle is ensured to turn normally, and if the vehicle is not in the turning working condition, the vehicle directly enters a differential steering control system.
Further, the antiskid drive control method of the antiskid drive control system of the present invention comprises:
Firstly, the position information of the vehicle is collected by the differential DGPS11, the current road condition information and the vehicle running state parameters are collected by combining the millimeter wave radar 9 and the camera, and the current road condition information and the vehicle running state parameters are input to the industrial personal computer 13. The industrial personal computer 13 analyzes the current road condition and the vehicle running state according to the input signal, and calculates the adhesion coefficient of the current road surface and the slip ratio of each wheel. And then judging the slip working condition of the driving wheel to determine whether the anti-slip driving intervention is needed. If the wheels are in a slip state, calculating driving torque of each driving wheel 15 of the intelligent vehicle through a slip rate control module, and then entering a torque distribution module; if none of the wheels are in a slip state, the torque distribution module is entered directly.
Further, the vehicle body stability control method of the vehicle body stability control system of the present invention is:
When the vehicle is in a turning working condition, parameters such as yaw velocity, vehicle speed and rotating speed of each wheel of the vehicle are continuously updated by a sensing layer of the system and are input into a stability controller, the stability controller calculates expected yaw velocity, mass center slip angle and the like according to the acquired parameters, the system judges whether the vehicle is in a normal steering state or not by comparing the numerical values of the actual yaw velocity and the mass center slip angle with the expected numerical values, if the error between the actual value system and the expected value deviates from a normal range, the system redistributes driving torque of each wheel to obtain an optimal solution, and then the optimal solution enters a torque distribution module to ensure stable turning of the vehicle.
Further, the vehicle body control method of the differential steering control system of the invention comprises the following steps:
when the deviation of the actual yaw rate from the desired yaw rate is within a certain range, it indicates that the vehicle is in a normal steering condition at this time. The controller outputs the wheel speeds expected by the inner wheel and the outer wheel at the moment according to the received parameters such as the actual yaw rate, the expected yaw rate, the vehicle speed and the like, and inputs the wheel speeds to the wheel speed controller, and the wheel speed controller outputs the torque of the inner wheel and the torque of the outer wheel accordingly and sends a signal torque distribution module to control the rotating speeds of the inner wheel and the outer wheel to realize steering.
And step S4, the torque distribution module finally obtains the optimal torque distribution condition and outputs a signal to the hub motor control system.
And step S5, the hub motor control system sends out signals to control the hub motor of each wheel and distributes driving force.
The above is only a preferred embodiment of the present invention, and certainly, the scope of the present invention should not be limited thereby, and therefore, the present invention is not limited by the scope of the claims.
Claims (10)
1. A walking type intelligent height adjusting carrier is characterized by comprising an upper mounting module, a vehicle body module, a suspension module, a detection positioning system and a control system, wherein the suspension module is arranged at the bottom of the vehicle body module; the detection positioning system and the control system are arranged on the vehicle body module, and the control system is connected with the detection positioning system and the suspension module respectively.
2. The walking-type height intelligent adjusting vehicle of claim 1, wherein the detection positioning system comprises a differential DGPS, a binocular camera, a laser radar, a millimeter-wave radar and a displacement sensor, and the differential DGPS, the binocular camera, the laser radar, the millimeter-wave radar and the displacement sensor are respectively connected with the control system.
3. The walking height intelligent adjusting vehicle of claim 1, wherein the number of the binocular cameras is 2, the binocular cameras are arranged in front of the vehicle body module, the number of the laser radars is 8, the millimeter wave radars and the differential DGPS are arranged around the vehicle body module, the millimeter wave radars and the differential DGPS are arranged on the top of the vehicle body module, and the number of the laser displacement sensors is 4, the laser displacement sensors are arranged on the bottom of the vehicle body module.
4. The walking-type intelligent height adjusting vehicle according to claim 1, wherein the suspension module comprises a height adjusting deceleration motor, two torsion bar springs, two trailing arms, two blade dampers and a vehicle frame, the two torsion bar springs are disposed on two sides of the height adjusting deceleration motor, two output ends of the height adjusting deceleration motor are respectively connected with one ends of the two torsion bar springs, the other ends of the two torsion bar springs are respectively connected and fixed with the two trailing arms, the two blade dampers are respectively sleeved on the two torsion bar springs, the two blade dampers are respectively connected and fixed with two ends of the height adjusting deceleration motor, the height adjusting deceleration motor is fixedly arranged on the vehicle frame, outer ends of the two torsion bar springs are respectively connected with two ends of the vehicle frame through bearings, and the height adjusting deceleration motor is connected with the control system.
5. The walking-type intelligent height adjusting vehicle according to claim 4, wherein the blade damper includes a damper housing and a damper sleeve, the damper sleeve is sleeved in the damper housing, the damper sleeve is sleeved on the torsion bar spring, the outer end of the damper sleeve is connected to the trailing arm on the same side, a cavity between the damper housing and the damper sleeve is a sealed cavity, and the cavity is filled with damping oil.
6. The walking-type intelligent height adjusting vehicle according to claim 5, wherein a partition plate inside the shock absorber housing and the blades on the sleeve form a sealing cavity, the outer end of the shock absorber housing is sleeved into the transverse extension section of the trailing arm and connected with the trailing arm through a needle roller bearing, a housing shoulder is in contact with the end face of the transverse extension section of the trailing arm through a first thrust ball bearing, a framework oil seal is arranged inside the shock absorber housing to achieve sealing with the sleeve, the inner end face of the housing is connected with the end face partition plate and the output shaft housing through a flange, and a damping hole is formed outside the housing and connected with the electromagnetic valve. When the vibration reduction blades and the vibration reduction partition plate move relatively, liquid is pressed into the damping holes by pressure, damping force is generated by the throttling action of the damping holes, the vibration reduction function is realized, the electromagnetic valves are externally connected with the damping holes, and the electromagnetic valves outside the damping holes are connected with the control system, so that the damping adjustment function of the vibration absorber can be realized. When the transverse force is transmitted from the longitudinal arm, the housing shoulder bears the transverse force of the longitudinal arm through the contact with the first thrust ball bearing, and the transverse force is transmitted to the frame.
7. The vehicle of claim 1, wherein the control system is connected to an energy supply system, and the energy supply system is a battery pack disposed in the body module.
8. The walking height intelligent adjusting vehicle according to claim 1, wherein the driving wheel is connected with a wheel hub motor through a rotating shaft, the rotating shaft is provided with a wheel speed sensor, and the wheel hub motor and the wheel speed sensor are both connected with the control system.
9. The walking-type height adjusting vehicle according to claim 8, wherein the hub motor is a three-phase asynchronous ac motor, three phase lines are connected between the hub motor and the control system, the three phase lines are used for controlling the rotation of the hub motor, and five hall lines are connected between the hub motor and the control system, and the five hall lines are used for controlling the rotation direction and the rotation speed of the hub motor.
10. The walking-type height intelligent adjusting vehicle according to claim 1, wherein a wireless communication device is added on the vehicle body module, and the wireless communication device is connected with the control system.
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Application publication date: 20191213 |