CN110758042A - Self-balancing moving platform and self-balancing moving method - Google Patents
Self-balancing moving platform and self-balancing moving method Download PDFInfo
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- CN110758042A CN110758042A CN201910959331.0A CN201910959331A CN110758042A CN 110758042 A CN110758042 A CN 110758042A CN 201910959331 A CN201910959331 A CN 201910959331A CN 110758042 A CN110758042 A CN 110758042A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 239000000725 suspension Substances 0.000 claims abstract description 43
- 238000001514 detection method Methods 0.000 claims description 40
- 238000013016 damping Methods 0.000 claims description 12
- 239000006096 absorbing agent Substances 0.000 claims description 8
- 230000035939 shock Effects 0.000 claims description 8
- 239000003054 catalyst Substances 0.000 claims description 2
- 239000011541 reaction mixture Substances 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 description 6
- 238000004140 cleaning Methods 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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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
- B60G17/0152—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 action on a particular type of suspension 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
- B60G17/016—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/821—Uneven, rough road sensing affecting vehicle body vibration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/20—Stationary vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
- B60G2800/912—Attitude Control; levelling control
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention provides a self-balancing mobile platform, which comprises a vehicle body, a space scanning device, a suspension bracket, a wheel body, a lifting assembly and a controller, wherein the vehicle body is provided with a plurality of wheels; the space scanning device is arranged on the vehicle body and can scan road conditions on a pre-running path of the vehicle body; one end of the suspension bracket is rotationally connected to the vehicle body, and the other end of the suspension bracket is rotationally connected to the wheel body; one end of the lifting component is rotatably connected to the vehicle body, and the other end of the lifting component is rotatably connected to the suspension bracket; the lifting component can stretch out and draw back under the control action of the controller, and the height of the wheel body can be adjusted by adjusting the swing position of the suspension bracket. The invention also provides a self-balancing moving method. According to the self-balancing mobile platform provided by the invention, the space scanning device and the lifting assembly are arranged, so that the balance of a vehicle body can be kept under the action of the controller; the self-balancing moving method provided by the invention obtains the road condition information of the pre-driving path through the space scanning device, and has wide application prospect.
Description
Technical Field
The invention relates to the technical field of mobile platforms, in particular to a self-balancing mobile platform and a self-balancing mobile method.
Background
The requirements for the flatness of important large-scale equipment such as tanks, missile launching vehicles, rocket carrying platforms and the like are very strict in work or transportation. However, many large-scale devices are still unable to achieve self-balancing. Taking a tank as an example, at present, only task equipment such as a turret and the like has a self-balancing function, and a tank chassis only has a basic damping function and cannot help the turret to share a balancing task. Taking a rocket launching platform as an example, a moving platform of a space shuttle can be driven by a crawler, and a small rocket has extremely high requirements on flatness, and can only adopt an orbital mode, so that the compatibility is poor.
In addition, many small-sized devices in the civil or commercial field, such as unmanned express delivery vehicles, unmanned trucks, and exterior wall cleaning devices, also have reduced stability and compatibility due to lack of self-balancing capability.
Disclosure of Invention
In view of this, a self-balancing mobile platform and a self-balancing mobile method are provided, where the self-balancing mobile platform is used to achieve automatic balancing, and the self-balancing mobile method is used to solve the problem that the existing mobile device cannot keep balance according to actual road conditions when driving.
The invention provides a self-balancing mobile platform, which comprises a vehicle body, a space scanning device, a suspension bracket, a wheel body, a lifting assembly and a controller, wherein the vehicle body is provided with a plurality of wheels; the space scanning device is arranged on the vehicle body and can scan road conditions on a pre-running path of the vehicle body; one end of the suspension bracket is rotatably connected to the vehicle body, and the other end of the suspension bracket is rotatably connected to the wheel body; one end of the lifting component is rotatably connected to the vehicle body, and the other end of the lifting component is rotatably connected to the suspension bracket; the lifting assembly can stretch out and draw back under the control action of the controller, and the height of the wheel body is adjusted by adjusting the swinging position of the suspension bracket.
Further, the telescopic assembly comprises a telescopic arm and a shock absorber base; the flexible arm includes the stiff end and can be relative the gliding flexible end of stiff end, the stiff end rotate connect in the automobile body, flexible end connect in the bumper shock absorber base, the bumper shock absorber base rotate connect in suspension bracket.
Furthermore, the telescopic assembly further comprises a damping spring, the damping spring is sleeved on the telescopic arm, one end of the damping spring abuts against the telescopic arm, and the other end of the damping spring abuts against the shock absorber base; or,
the telescopic arm is at least one of a hydraulic cylinder, an air cylinder or a linear motor.
Further, the space scanning device is a millimeter wave radar.
Further, the self-balancing mobile platform comprises a first detection device, the first detection device is used for detecting the load of each wheel body and generating load information, and the first detection device can transmit the load information to the controller; and/or the presence of a catalyst in the reaction mixture,
the self-balancing mobile platform comprises a second detection device, the second detection device is used for detecting the posture of the vehicle body and generating posture information, and the second detection device can transmit the posture information to the controller.
Further, the wheel body is a driven wheel.
Further, the wheel body is a driving wheel, the self-balancing mobile platform comprises a driving motor, and the driving motor is connected to the driving wheel and can drive the driving wheel to rotate.
According to the self-balancing mobile platform provided by the invention, the space scanning device and the lifting assembly are arranged, so that the balance of a vehicle body can be kept under the action of the controller; the self-balancing mobile platform has high compatibility with road conditions, and has wide application prospect and practical value.
The invention also provides a self-balancing moving method, which is applied to any one self-balancing moving platform, and comprises the following steps:
acquiring road condition information of a pre-driving path through the space scanning device;
the controller receives the road condition information and adjusts the height corresponding to the wheel body by adjusting the telescopic amount of the telescopic arm.
Further, the self-balancing mobile platform comprises a second detection device, and the self-balancing mobile method further comprises:
detecting the posture of the vehicle body through the second detection device and transmitting the posture to the controller; the controller correspondingly adjusts the telescopic amount of the telescopic arm according to the posture of the vehicle body, and accordingly adjusts the height of the corresponding wheel body.
Further, the self-balancing moving platform comprises a first detection device, and the self-balancing moving method further comprises the following steps:
detecting the load of each wheel body through the first detection device and transmitting the load to the controller; the controller calculates the average value of the load and correspondingly adjusts the height of the wheel body according to the difference value between the current load of the wheel body and the average value.
According to the self-balancing moving method provided by the invention, the road condition information of the pre-driving path is obtained through the space scanning device, and the height of the corresponding wheel body is controlled by the controller, so that the self-balancing moving platform has excellent compatibility with the road condition, can keep self-balancing under different road condition environments, and has wide application prospect.
Drawings
Fig. 1 is a schematic perspective view of a self-balancing mobile platform according to an embodiment of the present invention;
FIG. 2 is a disassembled perspective view of the self-balancing mobile platform shown in FIG. 1;
FIG. 3 is a schematic view of the suspension bracket and lift assembly shown in FIG. 1;
FIG. 4 is a disassembled view of the suspension bracket and lifting assembly shown in FIG. 3;
fig. 5 is a schematic flow chart of a self-balancing moving method provided by the present invention.
Description of the main elements
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "mounted on" another element, it can be directly mounted on the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 to fig. 2, fig. 1 is a schematic perspective view of a self-balancing mobile platform 100 according to an embodiment of the present invention, and fig. 2 is a schematic perspective disassembly view of the self-balancing mobile platform 100 shown in fig. 1.
The self-balancing mobile platform 100 is used for realizing autonomous movement, can autonomously keep balance in the process of driving along a preset path, and the self-balancing mobile platform 100 can keep balance according to actual road conditions, so that the self-balancing mobile platform has better stability and road condition compatibility.
It can be understood that the self-balancing mobile platform 100 provided by the invention not only can be self-moving equipment used for military purposes such as tanks, missile launching vehicles and rocket carrying platforms, but also can be self-moving equipment used for civil and commercial purposes such as unmanned express delivery vehicles, unmanned trucks and outer wall cleaning equipment.
Self-balancing mobile platform 100 includes vehicle body 10, space scanning device 20, suspension bracket 30, wheel 40, lift assembly 50, and controller (not shown). The space scanning device 20 is arranged on the vehicle body 10, one end of the suspension bracket 30 is rotatably connected to the vehicle body 10, and the other end is rotatably connected to the wheel body 40; the wheel body 40 is arranged on the suspension bracket 30 and can rotate relative to the suspension bracket 30; one end of the lifting component 50 is rotatably connected to the vehicle body 10, and the other end is rotatably connected to the suspension bracket 30; the controller is coupled to the space scanning apparatus and can control the lifting assembly 50 to lift.
The vehicle body 10 is used for carrying the space scanning device 20, the suspension bracket 30, the wheel body 40, the lifting assembly 50 and the controller; the space scanning device 20 is used for scanning and acquiring road surface information; the suspension bracket 30 is used for suspending the wheel body 40 between the ground and the vehicle body 10; the wheel body 40 is used for guiding the movement of the vehicle body 10; the lifting assembly 50 is used for adjusting the setting angle of the suspension bracket 30 through self expansion and contraction; the controller is used for receiving the road surface information acquired by the space scanning device 20 and actively adjusting the expansion and contraction amount of the lifting assembly 50 according to the road surface information.
The space scanning device 20 scans road conditions and generates road surface information, and the space scanning device 20 transmits the road surface information to the controller; the controller determines the height of the wheel body 40 to be adjusted according to the road surface information and adjusts the expansion amount of the lifting assembly 50; the lifting assembly 50 extends and retracts to drive the suspension bracket 30 to swing, so as to adjust the height of the wheel body 40 arranged on the suspension bracket 30.
Because the wheel body 40 also has a displacement amount in the traveling direction of the vehicle body 10 during the height adjustment, the two-factor adjustment of the wheel body 40 on the height and the traveling amount can better fit the road condition, and the damping and buffering effects are better than the beneficial effects of the single-factor adjustment of the height.
Specifically, the vehicle body 10 serves as an integral motion platform of the self-balancing mobile platform 100, and may be used as a chassis of a manned vehicle or a main body of a tank or the like according to the actual application of the self-balancing mobile platform 100. The actual application of the vehicle body 10 can be selected according to actual needs.
The space scanning device 20 has a three-dimensional scanning function, is installed at one end of the head of the vehicle body 10, and can generate three-dimensional model data according to road condition information on a driving path.
In addition, the space scanning device 20 can also detect whether there is an obstacle on the driving route when scanning the road conditions, and avoid the vehicle body 10 from colliding with the obstacle when driving, so that the platform has the function of avoiding obstacles independently, and the safety and stability of the whole vehicle are improved.
It should be noted that the spatial scanning device 20 scans the road condition on the pre-driving path of the self-balancing mobile platform 100, that is, scans the road condition information in front of the vehicle body 10 at the preset distance, instead of the road condition information of the vehicle body 10 at the current position. The length of the preset distance can be set according to the reaction and the calculation capability of the controller.
As far as the structure of the spatial scanning device 20 itself is concerned, a conventional structure may be selected. In the present embodiment, the space scanning device 20 is a millimeter wave radar device. It is understood that in other embodiments, the spatial scanning device 20 may also be a three-dimensional scanner, a three-dimensional camera, or other scanning equipment with a three-dimensional scanning function.
In this embodiment, the vehicle body 10 is provided with a mounting plate 11 protruding from the front end thereof, and the space scanning device 20 is mounted on the mounting plate 11 by a screw fastener (not shown).
It can be understood that the space scanning device 20 may also be fixed on the vehicle body 10 by other methods such as gluing, riveting, etc.; the present invention does not limit the specific installation manner of the space scanning apparatus 20, as long as the space scanning apparatus 20 can be stably and fixedly installed on the vehicle body 10.
Referring to fig. 3 and 4 together, fig. 3 is a schematic structural view of the suspension bracket 30 and the lifting assembly 50 shown in fig. 1, and fig. 4 is a schematic disassembly view of the suspension bracket 30 and the lifting assembly 50 shown in fig. 3.
The vehicle body 10 is provided with a mounting block 12 protruding from a side surface thereof, and the mounting block 12 is hollow inside to allow an end of the suspension bracket 30 away from the wheel body 40 to be inserted therein. One end of the suspension bracket 30 extends outwards and forms a first rotating shaft 31, the first rotating shaft 31 can extend into the mounting block 12, and the rotation of the suspension bracket 30 relative to the vehicle body 10 is realized through the rotation of the first rotating shaft 31 relative to the mounting block 12; the other end of the suspension bracket 30 also extends outward and forms a second rotating shaft 32, and the second rotating shaft 32 can be embedded in the wheel body 40 and rotate relative to the wheel body 40.
When the suspension bracket 30 is driven by the lifting assembly 50 to swing, the suspension bracket 30 makes a circular rotation motion with the mounting block 12 as a center, so as to adjust the height of the wheel body 40 at one end of the suspension bracket 30 relatively far away from the vehicle body 10 and the displacement in the advancing direction.
The wheel body 40 is sleeved on the second rotating shaft 32 and can rotate relative to the second rotating shaft 32.
Further, the wheel body 40 includes a wheel hub 41 and a tire 42, the tire 42 is sleeved on the wheel hub 41, the wheel hub 41 can be driven by the driving motor to rotate (when the wheel body 40 is used as a driving wheel), and the tire 42 is driven to roll on the ground surface in a reciprocating manner, so as to drive the vehicle body 10 to move.
In the present embodiment, the wheel body 40 is a driven wheel, which can guide the movement of the vehicle body 10 by the other driving wheels.
It will be appreciated that in other embodiments, the wheel body 40 may also be a drive wheel. In this case, a driving motor (not shown) is further disposed on the wheel body 40 serving as the driving wheel, and the driving motor is electrically connected to the controller and can drive the wheel body 40 to rotate under the control of the controller.
It is understood that the specific number of the wheels 40 can be configured according to the actual requirement of the vehicle body 10, and the matching relationship between the driving wheels and the driven wheels can also be set according to the specific road condition. In this case, the number of the suspension brackets 30 corresponding to the wheel 40, the number of the mounting blocks 12 protruding from the vehicle body 10, and the number of the lift units 50 need to be arranged in synchronization with each other.
The vehicle body 10 is further provided with a mounting shaft 13 at a position corresponding to each of the lift assemblies 50, and each of the suspension brackets 30 is provided with a pin block 33 at a position corresponding to the lift assembly 50. One end of the lifting assembly 50 is rotatably connected to the mounting shaft 13, and the other end is rotatably connected to the pin block 33. When the lifting assembly 50 is extended or retracted under the control of the controller, the extension or retraction of the lifting assembly 50 will drive the suspension bracket 30 to swing, thereby adjusting the height of the wheel body 40.
Further, the lifting assembly 50 includes a telescopic arm 51, a damper spring 52, and a damper mount 53. The telescopic arm 51 includes a fixed end (not numbered) and a telescopic end (not numbered), and the telescopic end of the telescopic arm 51 can slide back and forth relative to the fixed end, thereby changing the length of the telescopic arm. The fixed end of the telescopic arm 51 is sleeved on the mounting shaft 13, so that the telescopic arm 51 and the mounting shaft 13 are stably connected with each other on the basis of realizing the rotary connection between the telescopic arm 51 and the mounting shaft 13.
In the present embodiment, the telescopic arm 51 is a hydraulic cylinder. It is understood that in other embodiments, the telescopic arm 51 may be other components capable of freely extending and contracting besides a hydraulic cylinder, such as a cylinder and a linear motor.
The damping spring 52 is sleeved on the telescopic end of the telescopic arm 51, and the damper base 53 is fixedly connected to the telescopic end of the telescopic arm 51. The outer side of the telescopic end extends outward and forms a positioning boss (not numbered), one end of the damping spring 52 abuts against the positioning boss on the telescopic end, and the other end abuts against the damper base 53.
In the process of the wheel body 40 moving, the damping spring 52 can reduce the vibration impact of the wheel body 40 on the vehicle body 10, and improve the motion stability and reliability of the vehicle body 10.
The damper mount 53 is sleeved about the pin 33 and is capable of rotating relative to the pin 33 to effect rotational coupling of the lift assembly 50 relative to the hanger bracket 30.
The controller is used to control the amount of extension and retraction of the telescopic arm 51. After the spatial scanning device 20 scans the road condition on the pre-driving path and sends the road condition information to the controller, the controller determines the amount of expansion of the telescopic arm 51 according to the road condition information, and adjusts the height of the wheel body 40 accordingly.
It is understood that the number of the controllers can be set to be a plurality, and can be set to be one; the height of each wheel body 40 can be controlled by one controller in a centralized way or can be controlled by each controller independently; the specific control strategy can be selected according to actual working conditions.
The self-balancing principle of the self-balancing mobile platform 100 is briefly described as follows:
during the driving process of the vehicle body 10, the controller controls the telescopic amount of the telescopic arm 51 in real time according to the road condition information scanned by the space scanning device 20 and the current position of the vehicle body 10 and/or the rotating speed of the wheel body 40 (which can be measured in real time by a sensor), so as to drive the corresponding suspension bracket 20 to rotate relative to the vehicle body 10 and drive the wheel body 40 to lift, so that the vehicle body 10 is always kept horizontal at the same height when driving along the pre-driving path.
In addition, when the telescopic arm 51 reaches the telescopic limit so that the vehicle body 10 cannot be maintained at the same height, that is, when the regulation limit of the telescopic arm 51 is exceeded, the controller may allow the vehicle body 10 to be changed in height in order to maintain the balance of the vehicle body.
In an embodiment of the present invention, the self-balancing mobile platform 100 is further provided with a plurality of first detecting devices (not shown), each of the first detecting devices correspondingly detects the load weight of one or more wheels 40 (i.e. the contact pressure between the wheels 40 and the ground), and each of the first detecting devices is electrically connected to the controller, so that the first detecting device transmits the detection result to the controller.
The first detection means is preferably a pressure sensor in view of cost and performance. It will be appreciated that in other embodiments, the first sensing device may employ other sensing elements besides a pressure sensor.
Running wheel 40 on an insufficiently hard road surface may compress the road surface and cause it to sag. At this time, the first detecting device detects the load weight of each wheel body 40 (i.e. the contact pressure of the wheel body 40 with the ground surface), and transmits the load weight to the controller in the form of an electrical signal, and the controller receives the signal and correspondingly adjusts the amount of extension and retraction of each telescopic arm 51, so as to ensure that the self-balancing mobile platform 100 can still be kept horizontal under this condition.
For example, when the load weight of the front wheel 40 is smaller than the average load of all wheels 40, the controller may determine that the wheel 40 is in a floating trend, so as to adjust the amount of extension and retraction of the telescopic arm 51 to ensure the balance of the self-balancing mobile platform 100. Of course, in other embodiments, the controller may adjust the amount of extension and retraction of the telescopic arm 51 according to other strategies.
In an embodiment of the present invention, after the first detecting device transmits the load weight of each wheel 40 to the controller, the controller may calculate the load condition and the gravity center position of the self-balancing mobile platform 100 according to the detection result.
When the controller determines that the self-balancing mobile platform 100 is in an idle or low-load operating state, the controller may correspondingly control the wheel body 40 located in the middle of the vehicle body 10 to be lifted, so as to reduce the additional friction resistance caused by the plurality of wheel bodies 40, reduce the operating resistance of the vehicle body 10, and save energy.
In an embodiment of the present invention, the self-balancing mobile platform 100 is further provided with a second detection device (not shown), and the second detection device is used for detecting an operation posture of the self-balancing mobile platform 100; the second detection device is electrically connected to the controller and can transmit the detection result to the controller.
Optional sensing elements of the second sensing device include gyroscopes, accelerometers, etc. The second detection device detects the posture of the vehicle body 10 and feeds the posture back to the controller, and the controller correspondingly adjusts the expansion amount of the telescopic arm 51 according to the detection result of the second detection device, so that the self-balancing adjustment performance of the self-balancing mobile platform 100 is further improved.
The first detection device and the second detection device are matched with each other, so that the self-balancing mobile platform 100 can reach a balance state under various task scenes.
According to the self-balancing mobile platform 100 provided by the invention, the space scanning device 20 and the lifting assembly 50 are arranged, so that the balance of the vehicle body 10 can be kept under the action of the controller; the self-balancing mobile platform 100 has high compatibility to road conditions, and has wide application prospect and practical value.
Referring to fig. 5, fig. 5 is a schematic flow chart of a self-balancing moving method according to the present invention. The self-balancing moving method provided by the present invention is applied to the self-balancing moving platform 100, and the self-balancing moving method provided by the present invention includes:
s51: and acquiring road condition information of the pre-driving path through the space scanning device. Specifically, the space scanning device may be a millimeter wave radar device, and may also be a scanning apparatus having a three-dimensional scanning function, such as a three-dimensional scanner or a three-dimensional camera.
S52: the controller receives the road condition information and adjusts the height corresponding to the wheel body by adjusting the telescopic amount of the telescopic arm. Specifically, the telescopic arm may be a hydraulic cylinder, or may be a cylinder, a linear motor, or other components that can be freely telescopic except for the hydraulic cylinder.
In an embodiment of the present invention, the self-balancing moving method further includes step S53.
Step S53: detecting the posture of the vehicle body through the second detection device and transmitting the posture to the controller; the controller correspondingly adjusts the telescopic amount of the telescopic arm according to the posture of the vehicle body, and accordingly adjusts the height of the corresponding wheel body.
In particular, the detection element selectable by the second detection device comprises a gyroscope, an accelerometer and the like. The second detection device detects the posture of the vehicle body and feeds the posture back to the controller, and the controller correspondingly adjusts the stretching amount of the stretching arm according to the detection result of the second detection device, so that the self-balancing adjustment performance of the self-balancing mobile platform is further improved.
In an embodiment of the present invention, the self-balancing moving method further includes step S54.
S54: detecting the load of each wheel body through the first detection device and transmitting the load to the controller; the controller calculates the average value of the load and correspondingly adjusts the height of the wheel body according to the difference value between the current load of the wheel body and the average value.
In particular, running on an insufficiently hard road surface may compress the road surface and cause it to sag. At this time, the first detection device detects the load of each wheel body (namely the contact pressure of the wheel body and the ground), and transmits the load to the controller in the form of an electric signal, and the controller receives the signal and correspondingly adjusts the expansion amount of each telescopic arm, so that the self-balancing mobile platform can be ensured to be horizontal under the condition.
For example, when the load weight of the front wheel is smaller than the average load value of all wheels, the controller may determine that the wheel is in a suspension trend, so as to adjust the amount of extension of the telescopic arm to ensure the balance of the self-balancing mobile platform. Of course, in other embodiments, the controller may adjust the amount of extension and retraction of the telescopic arm according to other strategies.
At this moment, the balance performance of the self-balancing mobile platform is further improved, and the first detection device and the second detection device are matched with each other, so that the self-balancing mobile platform can reach a balance state under various task scenes.
According to the self-balancing moving method provided by the invention, the road condition information of the pre-driving path is obtained through the space scanning device, and the height of the corresponding wheel body is controlled by the controller, so that the self-balancing moving platform has excellent compatibility with the road condition, can keep self-balancing under different road condition environments, and has wide application prospect.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that suitable changes and modifications of the above embodiments are within the scope of the claimed invention as long as they are within the spirit and scope of the present invention.
Claims (10)
1. A self-balancing mobile platform is characterized by comprising a vehicle body, a space scanning device, a suspension bracket, a wheel body, a lifting assembly and a controller; the space scanning device is arranged on the vehicle body and can scan road conditions on a pre-running path of the vehicle body; one end of the suspension bracket is rotatably connected to the vehicle body, and the other end of the suspension bracket is rotatably connected to the wheel body; one end of the lifting component is rotatably connected to the vehicle body, and the other end of the lifting component is rotatably connected to the suspension bracket; the lifting assembly can stretch out and draw back under the control action of the controller, and the height of the wheel body is adjusted by adjusting the swinging position of the suspension bracket.
2. The self-balancing mobile platform of claim 1, wherein the telescoping assembly includes a telescoping arm and a shock absorber mount; the flexible arm includes the stiff end and can be relative the gliding flexible end of stiff end, the stiff end rotate connect in the automobile body, flexible end connect in the bumper shock absorber base, the bumper shock absorber base rotate connect in suspension bracket.
3. The self-balancing mobile platform of claim 2, wherein the telescopic assembly further comprises a damping spring, the damping spring is sleeved on the telescopic arm, and one end of the damping spring abuts against the telescopic arm and the other end abuts against the shock absorber base; or,
the telescopic arm is at least one of a hydraulic cylinder, an air cylinder or a linear motor.
4. The self-balancing mobile platform of claim 1, wherein the spatial scanning device is a millimeter wave radar.
5. The self-balancing mobile platform of claim 1, wherein the self-balancing mobile platform includes a first detection device for detecting a load of each wheel and generating load information, the first detection device being capable of communicating the load information to the controller; and/or the presence of a catalyst in the reaction mixture,
the self-balancing mobile platform comprises a second detection device, the second detection device is used for detecting the posture of the vehicle body and generating posture information, and the second detection device can transmit the posture information to the controller.
6. The self-balancing mobile platform of claim 1, wherein the wheels are driven wheels.
7. The self-balancing mobile platform of claim 1, wherein the wheels are drive wheels, and the self-balancing mobile platform comprises a drive motor coupled to the drive wheels and capable of driving the drive wheels to rotate.
8. A self-balancing moving method applied to the self-balancing moving platform of any one of claims 1 to 7, the self-balancing moving method comprising:
acquiring road condition information of a pre-driving path through the space scanning device;
the controller receives the road condition information and adjusts the height corresponding to the wheel body by adjusting the telescopic amount of the telescopic arm.
9. The self-balancing moving method of claim 8, wherein the self-balancing moving platform includes a second detection device, the self-balancing moving method further comprising:
detecting the posture of the vehicle body through the second detection device and transmitting the posture to the controller; the controller correspondingly adjusts the telescopic amount of the telescopic arm according to the posture of the vehicle body, and accordingly adjusts the height of the corresponding wheel body.
10. The self-balancing moving method of claim 8, wherein the self-balancing moving platform includes a first detecting device, and the self-balancing moving method further includes:
detecting the load of each wheel body through the first detection device and transmitting the load to the controller; the controller calculates the average value of the load and correspondingly adjusts the height of the wheel body according to the difference value between the current load of the wheel body and the average value.
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| CN201910959331.0A CN110758042A (en) | 2019-10-10 | 2019-10-10 | Self-balancing moving platform and self-balancing moving method |
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| CN201910959331.0A CN110758042A (en) | 2019-10-10 | 2019-10-10 | Self-balancing moving platform and self-balancing moving method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112744043A (en) * | 2021-01-09 | 2021-05-04 | 江苏轲特特种运输机械制造有限公司 | Wheel pendulous device and transport vechicle |
| CN113291142A (en) * | 2021-05-13 | 2021-08-24 | 广西大学 | Intelligent driving system and control method thereof |
| KR20220036087A (en) * | 2020-09-15 | 2022-03-22 | 한성웰텍 (주) | Automated Guided Vehicle with Automatic Equal Load Suspension System |
| KR20240024662A (en) * | 2022-08-17 | 2024-02-26 | 한국로봇융합연구원 | Apparatus and method for performing control to maintain a horizontal posture of a four-wheel drive driving robot |
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2019
- 2019-10-10 CN CN201910959331.0A patent/CN110758042A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20220036087A (en) * | 2020-09-15 | 2022-03-22 | 한성웰텍 (주) | Automated Guided Vehicle with Automatic Equal Load Suspension System |
| KR102393347B1 (en) * | 2020-09-15 | 2022-05-02 | 한성웰텍 (주) | Automated Guided Vehicle with Automatic Equal Load Suspension System |
| CN112744043A (en) * | 2021-01-09 | 2021-05-04 | 江苏轲特特种运输机械制造有限公司 | Wheel pendulous device and transport vechicle |
| CN113291142A (en) * | 2021-05-13 | 2021-08-24 | 广西大学 | Intelligent driving system and control method thereof |
| CN113291142B (en) * | 2021-05-13 | 2022-11-11 | 广西大学 | Intelligent driving system and control method thereof |
| KR20240024662A (en) * | 2022-08-17 | 2024-02-26 | 한국로봇융합연구원 | Apparatus and method for performing control to maintain a horizontal posture of a four-wheel drive driving robot |
| KR102667197B1 (en) * | 2022-08-17 | 2024-05-17 | 한국로봇융합연구원 | Apparatus and method for performing control to maintain a horizontal posture of a four-wheel drive driving robot |
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