CN111361380A - Self-adaptive suspension system, driving system and mobile chassis - Google Patents
Self-adaptive suspension system, driving system and mobile chassis Download PDFInfo
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- CN111361380A CN111361380A CN202010197096.0A CN202010197096A CN111361380A CN 111361380 A CN111361380 A CN 111361380A CN 202010197096 A CN202010197096 A CN 202010197096A CN 111361380 A CN111361380 A CN 111361380A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—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
- B60G17/019—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 type of sensor or the arrangement thereof
Abstract
The application relates to the technical field of robots, and the application provides a self-adaptation suspension, driving system and removal chassis, and self-adaptation suspension includes: the device comprises a variable damping device, a visual detection device, a pressure detection device and a control device; the variable damping device is connected between the moving wheel and the rack, the visual detection device is installed on the rack, and the pressure detection device is installed on the variable damping device; the control device is used for calculating a control signal of the variable damping device according to road condition parameters obtained by detecting the advancing direction in advance by the visual detection device, outputting the control signal to the variable damping device according to the road condition parameters which are determined by the pressure parameters of the pressure detection device and change in real time, and controlling the rigidity of the variable damping device to be adaptive to the current road condition parameters in real time. The driving system and the design scheme of the mobile chassis enable the mobile chassis to walk stably at a high speed.
Description
Technical Field
The application relates to the technical field of robots, in particular to a self-adaptive suspension system, a driving system and a mobile chassis.
Background
With the popularization and application of automation, mobile robots or service robots are started in factories, warehouses or public places. One type of mobile chassis is widely accepted and used by virtue of the characteristic of wide application. As the terrain of the used place is regular and flat, the addition of a vibration damping device and a rollover prevention device or a common vibration damping device is generally considered rarely. However, with the progress of technology and the increase of demand, the common vibration reduction can not meet the use requirement.
In the current damping design of the mobile chassis, some automobiles are designed with suspension systems which change in a self-adaptive manner and can carry out certain active adjustment, but the systems are difficult to be applied to the mobile chassis and have larger hysteresis, so that the stability and the precision of a vehicle body when the vehicle body walks at a higher speed are difficult to ensure.
Disclosure of Invention
In order to solve the problems of low smoothness and low precision when the mobile chassis travels, the following technical scheme is provided:
in a first aspect, the present application provides an adaptive suspension system comprising: a variable damping device, a visual detection device, a pressure detection device, and a control device;
the variable damping device is connected between the moving wheel and the rack, the visual detection device is installed on the rack, the pressure detection device is installed on the variable damping device, and the control device is respectively connected with the visual detection device and the pressure detection device;
the visual detection device is used for detecting the road condition in the advancing direction in advance to obtain road condition parameters and sending the road condition information to the control device; the pressure detection device is used for detecting the pressure state of the moving wheel to obtain a pressure parameter and sending the pressure parameter to the control device;
the control device is used for calculating a control signal of the variable damping device according to the road condition parameters, outputting the control signal to the variable damping device according to the road condition parameters which are determined by the pressure parameters and change in real time, and controlling the rigidity of the variable damping device to be adaptive to the current road condition parameters in real time.
In one embodiment, the adaptive suspension system further comprises: the laser detection sensor and/or the displacement sensor are/is connected with the control device;
the laser detection sensor is used for detecting a distance parameter between the machine frame in the advancing direction and a road obstacle in the advancing direction in advance; the displacement sensor is used for detecting displacement parameters between the rack and the road surface in the advancing direction in advance;
and the control device is used for carrying out fusion calculation according to the road condition parameters, the pressure parameters, the distance parameters and/or the displacement parameters to obtain a control signal of the variable damping device.
In one embodiment, the visual inspection device is located on the front side in the forward direction.
In one embodiment, the variable damping device comprises a variable damper and a swing device;
the swing device is used for being connected with the moving wheel, one end of the swing device is hinged to the rack, the other end of the swing device is hinged to the movable end of the variable shock absorber, and the fixed end of the variable shock absorber is connected to the rack through the pressure detection device.
In one embodiment, the variable damper is a spring damper, and the control device sends out a control signal to steplessly control the frequency of the variable damper to adjust the stiffness of the elastic damper.
In one embodiment, the variable damper is a magnetorheological damper, and the control device sends out a control signal to steplessly control the current of the variable damper so as to adjust the relative acting force between the two pole plates of the magnetorheological damper.
In a second aspect, the present application also provides a drive train for movement drive of a moving chassis, comprising: the adaptive suspension system provided by any of the above embodiments, and the frame, the moving wheel and the driving motor for driving the moving wheel connected thereto.
In one embodiment, the motion wheel is a deceleration motion wheel;
and the control device at least sends a deceleration control signal to the driving motor according to the road condition parameters determined by the pressure parameters, and controls the moving speed of the moving chassis in real time.
In one embodiment, the oscillating device is disposed between the driving motor and the moving wheel.
In a third aspect, the present application further provides a mobile chassis, and a driving system provided in any of the above embodiments.
In the design scheme of the self-adaptive suspension system, the driving system and the mobile chassis, the visual detection device is used for detecting the road obstacle in advance to obtain road condition parameters. According to the road condition parameters, the control system fuses all detection parameters and sends control signals to the variable damping device, and the suspension system adjusts the damping state in a self-adaptive mode, so that the mobile chassis can stably pass obstacles under the condition of high speed.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic perspective view of an adaptive suspension system in connection with a frame and a movable wheel according to an embodiment of the present application;
fig. 2 is a control flow diagram of an adaptive suspension system for a mobile chassis according to an embodiment of the present application.
Detailed Description
The present application is further described with reference to the following drawings and exemplary embodiments, wherein like reference numerals are used to refer to like elements throughout. In addition, if a detailed description of the known art is not necessary to show the features of the present application, it is omitted.
Referring to fig. 1, fig. 1 is a schematic perspective view illustrating a connection relationship between an adaptive suspension system and a frame 1 and a moving wheel 2 according to an embodiment of the present application.
An adaptive suspension system provided by one embodiment of the application is applied to a driving system of a moving chassis.
The adaptive suspension system comprises at least a variable damping device 3, a visual detection device 4, a pressure detection device 5 and a control device 6. The variable damping device 3 is located between and connects the moving wheel 2 and the frame 1. The visual inspection device 4 is mounted on the frame 1. In the process of moving the mobile chassis, the road condition in front is detected in advance to obtain corresponding road condition parameters, and the road condition parameters are sent to the control device 6. If there are larger obstacles in front, such as depressions or bumps, the road condition parameter in front may include the depth or height of the obstacles.
The pressure detecting device 5 is used for detecting the pressure state of the moving wheel 2 to obtain a corresponding pressure parameter, and transmitting pressure information obtained by the pressure parameter to the control device 6.
In the walking process, the control device 6 calculates the control signal of the variable damping device 3 according to the road condition information of the upcoming area acquired by the visual detection device 4. If a hollow is detected in front of the visual detection device 4, the detected road condition parameters comprise the depth and the range of the hollow, and the control curve of the variable damping device 3 is obtained when the hollow is located in the front through calculation. The control device 6 outputs a corresponding control signal according to the control curve. In this embodiment, the visual inspection device 4 may be installed at the front side along the forward direction, so that the design height of the mobile chassis or the loading and traveling conditions need not to be considered, the design difficulty is reduced, and more comprehensive road condition parameters in front are easily obtained.
Meanwhile, the control device 6 detects real-time road conditions through the pressure parameters acquired by the pressure detection device 5, confirms the control signals of the variable damping device 3 corresponding to the current road condition parameters within the control range of the control curve of the variable damping device 3, and sends the corresponding control signals to the variable damping device 3, so that the rigidity of the variable damper 31 is controlled in real time, the self-adaptive effect is achieved, the problem of adaptive hysteresis during walking is solved, and the stability and the precision of the mobile chassis during high-speed movement are ensured.
The adaptive suspension system provided by the present application may further include a laser detection sensor (not shown) and/or a displacement sensor (not shown), which are respectively connected to the control device 6.
The laser detection sensor is used for detecting a distance parameter between the frame 1 and a front road obstacle in the advancing direction in advance. The laser detection sensor emits laser forward, receives reflected light of the road obstacle forward, calculates a time difference between emission and reception of the laser, obtains a distance between the current moving chassis and the road obstacle forward, and provides a distance parameter corresponding to the control device 6.
The displacement sensor is used for detecting displacement parameters between the frame 1 and the road surface in the advancing direction in advance.
The visual detection device 4 and the laser detection sensor are arranged at positions which can be arranged at the front side, the left side and the right side of the suspension system or the moving chassis along the advancing direction or at positions which are higher along the rear side of the advancing direction, so that the laser emitted forward is ensured not to be blocked.
The control device 6 performs fusion calculation according to the detected parameters of one or two of the laser detection sensor and the displacement sensor, road condition parameters and pressure parameters, and obtains the relative position with the road obstacle by detecting the distance between the road obstacle and the movable chassis and/or changing the displaced distance of the movable chassis on the road. And fusing the current position information of the mobile chassis with road condition parameters and pressure parameters, matching the obtained control curve to obtain a control signal corresponding to the current variable damping device 3, sending the control signal to the variable damping device 3 to obtain precise damping adjustment, and further ensuring the stability and precision of the mobile chassis during high-speed movement.
The variable damping device 3 includes a variable damper 31 and a swing device 32. The swing device 32 has one end hinged to the frame 1 and the other end hinged to the movable end of the variable damper 31. The two hinged positions can be connected by a hinge shaft 33, and the two structures connected by the hinge shaft 33 can swing mutually. The frame 1 and the swing device 32, and the variable damper 31 can swing with each other. Since the swing device 32 is also connected to the moving wheel 2, during the traveling of the moving chassis, especially in the area with uneven road conditions, the impact of the vibration transmitted from the moving wheel 2 to the frame 1 can be reduced by the swing device 32. Meanwhile, the fixed end of the variable damper 31 is connected to the frame 1 through the pressure detection device 5, that is, the variable damper 31 is fixedly connected to the pressure detection device 5. The variable damper 31 is connected to reduce the vibration energy transmitted from the moving wheel 2 to the variable damper 31, and the pressure applied to the frame 1 after the obtained vibration energy is reduced is transmitted to the pressure detection device 5 and the pressure detection device 5, so that the current pressure parameter is obtained and transmitted to the control device 6. In this embodiment, each motion wheel 2 is correspondingly provided with a variable shock absorber 3 and a pressure detection device 4, so as to more accurately promote the stable control of the adaptive suspension system on the mobile chassis according to the real-time road condition parameters on two sides of the mobile chassis.
In the present embodiment, the variable damper 31 is a spring damper. The control device 6 confirms the current road condition parameters according to the pressure parameters, obtains the corresponding control signals on the control curve and outputs the control signals to the spring damper, and controls and adjusts the rigidity of the spring damper so as to realize the corresponding damping effect. Further, the control device 6 sends a pulse control signal with a corresponding frequency to the spring damper, wherein the frequency can be up to one millionth of a second, and the frequency of the spring damper is controlled to achieve the adjustment of the rigidity of the spring damper, so that the corresponding damping effect can be stably adjusted even when the mobile chassis moves at a high speed when large hollow and protruding obstacles exist.
The variable damper 31 may be a magnetorheological damper. The control device 6 confirms the current road condition parameters according to the pressure parameters to obtain corresponding control signals on the control curve, and performs stepless control and adjustment on the current of the two polar plates of the magnetorheological damper so as to adjust the induced polarization of the magnetorheological fluid of the two polar plates. The adjustment of the current may comprise an adjustment of at least one of its magnitude and direction. The relative acting force between the two polar plates is adjusted in a stepless mode along the control curve between the two polar plates, so that a certain absorption effect is achieved on vibration and impact transmitted by a movement theory or a rack, a damping effect is achieved, and the corresponding damping effect can be adjusted stably when the machine moves at a high speed. The variable damper 31 may be other variable dampers having a similar operation and principle capable of absorbing vibration and shock transmitted from other connection structures or the outside.
Referring to fig. 2, fig. 2 is a schematic control flow diagram of an adaptive suspension system according to an embodiment of the present application. The steps of the shock absorption control of the self-adaptive suspension system provided by the method are as follows:
and S10, starting.
In the adaptive suspension system provided in the above embodiment of the present application, when the mobile chassis is turned on, the adaptive suspension system starts to operate, and the mobile chassis starts to move.
S11, moving the chassis to approach or pass through the obstacle;
and S12, acquiring detection parameters of the detection device.
During walking, when approaching an obstacle or passing through the obstacle, detection parameters of the road surface and the moving chassis are obtained by any one or a plurality of detection devices.
S13, judging whether the detection parameters are changed or not, if so, turning to the steps S14 to S17; otherwise, go to step S12.
S14, inputting road condition parameters of the visual detection device;
s15, inputting pressure parameters of the pressure detection device;
s16, inputting distance parameters between the laser detection device and the road surface obstacle;
and S17, inputting displacement parameters of the displacement sensor.
The control device 6 compares one or more currently received detection parameters with the previous detection parameters of the same type, and then judges whether the corresponding detection parameters change. And if the detection parameters are not changed, continuously acquiring the detection parameters of the corresponding detection device. If the change occurs, the detection parameters received from the detection devices are input.
And S18, performing multi-sensor data fusion on the acquired detection parameters to obtain fused data.
And (5) calculating the detection parameters obtained in the steps S14-S17 by a multi-sensor fusion algorithm to obtain fusion data.
S19, automatically controlling the operation of the damping matching algorithm;
and S20, obtaining the rigidity parameter of the variable shock absorber according to the calculation, and adjusting the rigidity of the variable shock absorber.
According to the fusion data, automatic control damping matching algorithm operation is carried out on the fusion data and preset damping parameters of the mobile chassis to obtain rigidity parameters of the variable damper 31, and according to the obtained rigidity parameters, pulse control signals with corresponding frequencies are sent to the variable damper 31 through damping adjustment control signals sent by the control device 6, so that the rigidity of the variable damper 31 is adjusted.
And S21, according to the rigidity of the variable shock absorber, the driving system adjusts the walking mode in a self-adaptive mode and passes through obstacles.
The driving system adjusts the walking mode in a self-adaptive mode according to the parameter information of the road surface, and the movable chassis can stably move forwards in large potholes and raised obstacles.
And S22, ending.
When the control device 6 returns to the normal range through each detection parameter, the current process of self-adaptive adjustment of walking is finished, and a control signal is sent to the driving motor 7 according to the original normal walking mode to control the moving wheel 2 to walk, and the moving chassis moves according to a preset route and walking speed.
The present application also provides a driving system, which comprises the adaptive suspension system provided in any of the embodiments provided above, and a frame 1, a moving wheel 2 and a driving motor 7 for driving the moving wheel 2 connected thereto. In this embodiment, the driving system comprises at least two moving wheels 2, and is symmetrically connected to two ends of the driving motor 7 to provide power for moving the moving chassis.
The swing device 32 is arranged between the moving wheel 2 and the driving motor 7, and connects the moving device with the frame 1 and the pressure detection device 5.
On the basis, when the mobile chassis enters an area with road obstacles, the control device 6 obtains corresponding road condition parameters according to the current road condition determined by the pressure parameters, sends a deceleration control signal to the driving motor 7, and controls the moving speed of the mobile chassis in real time, so that the mobile chassis can stably pass through the road obstacles.
On the basis, the application also provides a mobile chassis which comprises the driving system provided by any one of the embodiments.
In the design scheme of the self-adaptive suspension system, the driving system and the mobile chassis provided by the application, the visual detection device 4 is used for detecting the road obstacle in advance to obtain road condition parameters. According to the road condition parameters, the control system fuses all the detection parameters and sends control signals to the variable damping device 3, and the suspension system adjusts the damping state in a self-adaptive mode, so that the mobile chassis can stably pass obstacles at a high speed.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The foregoing is only a partial embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and decorations can be made without departing from the principle of the present application, and these modifications and decorations should also be regarded as the protection scope of the present application.
Claims (10)
1. An adaptive suspension system for use with a mobile chassis, comprising: a variable damping device, a visual detection device, a pressure detection device, and a control device;
the variable damping device is connected between the moving wheel and the rack, the visual detection device is installed on the rack, the pressure detection device is installed on the variable damping device, and the control device is respectively connected with the visual detection device and the pressure detection device;
the visual detection device is used for detecting the road condition in the advancing direction in advance to obtain road condition parameters and sending the road condition information to the control device; the pressure detection device is used for detecting the pressure state of the moving wheel to obtain a pressure parameter and sending the pressure parameter to the control device;
the control device is used for calculating a control signal of the variable damping device according to the road condition parameters, outputting the control signal to the variable damping device according to the road condition parameters which are determined by the pressure parameters and change in real time, and controlling the rigidity of the variable damping device to be adaptive to the current road condition parameters in real time.
2. The adaptive suspension system of claim 1, further comprising: the laser detection sensor and/or the displacement sensor are/is connected with the control device;
the laser detection sensor is used for detecting a distance parameter between the machine frame in the advancing direction and a road obstacle in the advancing direction in advance; the displacement sensor is used for detecting displacement parameters between the rack and the road surface in the advancing direction in advance;
and the control device is used for carrying out fusion calculation according to the road condition parameters, the pressure parameters, the distance parameters and/or the displacement parameters to obtain a control signal of the variable damping device.
3. The adaptive suspension system according to claim 1, wherein the visual detection device is located on a front side in a forward direction.
4. The adaptive suspension system according to claim 1, wherein the variable damping device comprises a variable damper and a swing device;
the swing device is used for being connected with the moving wheel, one end of the swing device is hinged to the rack, the other end of the swing device is hinged to the movable end of the variable shock absorber, and the fixed end of the variable shock absorber is connected to the rack through the pressure detection device.
5. The adaptive suspension system of claim 4,
the variable shock absorber is a spring shock absorber, and the control device sends out a control signal to steplessly control the frequency of the variable shock absorber so as to adjust the rigidity of the elastic shock absorber.
6. The adaptive suspension system of claim 4,
the variable shock absorber is a magnetorheological shock absorber, and the control device sends out a control signal to steplessly control the current of the variable shock absorber to adjust the relative acting force between the two pole plates of the magnetorheological shock absorber.
7. A drive train for movement drive of a moving chassis, comprising: the adaptive suspension system of any one of claims 1-6 and the frame, the moving wheels, and a drive motor coupled thereto that drives the moving wheels.
8. The drive system of claim 7, wherein the moving wheel is a decelerating moving wheel;
and the control device at least sends a deceleration control signal to the driving motor according to the road condition parameters determined by the pressure parameters, and controls the moving speed of the moving chassis in real time.
9. The drive system of claim 7,
the swing device is arranged between the driving motor and the moving wheel.
10. A mobile chassis comprising a drive system according to any one of claims 7 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010197096.0A CN111361380A (en) | 2020-03-19 | 2020-03-19 | Self-adaptive suspension system, driving system and mobile chassis |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010197096.0A CN111361380A (en) | 2020-03-19 | 2020-03-19 | Self-adaptive suspension system, driving system and mobile chassis |
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| CN111361380A true CN111361380A (en) | 2020-07-03 |
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| CN202010197096.0A Pending CN111361380A (en) | 2020-03-19 | 2020-03-19 | Self-adaptive suspension system, driving system and mobile chassis |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113320347A (en) * | 2021-06-16 | 2021-08-31 | 深圳市海柔创新科技有限公司 | Robot and method for adjusting suspension system of robot |
| CN117566018A (en) * | 2024-01-16 | 2024-02-20 | 深圳市开心电子有限公司 | Automatic identification control method and system for stable running of electric scooter |
| CN117566018B (en) * | 2024-01-16 | 2024-04-12 | 深圳市开心电子有限公司 | Automatic identification control method and system for stable running of electric scooter |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113320347A (en) * | 2021-06-16 | 2021-08-31 | 深圳市海柔创新科技有限公司 | Robot and method for adjusting suspension system of robot |
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| CN117566018B (en) * | 2024-01-16 | 2024-04-12 | 深圳市开心电子有限公司 | Automatic identification control method and system for stable running of electric scooter |
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Application publication date: 20200703 |