CN110667399A - Double-track four-wheel-drive leveling robot and differential motion and position positioning method thereof - Google Patents

Double-track four-wheel-drive leveling robot and differential motion and position positioning method thereof Download PDF

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CN110667399A
CN110667399A CN201910842671.5A CN201910842671A CN110667399A CN 110667399 A CN110667399 A CN 110667399A CN 201910842671 A CN201910842671 A CN 201910842671A CN 110667399 A CN110667399 A CN 110667399A
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wheel
wheels
track
defining
drive
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房华
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Jiangsu Liangyou Robot Co Ltd
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Jiangsu Liangyou Robot Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
    • B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
    • B61F9/00—Rail vehicles characterised by means for preventing derailing, e.g. by use of guide wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
    • B65G69/04—Spreading out the materials conveyed over the whole surface to be loaded; Trimming heaps of loose materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/26—Rail vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/42—Electrical machine applications with use of more than one motor
    • 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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Power Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention relates to a double-track four-wheel-drive leveling robot and a differential motion and position positioning method thereof, wherein the leveling robot comprises a double-track assembly, a four-wheel-drive leveling assembly and a drive control unit. The double-track four-wheel drive motor is adopted to drive the flat car, the double tracks are fixed to increase the stability of the flat car, and the four-wheel drive motor improves the maneuvering performance of the flat car. Under the condition that four wheels of the flat car have driving force, the invention designs a differential motion and position positioning method suitable for a double-track four-drive flat car robot aiming at the structure, and the method is matched with the double-track four-drive flat car robot in a cooperative manner, so that the problems of derailment, locked track, shaking of a car body and the like caused by the uncoordinated driving of a motor at the intersection of a bent track or a straight track of the traditional front-drive flat car robot are solved. The current speed is controlled in real time according to the angle value calculated by the steering frequency fed back from the motor encoder, compared with the traditional time-based mode, the method is more accurate, and the flat car can stably and smoothly run on the track in practical application.

Description

Double-track four-wheel-drive leveling robot and differential motion and position positioning method thereof
Technical Field
The invention relates to the field of grain leveling, in particular to a double-track four-wheel-drive leveling robot and a differential motion and position positioning method thereof.
Background
The prior grain warehouse leveling work in China is purely human work, the grain warehouse leveling speed is low, labor is wasted, the labor intensity is high, the grain warehouse leveling quality is difficult to guarantee, and particularly for grain piles with large height difference, a grain leveling machine is needed to realize grain warehouse leveling.
The chinese patent discloses a grain leveling machine (No. CN203998207U), including the track that sets up along the level of warehouse both sides inner wall, it has the support to transversely put between the track, the support both ends be equipped with respectively with track complex rail wheel, have at least one rail wheel to pass through the motor and drive, still be equipped with on the support with support sliding connection's leveling equipment, leveling equipment includes a rotatory stick by motor drive, the motor passes through frame and support sliding connection, rotatory stick end is equipped with the stirring leaf, has solved the actual problem of grain storage in-process to grain leveling.
However, the above patent has the following problems in use: the support only relies on single motor drive on moving on the track, and the equipment of leveling the storehouse can contact grain, and the resistance is big when removing, and rail wheel frictional force is difficult to promote the removal of support in the track, especially at curved rail and straight rail junction, if this kind of drive mode is controlled improper easily and is caused dolly derailment, locking track, shake, the position of leveling the storehouse and acquire the inaccuracy scheduling problem.
Disclosure of Invention
The purpose of the invention is as follows: aims to provide a double-track four-wheel drive flat-cabin robot to solve the problems in the prior art. A further object is to provide a differential motion and position positioning method based on the robot.
The technical scheme is as follows: a double-track four-wheel drive flat-cabin robot comprises a double-track assembly, a four-wheel drive flat-cabin assembly and a drive control unit.
Wherein, the double-track component comprises a pair of tracks which are mutually parallel and erected at the top of the granary;
the four-wheel drive flat cabin component comprises a front drive component and a rear drive component which are erected and slide along the track, a front frame fixed at the lower part of the front drive component, a rear frame fixed at the lower part of the rear drive component, and a front and rear vehicle connecting rod for connecting the front frame and the rear frame;
the driving control unit comprises a central processor and a coprocessor which are arranged in the rear frame and connected with the front drive assembly and the rear drive assembly through communication cables;
the front driving assembly comprises a pair of front driving wheel sets, the rear driving assembly comprises a pair of rear driving wheel sets, and the front driving wheel sets and the rear driving wheel sets are respectively and independently controlled.
In a further embodiment, the front driving wheel set and the rear driving wheel set have the same structure and comprise a wheel carrier, a driving motor fixed on one side of the wheel carrier, guide wheels rotatably arranged at four corners of the wheel carrier and axially vertical to the surface of the track, a first synchronizing wheel connected to one end of an output shaft of the driving motor through a coupling, a second synchronizing wheel rotatably arranged on one side of the wheel carrier and coplanar with the first synchronizing wheel, a synchronous belt sleeved on the first synchronizing wheel and the second synchronizing wheel with a preset friction force, a driving wheel coaxially arranged with the second synchronizing wheel, and at least two supporting wheels rotatably arranged on the wheel carrier and opposite to the driving wheel; the support wheels and the drive wheels are of equal radius and have their axes parallel to the track surface.
In a further embodiment, the guide wheel, the second synchronizing wheel and the support wheel are respectively connected to the wheel frame in a matching way through deep groove ball bearings and bearing seats; the track is in a T shape by welding a horizontal part and a vertical part at an angle of 90 degrees; the driving wheel and the supporting wheel frame are arranged on the horizontal part, and the guide wheel is attached to the vertical part by preset pressure; and a rotary encoder is arranged between the driving motor and the first synchronous wheel.
In a further embodiment, the front and rear vehicle connecting rods are respectively hinged with the front and rear frames through hinged supports.
A differential motion and position positioning method of a double-track four-wheel-drive flat-cabin robot comprises the following steps:
step 1, two front wheels enter a curved rail, two rear wheels do not enter the curved rail, differential motion control is performed on a four-wheel drive motor, a motion model is established under a plane rectangular coordinate system, and the running speed of a rear wheel motor is deduced;
step 2, enabling the front and rear four wheels to enter a curved rail, enabling the four wheels to do uniform circular motion, enabling the speeds of the front and rear two wheels to be the same, reducing the derivation process into two-wheel differential motion control derivation for simplifying the derivation process, and establishing a motion model under a plane rectangular coordinate system;
and 3, enabling two wheels of the front vehicle to go out of the curved rail, enabling two wheels of the rear vehicle to enter the curved rail, performing differential motion control on the four-wheel drive motor, establishing a motion model under a plane rectangular coordinate system, and deriving the running speed of the front wheel motor.
In a further embodiment, the step 1 further comprises:
step 1.1, observing at a visual angle perpendicular to wheels, defining the clockwise direction of the wheels as a positive direction and the anticlockwise direction as a negative direction, and defining the wheel closest to an origin as a left wheel and the other wheel as a right wheel in an initial state; defining the coordinate of the middle point between the central point connecting lines of two wheels of the front wheel as A (X)a，Ya) (ii) a Defining the coordinate of the middle point between the central points of the two wheels of the rear wheel as B (X)b，Yb) (ii) a Defining an included angle theta between the advancing direction of the front wheel and the X axis; the radius of the circular arc of the middle point of the two-wheel connecting line doing uniform circular motion is defined as r1Angular velocity is omega; define A, B the straight line distance between two points as L1(ii) a Establishing a plane rectangular coordinate system, wherein an original point O of the coordinate system is positioned at the center of a circular arc performing uniform circular motion at the middle point of a connecting line of the two wheels;
step 1.2, according to each parameter in step 1.1, the geometric relationship analysis can show that:
(Xa-Xb)2+(Ya-Yb)2＝L1 2
Xa＝r1*cosθ
Ya＝r1*sinθ
step 1.3, further deducing the speed of the rear wheel motor according to the relation deduced in step 1.2:
Figure BDA0002194204860000032
wherein each symbol has the same meaning as the symbol mentioned in step 1.1 and step 1.2;
and step 1.4, calculating an angle value according to a speed formula of the rear wheel motor in the step 1.3 and a steering frequency fed back from a motor encoder, controlling the current speed, and keeping the difference value between the speed at the bent position of the front wheel and the initial linear speed of the rear wheel within a threshold value in the actual rail bending process.
In a further embodiment, the step 2 further comprises:
step 2.1, observing at a view angle perpendicular to the wheels, defining the clockwise direction of the wheels as a positive direction, and defining the counterclockwise direction of the wheels as a negative direction, wherein the wheel closest to the origin point is a left wheel and the other wheel is a right wheel in the initial state; defining an included angle theta between the advancing direction of the front wheel and the X axis; defining the angle of the mobile robot moving around the circular arc at two adjacent moments as theta1(ii) a Defining the variation of the course angles of the mobile machine at two adjacent moments as theta3(ii) a Defining the distance between the left and the right wheels as L2(ii) a Defining the distance that the right wheel walks more than the left wheel as d; the radius of the circular motion of the mobile robot is defined as r2(ii) a Establishing a plane rectangular coordinate system; defining the coordinate of the middle point of the axis connecting line of the two wheels as M (x, y); defining the left wheel coordinate as A (X)left，Yleft) (ii) a Right wheel coordinate B (X)right，Yright)；
Step 2.2, according to each parameter in the step 2.1, defining theta as a heel vector of the X-axis unit vector rotating by theta angle
Figure BDA0002194204860000039
If the parallel result is obtained, and the counterclockwise rotation is taken as the positive direction, the geometric relationship analysis can know that any time is:
Figure BDA0002194204860000033
Figure BDA0002194204860000034
(Xright-Xleft)2+(Yright-Yleft)2＝L2 2
step 2.3, definition
Figure 100002_1
For the velocity of point A, defineIs rotated by unit vector of X axisAngular heel vector
Figure 100002_2
Parallel to each other, defining the angular velocity of the left wheel, i.e. point A, as ω1(ii) a From the geometric relationship analysis, any time:
Figure BDA0002194204860000041
Figure BDA0002194204860000042
wherein each symbol has the same meaning as the aforementioned symbol;
step 2.4, define
Figure 3
For the speed of the right wheel, i.e. point B, the same definition of beta is that the X-axis unit vector rotates by beta angleParallel results, with counterclockwise rotation being the positive direction, because at any time
Figure 4
Then, it is knownAngular velocity of point B is omega2In the same way:
Figure BDA0002194204860000047
wherein each symbol has the same meaning as the aforementioned symbol;
step 2.5, knowing that point M (x, y) is the midpoint of segment AB, the speed of point M is:
Figure BDA0002194204860000048
in the formula, V1Indicating the left wheel linear velocity; v2Represents the right wheel linear velocity; r isWheelRepresenting the radius of the wheel, as distinguished from the radius of the arc; the other symbols have the same meanings as the symbols;
step 2.6, at any moment, the speed directions of the two wheels are parallel to the same straight line, so that the speed of the M point line is as follows:
Figure BDA0002194204860000049
wherein each symbol has the same meaning as the aforementioned symbol;
step 2.7, calculating the movement arc length of the left wheel:
Figure BDA00021942048600000410
wherein each symbol has the same meaning as the aforementioned symbol;
step 2.8, calculating the motion arc length of the right wheel:
Figure BDA00021942048600000411
wherein each symbol has the same meaning as the aforementioned symbol;
step 2.9, calculating vectors
Figure 5
Increment of angle θ with unit vector of X-axis:
Figure BDA00021942048600000413
wherein each symbol has the same meaning as the aforementioned symbol;
step 2.10, vector
Figure 6
The increment of an included angle theta with the X-axis unit vector is equal to the increment of the heading angle at any time, so that the angular speed of the M point at the time t is as follows:
Figure BDA0002194204860000052
at time t, the radius of motion of point M is:
Figure BDA0002194204860000053
wherein each symbol has the same meaning as the aforementioned symbol;
step 2.11, setting the initial coordinates of the M points as (a, b); after the X-axis unit vector rotates by beta angle in the initial state, the
Figure BDA0002194204860000054
In parallel, then:
Figure BDA0002194204860000055
in the formula, VrightRepresenting the linear velocity of the right wheel; vleftIndicating the linear speed of the left wheel; the other symbols have the same meanings as above;
step 2.12, deriving a track parameter equation of the M points:
Figure BDA0002194204860000056
Figure BDA0002194204860000057
in the formula, the symbols have the same meanings as those of the above symbols.
In a further embodiment, the step 3 further comprises:
step 3.1, observing at a view angle perpendicular to the wheels, defining the clockwise direction of the wheels as a positive direction, and defining the counterclockwise direction of the wheels as a negative direction, wherein the wheel closest to the origin point is a left wheel and the other wheel is a right wheel in the initial state; defining the coordinate of the middle point between the central point connecting lines of two wheels of the rear wheel as A (X)a，Ya) (ii) a Defining the coordinate of the middle point between the central points of the two wheels of the front wheel as B (X)b，Yb) (ii) a Defining an included angle theta between the advancing direction of the rear wheel and the X axis; the radius of the circular arc of the middle point of the two-wheel connecting line doing uniform circular motion is defined as r1Angular velocity is omega; define A, B the straight line distance between two points as L1(ii) a Establishing a plane rectangular coordinate system, wherein an original point O of the coordinate system is positioned at the center of a circular arc performing uniform circular motion at the middle point of a connecting line of the two wheels;
step 3.2, according to each parameter in step 3.1, the geometric relationship analysis can show that:
(Xa-Xb)2+(Ya-Yb)2＝L1 2
Xa＝r1*cosθ
Ya＝r1*sinθ
Figure BDA0002194204860000061
and 3.3, further deducing the speed of the front wheel motor according to the relation deduced in the step 3.2:
Figure BDA0002194204860000062
wherein each symbol has the same meaning as the symbol mentioned in step 3.1 and step 3.2;
and 3.4, according to the speed formula of the front wheel motor in the step 3.3, calculating an angle value according to the steering frequency fed back from the motor encoder, controlling the current speed, and keeping the difference value between the speed at the bent position of the rear wheel and the initial linear speed of the front wheel within a threshold value in the actual rail bending process.
Has the advantages that: the invention relates to a double-track four-wheel-drive flat-cabin robot and a differential motion and position positioning method thereof. Under the condition that four wheels of the flat car have driving force, the invention designs a differential motion and position positioning method suitable for a double-track four-drive flat car robot aiming at the structure, and the method is matched with the double-track four-drive flat car robot in a cooperative manner, so that the problems of derailment, locked track, shaking of a car body and the like caused by the uncoordinated driving of a motor at the intersection of a bent track or a straight track of the traditional front-drive flat car robot are solved. The current speed is controlled in real time according to the angle value calculated by the steering frequency fed back from the motor encoder, compared with the traditional time-based mode, the method is more accurate, and the flat car can stably and smoothly run on the track in practical application.
Drawings
Fig. 1 is a top view of the flatcar of the present invention.
Fig. 2 is a left side view of the flatcar of the present invention.
FIG. 3 is a schematic diagram of a precursor assembly according to the present invention.
Fig. 4 is a running track diagram of the flat cabin vehicle in the invention.
FIG. 5 is a schematic modeling diagram of step one or step three of the differential motion and position location method of the present invention.
FIG. 6 is a schematic modeling diagram of step two of the differential motion and position location method of the present invention.
The figures are numbered: the device comprises a track 1, a front frame 2, a front and rear vehicle connecting rod 3, a rear frame 4, a front driving wheel set 5, a driving motor 501, a supporting wheel 502, a guide wheel 503, a driving wheel 504, a synchronous belt 505, a wheel carrier 506, a first synchronous wheel 507, a second synchronous wheel 508, a hinged support 6 and a rear driving wheel set 7.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The applicant believes that the use of a conventional front-drive flatcar has the following problems due to the presence of only one pair of drive wheels 504: the bracket moves on the track 1 and is only driven by a single motor, the leveling equipment can contact grain, the resistance is large when the bracket moves, the friction force of wheels of the track 1 in the track 1 is difficult to push the bracket to move, and particularly at the intersection of a curved track and a straight track, the driving mode easily causes the problems of derailment, locking of the track, shaking and the like of the trolley if the driving mode is not properly controlled. In order to solve the problems, the applicant designs a double-track four-drive motor-driven flat car, the double tracks are fixed to increase the stability of the flat car, the four-drive motor improves the maneuvering performance of the flat car, but how to handle the coordinated movement of the four-drive motor, especially how to prevent the problems of car derailment, locking of a track, car shaking and timely and accurate car position acquisition according to motor feedback data at the intersection of a bent track and a straight track, and the like, the four-motor coordinated differential control is particularly important, and the invention provides a differential movement control mode of the four-drive double-track flat car, and the flat car can smoothly run on the track at a higher speed in practical application.
The technical solution of the present invention is further explained below by combining the embodiments and the accompanying drawings.
The invention discloses a double-track four-wheel-drive flat-cabin robot and a differential motion and position positioning method thereof. The double-track four-wheel drive leveling robot comprises a double-track assembly, a four-wheel drive leveling assembly and a drive control unit. The double-rail assembly comprises rails 1, and the rails 1 are mutually parallel and fixed on the top of the granary. The four-wheel drive leveling assembly comprises a front drive assembly and a rear drive assembly, the front drive assembly comprises a pair of front drive wheel sets 5, the rear drive assembly comprises a pair of rear drive wheel sets 7, and the front drive wheel sets 5 and the rear drive wheel sets 7 are respectively and independently controlled. The front driving assembly and the rear driving assembly are erected and slide along the track 1, a front frame 2 is fixed on the lower portion of the front driving assembly, a rear frame 4 is fixed on the lower portion of the rear driving assembly, a front and rear connecting rod 3 is connected between the front frame 2 and the rear frame 4, and the front and rear connecting rod 3 is hinged to the front frame 2 and the rear frame 4 through hinged supports 6 respectively. The front driving wheel set 5 and the rear driving wheel set 7 have the same structure, and include a wheel carrier 506, a driving motor 501, a guide wheel 503, a first synchronizing wheel 507, a second synchronizing wheel 508, a synchronizing belt 505, a driving wheel 504, and a supporting wheel 502, wherein the wheel carrier 506 plays a basic supporting role, and the driving motor 501 is fixed on one side of the wheel carrier 506. The guide wheels 503 are rotatably disposed at four corners of the wheel frame 506 through bearing seats and bearings, and the axial direction of the guide wheels 503 is perpendicular to the surface of the track 1. The first synchronous wheel 507 is connected to one end of an output shaft of the driving motor 501 through a coupling. The second synchronizing wheel 508 is rotatably disposed at one side of the wheel frame 506, and the second synchronizing wheel 508 and the first synchronizing wheel 507 are located on the same plane. The synchronous belt 505 is sleeved on the first synchronous wheel 507 and the second synchronous wheel 508 by a preset friction force, the driving wheel 504 and the second synchronous wheel 508 are coaxially arranged, and the power of the second synchronous wheel 508 and the driving wheel 504 is completely synchronous. The supporting wheels 502 are rotatably disposed on the wheel frame 506 through a bearing seat and a bearing, and the number of the supporting wheels 502 is at least two and is opposite to the driving wheel 504. The support wheels 502 and the driving wheels 504 have the same radius, and the axial directions of the support wheels 502 and the driving wheels 504 are parallel to the surface of the track 1. The track 1 is in a T shape formed by welding a horizontal part and a vertical part at an angle of 90 degrees. The driving wheel 504 and the supporting wheel 502 are erected on the horizontal part, and the guide wheel 503 is attached to the vertical part with a preset pressure; a rotary encoder is installed between the driving motor 501 and the first synchronous wheel 507. The drive control unit comprises a central processor and a coprocessor which are arranged in the rear frame 4 and connected with the front drive assembly and the rear drive assembly through communication cables. The coprocessor calculates the rotation speed of the driving motor 501 of each wheel set, and the central processor collects data of the four coprocessors to play a main scheduling role.
In actual operation, the driving motor 501 outputs power to the first synchronous wheel 507, the first synchronous wheel 507 transmits the power to the second synchronous wheel 508 by using the synchronous belt 505, and since the second synchronous wheel 508 and the driving wheel 504 are coaxially installed, the second synchronous wheel 508 synchronizes the power of the driving motor 501 to the driving wheel 504, and the driving wheel 504 drives the leveling vehicle to run along the track 1. When the flatcar runs along the track 1, the guide wheels 503 and the support wheels 502 respectively play a role of guiding and supporting. Since the guide wheels 503 are rotatably disposed at four corners of the wheel frame 506, the axial direction of the guide wheels 503 is perpendicular to the surface of the track 1, and the guide wheels 503 are attached to the perpendicular portion of the track 1 with a predetermined pressure, when the driving wheel 504 drives the flatcar, the guide wheels 503 can control the flatcar to travel along a predetermined track of the track 1, thereby avoiding derailment. The supporting wheels 502 and the driving wheels 504 are installed opposite to each other and have the same diameter, the supporting wheels 502 can suspend the flatcar, the positive pressure of the flatcar on the track 1 is applied to the supporting wheels 502 and the driving wheels 504, and the supporting wheels 502 absorb a part of the pressure to prevent the flatcar from directly pressing the track 1 to cause the deformation of the track 1.
In the above operation, the four-motor cooperative differential control is particularly important. The rotating speed of the driving motor 501 of each wheel set is calculated by the coprocessor, and the central processing unit collects data of the four coprocessors to play a main scheduling role. And the position of the vehicle is timely and accurately obtained according to the feedback data of the motor, an angle value is calculated according to the steering frequency fed back from a motor encoder, and the current speed is controlled. The differential motion and position positioning method comprises the following steps:
the four-wheel differential speed control mainly comprises the following processes:
the first process is as follows: and when the two wheels of the front vehicle enter the curved rail and the two wheels of the rear vehicle do not enter the stage, controlling differential motion of the four-wheel drive motor.
And a second process: the front and the rear four wheels enter the curved rail, and the differential motion of the four-wheel drive motor is controlled.
The third process: and (3) controlling differential motion of the four-wheel drive motor when the two wheels of the front vehicle are out of the curved rail and the two wheels of the rear vehicle are still in the curved rail stage.
Aiming at the first process: two front wheels enter a curved rail, two rear wheels do not enter the curved rail, differential motion control is performed on the four-wheel drive motor, a motion model is established under a plane rectangular coordinate system, and the running speed of the rear wheel motor is deduced.
As shown in fig. 5, when viewed from a view perpendicular to the wheels, the clockwise direction of the wheels is defined as a positive direction, and the counterclockwise direction of the wheels is defined as a negative direction, and the wheel closest to the origin in the initial state is defined as a left wheel, and the other wheel is defined as a right wheel; defining the coordinate of the middle point between the central point connecting lines of two wheels of the front wheel as A (X)a，Ya) (ii) a Defining the coordinate of the middle point between the central points of the two wheels of the rear wheel as B (X)b，Yb) (ii) a Defining an included angle theta between the advancing direction of the front wheel and the X axis; the radius of the circular arc of the middle point of the two-wheel connecting line doing uniform circular motion is defined as r1Angular velocity is omega; define A, B the straight line distance between two points as L1(ii) a Establishing a plane rectangular coordinate system, wherein an original point O of the coordinate system is positioned at the center of a circular arc performing uniform circular motion at the middle point of a connecting line of the two wheels;
from the above parameters, it can be known from geometric relationship analysis that:
(Xa-Xb)2+(Ya-Yb)2＝L1 2
Xa＝r1*cosθ
Ya＝r1*sinθ
from the relationship derived above, the speed of the rear wheel motor is further derived:
wherein each symbol has the same meaning as the above-mentioned symbol;
then, according to the speed formula of the rear wheel motor, the angle value is calculated according to the steering frequency fed back from the motor encoder, the current speed is controlled, and in the actual process of approaching the curved rail, the difference value between the speed at the curved rail position of the front wheel and the initial linear speed of the rear wheel is kept within the threshold value.
Aiming at the second process: the front and rear four wheels enter the curved rail, the four wheels do uniform circular motion, the speeds of the front and rear two wheels on the same side are the same, the derivation process is simplified, the derivation is reduced to two-wheel differential motion control derivation, and a motion model is established under a plane rectangular coordinate system.
As shown in fig. 6, when viewed from a view perpendicular to the wheels, the clockwise direction of the wheels is defined as a positive direction, and the counterclockwise direction of the wheels is defined as a negative direction, and the wheel closest to the origin in the initial state is defined as a left wheel, and the other wheel is defined as a right wheel; defining an included angle theta between the advancing direction of the front wheel and the X axis; defining the angle of the mobile robot moving around the circular arc at two adjacent moments as theta1(ii) a Defining the variation of the course angles of the mobile machine at two adjacent moments as theta3(ii) a Defining the distance between the left and the right wheels as L2(ii) a Defining the distance that the right wheel walks more than the left wheel as d; the radius of the circular motion of the mobile robot is defined as r2(ii) a Establishing a plane rectangular coordinate system; defining the coordinate of the middle point of the axis connecting line of the two wheels as M (x, y); defining the left wheel coordinate as A (X)left，Yleft) (ii) a Right wheel coordinate B (X)right，Yright)；
Ginseng according to the aboveNumber, and define theta as the X-axis unit vector rotated by theta angle and the following vector
Figure BDA0002194204860000101
If the parallel result is obtained, and the counterclockwise rotation is taken as the positive direction, the geometric relationship analysis can know that any time is:
Figure BDA0002194204860000102
Figure BDA0002194204860000103
(Xright-Xleft)2+(Yright-Yleft)2＝L2 2
definition of
Figure 7
For the velocity of point A, defineIs rotated by unit vector of X axis
Figure 8
Angular heel vector
Figure BDA0002194204860000107
Parallel to each other, defining the angular velocity of the left wheel, i.e. point A, as ω1(ii) a From the geometric relationship analysis, any time:
Figure BDA0002194204860000108
Figure BDA0002194204860000109
wherein each symbol has the same meaning as the aforementioned symbol;
definition of
Figure 10
Is a right wheelI.e., the velocity of point B, similarly defining beta as the X-axis unit vector rotated by beta angle
Figure BDA00021942048600001011
Parallel results, with counterclockwise rotation being the positive direction, because at any time
Figure 11
Then, the angular velocity at point B is known as ω2In the same way:
Figure BDA00021942048600001013
Figure BDA00021942048600001014
wherein each symbol has the same meaning as the aforementioned symbol;
given that point M (x, y) is the midpoint of segment AB, the M-point velocity is:
Figure BDA00021942048600001015
in the formula, V1Indicating the left wheel linear velocity; v2Represents the right wheel linear velocity; r isWheelRepresenting the radius of the wheel, as distinguished from the radius of the arc; the other symbols have the same meanings as the symbols;
at any moment, the speed directions of the two wheels are parallel to the same straight line, so the speed of the M point line is as follows:
Figure BDA0002194204860000111
wherein each symbol has the same meaning as the aforementioned symbol;
calculating the movement arc length of the left wheel:
Figure BDA0002194204860000112
wherein each symbol has the same meaning as the aforementioned symbol;
calculating the motion arc length of the right wheel:
Figure BDA0002194204860000113
wherein each symbol has the same meaning as the aforementioned symbol;
computing vectors
Figure 12
Increment of angle θ with unit vector of X-axis:
Figure BDA0002194204860000115
wherein each symbol has the same meaning as the aforementioned symbol;
vector quantity
Figure 13
The increment of an included angle theta with the X-axis unit vector is equal to the increment of the heading angle at any time, so that the angular speed of the M point at the time t is as follows:
at time t, the radius of motion of point M is:
Figure BDA0002194204860000118
wherein each symbol has the same meaning as the aforementioned symbol;
setting the initial coordinates of the M points as (a, b); after the X-axis unit vector rotates by beta angle in the initial state, the
Figure 14
In parallel, then:
Figure BDA00021942048600001110
in the formula (I), the compound is shown in the specification,Vrightrepresenting the linear velocity of the right wheel; y isleftIndicating the linear speed of the left wheel; the other symbols have the same meanings as above;
deriving a track parameter equation of M points:
in the formula, the symbols have the same meanings as those of the above symbols.
Aiming at the third process: two front wheels of the front vehicle exit the curved rail, two rear wheels of the rear vehicle enter the curved rail, differential motion control is performed on the four-wheel drive motor, a motion model is established under a plane rectangular coordinate system, and the running speed of the front wheel motor is deduced.
This process motion model is the same as the process two motion model, as shown in fig. 5: observing at a visual angle vertical to the wheels, defining the clockwise direction of the wheels as a positive direction, and defining the counterclockwise direction of the wheels as a negative direction, and defining the wheel closest to the origin as a left wheel and the other wheel as a right wheel in an initial state; defining the coordinate of the middle point between the central point connecting lines of two wheels of the rear wheel as A (X)a，Ya) (ii) a Defining the coordinate of the middle point between the central points of the two wheels of the front wheel as B (X)b，Yb) (ii) a Defining an included angle theta between the advancing direction of the rear wheel and the X axis; the radius of the circular arc of the middle point of the two-wheel connecting line doing uniform circular motion is defined as r1Angular velocity is omega; define A, B the straight line distance between two points as L1(ii) a Establishing a plane rectangular coordinate system, wherein an original point O of the coordinate system is positioned at the center of a circular arc performing uniform circular motion at the middle point of a connecting line of the two wheels;
from the above parameters, it can be known from geometric relationship analysis that:
(Xa-Xb)2+(Ya-Yb)2＝L1 2
Xa＝r1*cosθ
Ya＝r1*sinθ
Figure BDA0002194204860000123
from the relationship derived above, the speed of the front wheel motor is further derived:
Figure BDA0002194204860000124
wherein each symbol has the same meaning as the above-mentioned symbol;
according to the speed formula of the front wheel motor, the angle value is calculated according to the steering frequency fed back from the motor encoder, the current speed is controlled, and the difference value between the speed at the bent position of the rear wheel and the initial linear speed of the front wheel is kept within the threshold value in the actual rail bending process.
In summary, in order to overcome the defects in the prior art, the invention provides a double-track four-wheel-drive flat-cabin robot, and further provides a differential motion and position positioning method based on the robot. The double-track four-wheel drive motor is adopted to drive the flat car, the double tracks are fixed to increase the stability of the flat car, and the four-wheel drive motor improves the maneuvering performance of the flat car. Under the condition that four wheels of the flat car have driving force, the invention designs a differential motion and position positioning method suitable for a double-track four-drive flat car robot aiming at the structure, and the method is matched with the double-track four-drive flat car robot in a cooperative manner, so that the problems of derailment, locked track, shaking of a car body and the like caused by the uncoordinated driving of a motor at the intersection of a bent track or a straight track of the traditional front-drive flat car robot are solved. Under the mechanical structure and the method, the leveling vehicle has the advantages of stable steering, small shaking and high grain surface flatness.
As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (8)

1. The utility model provides a double track four-wheel drive flat storehouse robot which characterized by includes:
the double-track assembly comprises a pair of tracks which are mutually parallel and erected at the top of the granary;
the four-wheel drive flat cabin assembly comprises a front drive assembly and a rear drive assembly which are erected and slide along the track, a front frame fixed at the lower part of the front drive assembly, a rear frame fixed at the lower part of the rear drive assembly, and a front and rear vehicle connecting rod for connecting the front frame and the rear frame;
the driving control unit comprises a central processing unit and a coprocessor which are arranged in the rear frame and connected with the front drive assembly and the rear drive assembly through communication cables;
the front driving assembly comprises a pair of front driving wheel sets, the rear driving assembly comprises a pair of rear driving wheel sets, and the front driving wheel sets and the rear driving wheel sets are respectively and independently controlled.
2. The double-track four-wheel drive flat-cabin robot according to claim 1, characterized in that: the front driving wheel set and the rear driving wheel set are identical in structure and comprise a wheel carrier, a driving motor fixed on one side of the wheel carrier, guide wheels which are rotatably arranged at four corners of the wheel carrier and are axially vertical to the surface of the track, a first synchronizing wheel connected to one end of an output shaft of the driving motor through a coupler, a second synchronizing wheel which is rotatably arranged on one side of the wheel carrier and is coplanar with the first synchronizing wheel, a synchronous belt which is sleeved on the first synchronizing wheel and the second synchronizing wheel by preset friction force, a driving wheel which is coaxially arranged with the second synchronizing wheel, and at least two supporting wheels which are rotatably arranged on the wheel carrier and are opposite to the driving wheel; the support wheels and the drive wheels are of equal radius and have their axes parallel to the track surface.
3. The double-track four-wheel drive flat-cabin robot according to claim 2, characterized in that: the guide wheel, the second synchronizing wheel and the supporting wheel are respectively connected to the wheel carrier in a matching way through a deep groove ball bearing and a bearing seat; the track is in a T shape by welding a horizontal part and a vertical part at an angle of 90 degrees; the driving wheel and the supporting wheel frame are arranged on the horizontal part, and the guide wheel is attached to the vertical part by preset pressure; and a rotary encoder is arranged between the driving motor and the first synchronous wheel.
4. The double-track four-wheel drive flat-cabin robot according to claim 1, characterized in that: the front and rear vehicle connecting rods are respectively hinged with the front vehicle frame and the rear vehicle frame through hinged supports.
5. A differential motion and position positioning method of a double-track four-wheel-drive flat-cabin robot is characterized by comprising the following steps:
step 1, two front wheels enter a curved rail, two rear wheels do not enter the curved rail, differential motion control is performed on a four-wheel drive motor, a motion model is established under a plane rectangular coordinate system, and the running speed of a rear wheel motor is deduced;
step 2, enabling the front and rear four wheels to enter a curved rail, enabling the four wheels to do uniform circular motion, enabling the speeds of the front and rear two wheels to be the same, reducing the derivation process into two-wheel differential motion control derivation for simplifying the derivation process, and establishing a motion model under a plane rectangular coordinate system;
and 3, enabling two wheels of the front vehicle to go out of the curved rail, enabling two wheels of the rear vehicle to enter the curved rail, performing differential motion control on the four-wheel drive motor, establishing a motion model under a plane rectangular coordinate system, and deriving the running speed of the front wheel motor.
6. The differential motion and position locating method of the double-track four-wheel-drive flat-cabin robot according to claim 5, wherein the step 1 further comprises:
step 1.1, observing at a visual angle perpendicular to wheels, defining the clockwise direction of the wheels as a positive direction and the anticlockwise direction as a negative direction, and defining the wheel closest to an origin as a left wheel and the other wheel as a right wheel in an initial state; defining the coordinate of the middle point between the central point connecting lines of two wheels of the front wheel as A (X)a，Ya) (ii) a Defining the coordinate of the middle point between the central points of the two wheels of the rear wheel as B (X)b，Yb) (ii) a Defining an included angle theta between the advancing direction of the front wheel and the X axis; defining the middle point of two-wheel connecting line to do uniform circular motionRadius of arc r1Angular velocity is omega; define A, B the straight line distance between two points as L1(ii) a Establishing a plane rectangular coordinate system, wherein an original point O of the coordinate system is positioned at the center of a circular arc performing uniform circular motion at the middle point of a connecting line of the two wheels;
step 1.2, according to each parameter in step 1.1, the geometric relationship analysis can show that:
(Xa-Xb)2+(Ya-Yb)2＝L1 2
Xa＝r1*cosθ
Ya＝r1*sinθ
step 1.3, further deducing the speed of the rear wheel motor according to the relation deduced in step 1.2:
Figure FDA0002194204850000022
wherein each symbol has the same meaning as the symbol mentioned in step 1.1 and step 1.2;
and step 1.4, calculating an angle value according to a speed formula of the rear wheel motor in the step 1.3 and a steering frequency fed back from a motor encoder, controlling the current speed, and keeping the difference value between the speed at the bent position of the front wheel and the initial linear speed of the rear wheel within a threshold value in the actual rail bending process.
7. The differential motion and position locating method of the double-track four-wheel-drive flat-cabin robot according to claim 5, wherein the step 2 further comprises:
step 2.1, observing at a view angle perpendicular to the wheels, defining the clockwise direction of the wheels as a positive direction, and defining the counterclockwise direction of the wheels as a negative direction, wherein the wheel closest to the origin point is a left wheel and the other wheel is a right wheel in the initial state; defining an included angle theta between the advancing direction of the front wheel and the X axis; defining two adjacent time shiftsThe angle of the moving robot moving around the circular arc is theta1(ii) a Defining the variation of the course angles of the mobile machine at two adjacent moments as theta3(ii) a Defining the distance between the left and the right wheels as L2(ii) a Defining the distance that the right wheel walks more than the left wheel as d; the radius of the circular motion of the mobile robot is defined as r2(ii) a Establishing a plane rectangular coordinate system; defining the coordinate of the middle point of the axis connecting line of the two wheels as M (x, y); defining the left wheel coordinate as A (X)left，Yleft) (ii) a Right wheel coordinate B (X)right，Yright)；
Step 2.2, according to each parameter in the step 2.1, defining theta as a heel vector of the X-axis unit vector rotating by theta angle
Figure FDA0002194204850000031
If the parallel result is obtained, and the counterclockwise rotation is taken as the positive direction, the geometric relationship analysis can know that any time is:
Figure FDA0002194204850000032
Figure FDA0002194204850000033
(Xright-Xleft)2+(Yright-Yleft)2＝L2 2
step 2.3, definition
Figure 1
For the velocity of point A, defineIs rotated by unit vector of X axis
Figure FDA0002194204850000036
Angular heel vector
Figure 2
Obtained in parallel, is definedAngular velocity of the left wheel, i.e. point A, is ω1(ii) a From the geometric relationship analysis, any time:
Figure FDA0002194204850000038
Figure FDA0002194204850000039
wherein each symbol has the same meaning as the aforementioned symbol;
step 2.4, defineFor the speed of the right wheel, i.e. point B, the same definition of beta is that the X-axis unit vector rotates by beta angle
Figure FDA00021942048500000311
Parallel results, with counterclockwise rotation being the positive direction, because at any time
Figure FDA00021942048500000312
Then, the angular velocity at point B is known as ω2In the same way:
Figure FDA00021942048500000313
Figure FDA00021942048500000314
wherein each symbol has the same meaning as the aforementioned symbol;
step 2.5, knowing that point M (x, y) is the midpoint of segment AB, the speed of point M is:
Figure FDA00021942048500000315
in the formula, V1Indicating the left wheel linear velocity; v2Represents the right wheel linear velocity; r isWheelRepresenting the radius of the wheel, as distinguished from the radius of the arc; the other symbols have the same meanings as the symbols;
step 2.6, at any moment, the speed directions of the two wheels are parallel to the same straight line, so that the speed of the M point line is as follows:
Figure FDA0002194204850000041
wherein each symbol has the same meaning as the aforementioned symbol;
step 2.7, calculating the movement arc length of the left wheel:
Figure FDA0002194204850000042
wherein each symbol has the same meaning as the aforementioned symbol;
step 2.8, calculating the motion arc length of the right wheel:
Figure FDA0002194204850000043
wherein each symbol has the same meaning as the aforementioned symbol;
step 2.9, calculating vectors
Figure FDA0002194204850000044
Increment of angle θ with unit vector of X-axis:
Figure FDA0002194204850000045
wherein each symbol has the same meaning as the aforementioned symbol;
step 2.10, vector
Figure FDA0002194204850000046
The increment of the included angle theta with the X-axis unit vector is equal to the increment of the heading angle at any time, so that at the time t,the angular velocity at point M is:
Figure FDA0002194204850000047
at time t, the radius of motion of point M is:
Figure FDA0002194204850000048
wherein each symbol has the same meaning as the aforementioned symbol;
step 2.11, setting the initial coordinates of the M points as (a, b); after the X-axis unit vector rotates by beta angle in the initial state, the
Figure FDA0002194204850000049
In parallel, then:
Figure FDA00021942048500000410
in the formula, VrightRepresenting the linear velocity of the right wheel; y isleftIndicating the linear speed of the left wheel; the other symbols have the same meanings as above;
step 2.12, deriving a track parameter equation of the M points:
Figure FDA00021942048500000411
Figure FDA0002194204850000051
in the formula, the symbols have the same meanings as those of the above symbols.
8. The differential motion and position locating method of the double-track four-wheel-drive flat-cabin robot according to claim 5, wherein the step 3 further comprises:
step 3.1, observing at a view angle vertical to the wheels, and defining the clockwise direction of the wheels as the positive directionThe anticlockwise direction is a negative direction, and the wheel closest to the origin is defined as a left wheel and the other wheel is defined as a right wheel in the initial state; defining the coordinate of the middle point between the central point connecting lines of two wheels of the rear wheel as A (X)a，Ya) (ii) a Defining the coordinate of the middle point between the central points of the two wheels of the front wheel as B (X)b，Yb) (ii) a Defining an included angle theta between the advancing direction of the rear wheel and the X axis; the radius of the circular arc of the middle point of the two-wheel connecting line doing uniform circular motion is defined as r1Angular velocity is omega; define A, B the straight line distance between two points as L1(ii) a Establishing a plane rectangular coordinate system, wherein an original point O of the coordinate system is positioned at the center of a circular arc performing uniform circular motion at the middle point of a connecting line of the two wheels;
step 3.2, according to each parameter in step 3.1, the geometric relationship analysis can show that:
(Xa-Xb)2+(Ya-Yb)2＝L1 2
Xa＝r1*cosθ
Ya＝r1*sinθ
Figure FDA0002194204850000052
and 3.3, further deducing the speed of the front wheel motor according to the relation deduced in the step 3.2:
Figure FDA0002194204850000053
wherein each symbol has the same meaning as the symbol mentioned in step 3.1 and step 3.2;
and 3.4, according to the speed formula of the front wheel motor in the step 3.3, calculating an angle value according to the steering frequency fed back from the motor encoder, controlling the current speed, and keeping the difference value between the speed at the bent position of the rear wheel and the initial linear speed of the front wheel within a threshold value in the actual rail bending process.
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CN102976120A (en) * 2012-12-12 2013-03-20 武汉开锐海洋起重技术有限公司 Overhead rail-mounted spiral high-efficiency flatting system
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CN108162802A (en) * 2018-02-12 2018-06-15 廊坊中建机械有限公司 Material transport vehicle, mobile system and control method

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