CN112046604A - Chassis drive system, control method and device and traveling equipment - Google Patents

Chassis drive system, control method and device and traveling equipment Download PDF

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Publication number
CN112046604A
CN112046604A CN202010987995.0A CN202010987995A CN112046604A CN 112046604 A CN112046604 A CN 112046604A CN 202010987995 A CN202010987995 A CN 202010987995A CN 112046604 A CN112046604 A CN 112046604A
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CN
China
Prior art keywords
state
chassis
wheel
locking assembly
driving
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Granted
Application number
CN202010987995.0A
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Chinese (zh)
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CN112046604B (en
Inventor
林振兴
奚卫宁
薛超
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Ninebot Beijing Technology Co Ltd
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Ninebot Beijing Technology Co Ltd
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Priority to CN202010987995.0A priority Critical patent/CN112046604B/en
Publication of CN112046604A publication Critical patent/CN112046604A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/043—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by clutch means between driving element, e.g. motor, and driven element, e.g. steering column or steering gear
    • B62D5/0439—Controllable friction clutches
    • 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
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
    • B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
    • 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
    • B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/24—Steering angle
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The embodiment of the invention provides a chassis driving system, a control method, a device and running equipment, wherein the chassis driving system comprises: a chassis and a control device; the chassis comprises a first wheel pair, a second wheel pair, a bogie and a locking assembly, wherein each wheel pair comprises two wheels; the bogie is arranged above the first wheel pair and the second wheel pair, one end of the bogie is rotatably connected with the first wheel pair, and the other end of the bogie is fixedly connected with the second wheel pair; the locking assembly is arranged between the bogie and the first wheel pair and is used for locking the bogie and the first wheel pair relatively; each wheel is connected with a wheel hub motor, each wheel hub motor and the locking assembly are electrically connected with a control device respectively, and the control device is at least used for controlling the rotating speed of each wheel hub motor and the opening and closing of the locking assembly respectively. According to the technical scheme provided by the embodiment of the invention, the opening and closing of the hub motor and the opening and closing of the locking assembly can be controlled, so that the driving equipment can adapt to different driving working conditions.

Description

Chassis drive system, control method and device and traveling equipment
Technical Field
The invention relates to the technical field of traveling equipment design, in particular to a chassis driving system, a control method and a device and traveling equipment.
Background
For the wheel type mobile robot, the wheel type mobile robot has the characteristics of simple mechanism, convenience in control, flexibility in action, high efficiency and the like, and is widely applied to places such as warehouse logistics, exhibition catering and the like.
When the chassis of the wheeled mobile robot is sunk into a pothole or climbs a slope, the power provided by the two-wheel drive is insufficient, and the wheeled mobile robot cannot get rid of the poverty or climb the slope, so that the traveling equipment such as the wheeled mobile robot in the prior art cannot meet the requirements of various traveling conditions.
Disclosure of Invention
In view of the above problems, the present invention has been made to solve the above problems or at least partially solve the above problems, and a chassis driving system, a control method, a device, and a travel apparatus.
A first aspect of an embodiment of the present invention provides a chassis driving system, including: a chassis and a control device;
the chassis comprises a first wheel pair, a bogie and a locking assembly, wherein the bogie is rotatably connected with the first wheel pair; the locking assembly is arranged between the bogie and the first wheel pair and is used for locking the bogie and the first wheel pair relatively;
the locking assembly is electrically connected with the control device, and the control device is at least used for controlling the locking assembly to open and close.
In some embodiments, a second wheel pair is further included, and the bogie is fixedly connected with the second wheel pair.
In some embodiments, the wheels of the first wheel pair and/or the second wheel pair are respectively connected with an in-wheel motor, the in-wheel motors are electrically connected with the control device, and the control device is further used for controlling the rotation speed of each in-wheel motor.
In some embodiments, the locking assembly includes a force application device and an engagement device, the force application device is disposed on the first wheel pair in a vertically floating manner, the engagement device is fixed on one side of the bogie facing the first wheel pair, and the force application device is configured to abut against the engagement device to generate the preset friction force, so that the bogie and the first wheel pair are locked relatively.
In some embodiments, the force applying device includes an electromagnet, the electromagnet is electrically connected to the control device, and the control device is specifically configured to control the electromagnet to be energized, so that the electromagnet is energized to magnetically attract the matching device to generate the preset frictional resistance.
The chassis driving system comprises a chassis and a control device, wherein the chassis comprises a first wheel pair, a bogie and a locking assembly, the bogie is rotatably connected with the first wheel pair, the locking assembly is used for locking the bogie and the first wheel pair relatively, and the control device is used for controlling the locking assembly to be opened and closed, so that the locking assembly of the driving equipment can be in a locking or unlocking state, the locking assembly can be controlled to be opened and closed according to different driving working conditions, different driving working conditions are adapted, and the trafficability of the driving equipment is improved.
A second aspect of the embodiments of the present invention provides a chassis driving control method applied to the chassis driving system described in any one of the above, the method including:
identifying the current running condition of running equipment;
determining a target operating state of the locking assembly according to the identified driving condition;
and controlling the locking component to be in the target working state according to the determined target working state of the locking component.
In some embodiments of the present invention, the,
the method further comprises the following steps:
determining a target driving state of the chassis according to the identified driving condition;
and controlling the chassis to operate in the determined target driving state according to the determined target driving state.
In some embodiments of the present invention, the,
the target driving state at least comprises a two-drive state or a four-drive state;
the target working state comprises a locking state or an unlocking state.
In some embodiments, the identifying the current driving condition of the driving device includes:
acquiring dip angle value information of a vehicle body length direction of the running equipment relative to a horizontal plane under the state that at least one in-wheel motor runs;
and judging the current running working condition of the running equipment according to the inclination angle value information.
In some embodiments, the determining a target driving state of the chassis and a target operating state of the locking assembly based on the identified driving conditions comprises:
and when the acquired inclination angle value is larger than a preset value, determining that the target driving state is a four-wheel driving state, and determining that the target working state of the locking assembly is a locking state.
In some embodiments, the identifying the current driving condition of the driving device includes:
acquiring displacement value information of the chassis within preset time under the state that at least one hub motor runs;
and judging the current running condition of the running equipment according to the displacement value information.
In some embodiments, the determining a target driving state of the chassis and a target operating state of the locking assembly based on the identified driving conditions comprises:
if the displacement value of the chassis within the preset time is smaller than or equal to a preset value, determining that the target driving state is a four-wheel driving state, and determining that the target working state of the locking assembly is a locking state;
and if the displacement value of the chassis in the preset time is larger than the preset value, determining that the target driving state is a two-drive state, and determining that the target working state of the locking assembly is a locking state or an unlocking state.
In some embodiments, the acquiring information of the displacement value of the chassis within a preset time under the condition that at least one in-wheel motor is running comprises:
detecting a rotation angle value or an angular velocity value of each wheel of the chassis within a preset time under the state that at least one hub motor is operated;
and calculating displacement value information of the chassis within the preset time according to the rotation angle value or the angular velocity value within the preset time.
The chassis driving method provided by the embodiment of the invention can control the target working state of the locking assembly according to different running conditions so as to adapt to different running conditions and improve the trafficability of running equipment.
A third aspect of embodiments of the present invention provides a control apparatus applied to the chassis drive system described in any one of the above, including:
the identification module is used for identifying the current running condition of the running equipment;
the determining module is used for determining the target working state of the locking assembly according to the identified running working condition;
and the control module is used for controlling the locking assembly to be in the target working state according to the determined target working state of the locking assembly.
The chassis driving system comprises a second wheel pair, the bogie is fixedly connected with the second wheel pair, and wheels of each wheel pair are respectively connected with a hub motor;
then, the determining module is further configured to determine a target driving state of the chassis;
the control module is further used for controlling the chassis and the determined target driving state to operate according to the determined target driving state.
In some embodiments, the target drive state comprises at least a two-drive state or a four-drive state;
the target working state comprises a locking state or an unlocking state.
In some embodiments, the two-drive state is that the hub motor of the wheel of the first wheel pair is in an on state, and the hub motor of the wheel of the second wheel pair is in an off state;
or the two-wheel driving state is that the hub motor of the wheel of the first wheel pair is in a closed state, and the hub motor of the wheel of the second wheel pair is in a starting state.
In some embodiments, the four-wheel drive state is a start state for both the hub motor of the wheel of the first wheel pair and the hub motor of the wheel of the second wheel pair.
In some embodiments, the identification module comprises:
a first acquisition unit for acquiring information of an inclination angle of a vehicle body length direction of a running device with respect to a horizontal plane in a state where at least one in-wheel motor is operated;
and the first judgment unit is used for judging the current running condition of the running equipment according to the dip angle value information.
In some embodiments, the determining module is specifically configured to: and when the acquired inclination angle value is larger than a preset value, determining that the target driving state is a four-wheel driving state, and determining that the target working state of the locking assembly is a locking state.
In some embodiments, the identification module comprises:
the second acquisition unit is used for acquiring displacement value information of the chassis within preset time in the running state of at least one hub motor;
and the second judgment unit is used for judging the current running working condition of the running equipment according to the displacement value information.
In some embodiments, the determining module is specifically configured to: and if the displacement value of the chassis within the preset time is less than or equal to a preset value, determining that the target driving state is a four-wheel driving state, and determining that the target working state of the locking assembly is a locking state.
In some embodiments, the determining module is specifically configured to: and if the displacement value of the chassis in the preset time is larger than the preset value, determining that the target driving state is a two-drive state, and determining that the target working state of the locking assembly is a locking state or an unlocking state.
In some embodiments, the second obtaining unit includes:
the detection subunit is used for detecting a rotation angle value or an angular velocity value of each wheel of the chassis within preset time under the state that at least one hub motor runs;
and the calculating subunit is used for calculating displacement value information of the chassis within the preset time according to the rotation angle value or the angular velocity value within the preset time.
In some embodiments, the calculation subunit is specifically configured to: and if the detected angle or angular speed of at least one wheel rotating in the preset time is zero, determining that the displacement value of the chassis in the preset time is zero.
A fourth aspect of the embodiments of the present invention provides a running apparatus, on which a chassis driving system is provided, the chassis driving system including a memory and a processor;
the memory is configured to store one or more computer instructions, wherein the one or more computer instructions, when executed by the processor, implement the chassis drive control method of any of the above.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a chassis according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of the first wheel pair and locking assembly of FIG. 1;
FIG. 3 is an exploded view of the force applying device of the first wheel and the locking assembly shown in FIG. 1;
FIG. 4 is an electrical schematic diagram of a chassis drive system according to an embodiment of the present invention;
fig. 5 is a plan view of a chassis of a running machine according to an embodiment of the present invention;
fig. 6 is a flowchart of a chassis driving control method according to an embodiment of the present invention;
fig. 7 is a flowchart of a method for determining a current driving condition in a chassis driving control method according to another embodiment of the present invention;
fig. 8 is a flowchart of a method for determining a current driving condition in a chassis driving control method according to another embodiment of the present invention;
fig. 9 is a first electrical control schematic diagram of a chassis driving device according to an embodiment of the present invention;
fig. 10 is a second electrical control schematic diagram of the chassis driving device according to the embodiment of the present invention;
fig. 11 is a third electrical control schematic diagram of the chassis driving device according to the embodiment of the present invention;
fig. 12 is a functional block diagram of an implementation of a driving device according to an embodiment of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. 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.
In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect.
Furthermore, the term "coupled" is intended to include any direct or indirect coupling. Thus, if a first device couples to a second device, that connection may be through a direct connection, or through an indirect connection via other devices. The following description is of the preferred embodiment for carrying out the invention, and is made for the purpose of illustrating the general principles of the invention and not for the purpose of limiting the scope of the invention. The scope of the present invention is defined by the appended claims.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
Example one
Fig. 1 is a schematic structural diagram of a chassis according to an embodiment of the present invention; FIG. 2 is a schematic structural view of the first wheel pair and locking assembly of FIG. 1; FIG. 3 is an exploded view of the force applying device of the first wheel and the locking assembly shown in FIG. 1; FIG. 4 is an electrical schematic diagram of a chassis drive system according to an embodiment of the present invention; fig. 5 is a plan view of a chassis of a running machine according to an embodiment of the present invention; referring to fig. 1 to 5, the chassis provided in this embodiment may be applied to a wheeled mobile robot, an engineering vehicle, an automobile, a road vehicle, and the like.
As shown in fig. 1 to 5, the present embodiment provides a chassis driving system including: a chassis 1000 and a control device 2000. The chassis 1000 includes a first wheel pair 10, a bogie 30 and a locking assembly 200. In the present embodiment, the vehicle body may be provided above the bogie 30 to form a running device.
The first wheel pair 10 is rotatably connected to the bogie 30. The locking assembly 200 is disposed between the truck 30 and the first wheelset 10 for locking the truck 30 relative to the first wheelset 10. The locking assembly 200 is electrically connected to the control device 2000, and the control device 2000 is at least used for controlling the opening and closing of the locking assembly 200.
Further, the chassis drive system further comprises a second wheel pair 20, and the bogie 30 may be disposed above the first wheel pair 10 and the second wheel pair 20. The truck 30 may be fixedly connected to the second wheelset 20. The wheels of the first wheel pair 10 and/or the second wheel pair 20 may be respectively connected with an in-wheel motor 3000, each in-wheel motor 3000 and the locking assembly 200 are respectively electrically connected with the control device 2000, and the control device 2000 is at least used for respectively controlling the rotation speed of each in-wheel motor 3000 and the opening and closing of the locking assembly 200.
Optimally, each wheel can be equipped with an in-wheel motor, the corresponding in-wheel motor on each wheel is used for independently driving each wheel to rotate, and the rotating speed of each wheel can be independently controlled respectively, therefore, each wheel can be independently controlled, different rotating speeds can be realized, the differential function can be realized, and the structure is simple. It is understood that when the rotation speed of the in-wheel motor 3000 is zero, it is understood that the in-wheel motor 3000 is turned off; when the rotation speed of the in-wheel motor 3000 is not zero, it can be understood that the in-wheel motor 3000 is started.
Specifically, the first wheel pair 10 may include two first wheels 11 (wheels) and a first connecting rod 12 connecting the two first wheels 11. The second wheel pair 20 includes two second wheels 21 (wheels) and a second connecting rod 22 connecting the two second wheels 21.
Specifically, the first wheel 11 may be a front wheel, and correspondingly, the second wheel 21 may be a rear wheel, and when the first wheel 11 is a rear wheel, the second wheel 21 may be a front wheel. In this embodiment, the first wheel 11 may be a driving wheel, and the second wheel 21 may be a driven wheel; alternatively, the first wheel 11 may be a driven wheel, and the second wheel 21 may be a driving wheel; in some embodiments, the first wheel 11 and the second wheel 21 may be both driving wheels, and the invention is not limited thereto.
In some embodiments, the first wheel 11 and the second wheel 21 may be both driving wheels, or in some embodiments, one of the first wheel 11 and the second wheel 21 may be a driving wheel, and one of the first wheel 11 and the second wheel 21 may be a driven wheel, and in other embodiments, both the first wheel 11 and the second wheel 21 may be switched to be driving wheels, which is not limited by the present invention.
In this embodiment, the first wheel 11 may be connected to the first connecting rod 12, the first wheel 11 may rotate relative to the first connecting rod 12, the second wheel 21 may be connected to the second connecting rod 22, and the second wheel 21 may rotate relative to the second connecting rod 22. The first wheelset 10 and the second wheelset 20 may have a predetermined wheelbase therebetween. As shown in fig. 1, both ends of the second connecting rod 22 may be fixedly connected with side connecting rods X, for example, the side connecting rods X may be welded with the second connecting rod 22, or the second connecting rod 22 and the side connecting rods X may be integrally formed. The side link rods X may include two, and the two side link rods X may be respectively located at both ends of the first link rod 12 and the second link rod 22, the side link rods X extending toward the direction of the first link rod 12. Further, one end of the side link bar X is fixedly connected to the second link bar 22, and the other ends of the two side link bars X are fixedly connected through the middle link bar Y.
Preferably, the first connecting rod 12, the second connecting rod 22 and the side connecting rod X may be hollow rods to increase the requirement for weight reduction of the entire traveling apparatus. Of course, in some embodiments, one or more of the first connecting rod 12, the second connecting rod 22 and the side connecting rod X may be a solid rod, and the other one or more may be a hollow rod. In this embodiment, the bogie 30, the first connecting rod 12, the second connecting rod 22 and the side connecting rod X may be thin square tubes, and are formed by welding the thin square tubes, and the layout is reasonable, the weight is light, the stability is good, and the bearing capacity is strong.
Specifically, the bogie 30 may be in a flat plate shape, the bogie 30 may be parallel to a plane formed by the first connecting rod 12, the second connecting rod 22, and the side connecting rod X, one end of the bogie 30 may be fixedly connected to the second connecting rod 22 through the vertical connecting rod Z, and further, the bogie 30 may be fixedly connected to the side connecting rod X through the vertical connecting rod Z.
The rotatable connection between the bogie 30 and the first wheel pair 10 may be in the form of a lever, or a rotating shaft, or a ball-and-socket joint, as long as the rotatable connection between the bogie 30 and the first wheel pair 10 is achieved.
The locking assembly 200 includes a locked state in which the locking assembly 200 provides a predetermined frictional resistance against rotation of the bogie 30 relative to the first wheelset 10 to lock the bogie 30 relative to the first wheelset 10, and an unlocked state; in the unlocked condition, the locking assembly 200 releases the truck 30 to enable relative rotation of the truck 30 and the first wheel pair 10.
The locking assembly 200 may be any structure that can prevent the bogie 30 and the first wheelset 10 from rotating relative to each other, and the locking assembly 200 has an unlocked state, so that the bogie 30 and the first wheelset 10 are switched between the locked state and the unlocked state.
Specifically, the locking assembly 200 may include a force application device 201 and an engagement device 202, the force application device 201 may be disposed on the first wheel pair 10 in a vertically floating manner, the engagement device 202 is fixed on a side of the bogie 30 facing the first wheel pair 10, and the force application device 201 is configured to cooperate with the engagement device 202 to generate a preset frictional resistance force for resisting rotation of the bogie 30 relative to the first wheel body 11, so as to lock the bogie 30 and the first wheel pair 10 relatively.
It is understood that the predetermined frictional resistance refers to a specific amount of frictional resistance when the locking assembly 200 locks the bogie 30 and the first wheel pair 10 in a rigid body state relative to each other.
Force application device 201 may be fixedly connected to first wheel pair 10, and force application device 201 may be removably or non-removably attached to first wheel pair 10. The engaging means 202 may be fixed to the surface of the bogie 30 facing the first wheel pair 10, and the engaging means 202 may be detachably connected to the bogie 30, or may be welded thereto. The force application device 201 can press the engaging device 202 upwards, so that the friction between the force application device 201 and the engaging device 202 is large enough to form a resistance force for preventing the bogie 30 and the first wheel pair 10 from rotating relatively, so that the bogie 30 and the first wheel pair 10 are relatively fixed, the whole chassis is in a rigid state, and the whole running equipment can run in a straight line in the state.
It should be noted that, to realize the relative rotatable connection between the bogie 30 and the first wheel pair 10, the bogie 30 and the first wheel pair 10 may be rotatably connected by a steering device, specifically, the steering device 40 includes a device capable of rotating around a rotation axis, the steering device 40 may include a first rotating element and a second rotating element, the first rotating element and the second rotating element may rotate relatively around the rotation axis, the first rotating element may be fixedly connected with the bogie 30, and the second rotating element may be fixedly connected with the first connecting rod 12. During steering of the driving device, the rotational speeds of the two first wheels 11 may be different, so as to realize differential steering.
Preferably, the locking assembly 200 may include two, and the two locking assemblies 200 may be respectively located at both end positions of the first connecting rod 12. The locking assembly 200 is disposed at both ends of the first connecting rod 12, and can provide the maximum torque, so that the requirement for the frictional resistance provided by the locking assembly 200 can be reduced as much as possible, and the reliability of the locking assembly 200 can be improved, compared to the case where the locking assembly 200 is disposed at the middle position of the first connecting rod 12. By arranging the locking assemblies 200 on two sides of the chassis, the two locking assemblies 200 can lock the bogie 30 at the same time, and the two locking assemblies 200 realize double locking, so that the reliability of the chassis after being locked is further improved.
Further, the locking members 200 at both ends of the first connecting rod 12 may be symmetrically disposed about a middle line in a length direction of the first connecting rod 12. That is, the two locking assemblies 200 are symmetrically arranged on two sides of the chassis, so that the stress balance of the two sides of the chassis is effectively improved.
It is noted that in the unlocked condition, the first wheelset 10 is able to rotate relative to the bogie 30, and the locking assembly 200 can lock at any angle within an angle range of ± 20 ° between the bogie 30 and the first wheelset 10, within an allowable range of relative rotational angles of the first wheelset 10 and the bogie 30, for example, the relative rotational angle of the first wheelset 10 and the bogie 30 is within ± 20 °. The chassis comprises a first wheel pair and a second wheel pair, a bogie is arranged above the first wheel pair and the second wheel pair, one end of the bogie is rotatably connected with the first wheel pair, the bogie is fixedly connected with the second wheel pair, a locking assembly is arranged between the bogie and the first wheel pair, and the bogie and the first wheel pair are locked through the locking assembly, particularly, when the traveling equipment travels in severe environments, pits and other environments, the whole chassis can be in a rigid state under the action of the locking assembly, the whole traveling equipment can linearly travel in the state, the purpose of directional traveling is realized, the stable traveling capacity and the trafficability are improved, the locking assembly further comprises an unlocking state, and under the condition of good road conditions, the locking assembly can be switched to the unlocking state, so that the bogie and the first wheel pair can relatively rotate, the tire abrasion is effectively reduced, and therefore, through set up the locking subassembly between bogie and first wheel pair, from this, can make whole traveling equipment can realize different turning radius's the turning to, thereby accord with the requirement of route planning, and, can make traveling equipment adapt to multiple operating mode, improve traveling equipment's trafficability characteristic, guarantee the life of its tire.
Preferably, the force application device 201 may include an electromagnet 2011, and the control device 2000 may be electrically connected to the electromagnet 2011 through a wire 2012, so as to electrically connect the control device 2000 and the locking assembly 200. Radially outwardly extending from the right sidewall of electromagnet 2011 in fig. 2 is a wire 2012. The control device 2000 is specifically configured to control the electromagnet 2011 to be energized, so that the electromagnet 2011 is energized to magnetically attract the matching device 202 to generate the preset frictional resistance. In this embodiment, the engaging device 202 engaged with the electromagnet 2011 may be a magnet or a metal capable of being attracted by the electromagnet 2011. When the electromagnet 2011 is energized, the electromagnet 2011 generates a magnetic field, and the electromagnet 2011 floats up and down, so that the electromagnet 2011 moves up to tightly attract the engaging device 202, and the bogie 30 and the first wheel pair 10 are locked relatively. When the control device 2000 controls the electromagnet 2011 to be powered off, the electromagnet 2011 can instantly fall from the matching device 202 to release the bogie 30, so that the bogie 30 and the first wheel pair 10 are in an unlocked state. The bogie 30 and the first wheel pair 10 are controlled to be locked and unlocked in a magnetic attraction mode, and the device is simple in structure, low in cost, sensitive in control and good in reliability. The chassis can be locked at any angle by switching the on-off state of the electromagnet. Preferably, in order to avoid oversteer, preferably, a limiting device can be arranged to limit the limit steering angle of the chassis within a range of +/-20 degrees from left to right, the whole system is simple in structure, stable and reliable and considerable in cost, and the control device 2000 can control the opening and closing of each hub motor 3000 and the opening and closing of the locking assembly 200 according to different working condition requirements so as to realize different driving states of the chassis and different working states of the locking assembly, namely, the running equipment runs in different running states, and can well run under various working conditions.
The chassis driving system comprises a chassis and a control device, wherein the chassis at least comprises a first wheel pair, a bogie and a locking assembly, the bogie is rotatably connected with the first wheel pair, the locking assembly is used for locking the bogie and the first wheel pair relatively, and the control device is used for controlling the locking assembly to be opened and closed, so that the locking assembly can be in a locking or unlocking state, the locking assembly can be controlled to be opened and closed according to different running conditions, different running conditions are adapted, and the trafficability of running equipment is improved.
Furthermore, the chassis driving system further comprises a second wheel pair, and when the wheels of the first wheel pair and/or the second wheel pair are connected with the hub motors, the control device controls the on/off of each hub motor and controls the on/off of the locking assembly, so that the driving equipment can be in different driving states, and the locking assembly is in a locking or unlocking state, and therefore the rotating speed of each hub motor and the on/off of the locking assembly can be controlled according to different driving conditions, so that the chassis driving system adapts to different driving conditions, and the passing performance of the driving equipment is improved.
Example two
The present embodiment provides a chassis driving control method, and a chassis driving system applied in the method is the chassis driving system provided in the first embodiment. Fig. 6 is a flowchart of a chassis driving control method according to an embodiment of the present invention; as shown in fig. 6, the chassis driving control method provided by the present embodiment includes the following steps:
and S101, identifying the current running condition of the running equipment.
Specifically, the driving conditions of the driving device may include: level roads, grasslands/sandy lands, potholes, uphill surfaces, etc., the ground resistance is small when the running device runs on level roads; when the running equipment runs on the grassland/sand, the ground resistance is slightly larger; when the traveling device travels in a pothole or falls into a pothole, the ground resistance is large; when the running device runs on an upward slope, the running device needs to overcome gravity, so that the running resistance is also large. One or more sensors may be provided on the driving device to detect the current driving situation.
S102, determining a target working state of the locking assembly according to the identified running condition.
In particular, the method comprises the following steps of,
the target working state comprises a locking state or an unlocking state. Referring to fig. 1 to 5, when the locking assembly 200 is the electromagnet 2011 and the matching device 202, the locking state of the locking assembly 200 is the state that the electromagnet 2011 is powered on, so that the electromagnet 2011 is attracted to the matching device 202, and at this time, the entire chassis is rigidly connected. The unlocked state of the locking assembly 200 is a state in which the electromagnet 2011 is powered down, such that the electromagnet 2011 is disengaged from the mating device 202, and at this time, the bogie 30 of the chassis and the first wheelset 10 can rotate relative to each other, while the bogie 30 and the second wheelset 20 maintain a rigid connection.
S103, controlling the locking assembly to be in the target working state according to the determined target working state of the locking assembly.
Furthermore, on the basis of the above embodiment, the chassis driving system includes a second wheel pair 20, the bogie 30 is fixedly connected with the second wheel pair 20, and the wheels of each wheel pair are respectively connected with a hub motor;
the method further comprises the following steps:
determining a target driving state of the chassis according to the identified driving condition.
And controlling the chassis to operate in the determined target driving state according to the determined target driving state.
Specifically, the target driving state at least includes a two-drive state or a four-drive state; it should be noted that, during the running, the running device is driven in the current driving state, and the current driving state may include a two-drive state and a four-drive state. In some embodiments, the number of wheels may also be six, eight, etc., that is, a third wheel pair, a fourth wheel pair, etc. may also be included. The wheels of each wheel pair are connected with the hub motors, the control device can respectively control the rotating speed of each hub motor so as to realize different driving states of the chassis, the current driving states can comprise a two-wheel driving state, a four-wheel driving state, a six-wheel driving state, an eight-wheel driving state and the like, and it can be understood that the more the wheels participating in driving, the more the power is sufficient for the whole driving device, the more easy the wheels are to get out of the trouble, the less the wheels participating in driving are, and the more energy and electricity are saved for the whole driving device. The two-wheel drive state is that the hub motor of the wheel of the first wheel pair 10 is in a starting state, and the hub motor of the wheel of the second wheel pair 20 is in a closing state; or, the two-wheel drive state is that the hub motor of the wheel of the first wheel pair 10 is in an off state, and the hub motor of the wheel of the second wheel pair 20 is in an on state.
The four-wheel drive state is that the hub motor of the wheel of the first wheel pair 10 and the hub motor of the wheel of the second wheel pair 20 are both in a starting state.
The effect of the chassis drive system provided by the present invention is described below in connection with several exemplary application scenarios.
Firstly, when the running equipment normally runs on the flat ground, the control device can control the chassis to run in a two-drive state, and control the locking assembly to be in an unlocking state.
Secondly, when the running equipment normally runs on the flat ground, the control device can control the chassis to run in a two-drive state, and control the locking assembly to be in an unlocking state.
Third, when the running apparatus runs on grass/sand, the control means may control the chassis to operate in a four-wheel drive state while controlling the lock assembly to be in an unlocked state in which the running apparatus can run with a large driving force and can freely turn.
Fourthly, when the travelling equipment is trapped in a hollow place during travelling, or blocked by obstacles such as bricks and speed bumps, the travelling equipment cannot move, the control device can control the chassis to operate in a four-wheel drive state, and the control locking assembly is in a locking state, so that the whole chassis is in a rigid structure, sufficient driving force is provided through four wheels, the power of the whole travelling equipment is sufficient, and the travelling equipment is smoothly trapped.
Fifthly, when the driving equipment is in the climbing working condition, the control device can control the chassis to run in a four-wheel drive state, and the control locking assembly is in a locking state, so that the whole chassis is in a rigid structure, enough driving force is provided through four wheels, the power of the whole driving equipment is sufficient, and the climbing capacity of the driving equipment is improved.
Sixth, when the traveling equipment meets obstacles such as a wall surface and the like and needs to steer, the control device can control the chassis to operate in a four-wheel drive state, control wheels on the left side and the right side to rotate in a differential mode, control the locking assembly to be in a locking state, and further realize in-situ differential steering of the whole traveling equipment.
The chassis driving control method provided by the embodiment of the invention can control the target driving state of the chassis and the target working state of the locking assembly according to different running conditions so as to adapt to different running conditions and improve the trafficability of running equipment.
Fig. 7 is a flowchart of a method for determining a current driving condition in a chassis driving control method according to another embodiment of the present invention; as shown in fig. 7, in some embodiments, step S101 may specifically include:
and S1011, acquiring the inclination angle value information of the running equipment in the vehicle body length direction relative to the horizontal plane in the state that at least one in-wheel motor is operated.
And S1012, judging the current running condition of the running equipment according to the inclination angle value information.
It can be understood that, when the operation of at least one in-wheel motor indicates that the running device is in a running state at the time, and whether the in-wheel motor is in operation is determined, it may be further indicated that the running device is in the running state, rather than the parking state, by providing an angle sensor on the in-wheel motor, if the angle sensor detects that the angle is changed, and if the angle is continuously changed, it indicates that the in-wheel motor is in operation.
A sensor such as a gyroscope may be provided on the vehicle body of the travel device to detect the inclination angle of the vehicle body with respect to the horizontal plane, and thereby it may be determined whether the vehicle body is in an uphill state or not at this time. For example, a preset value may be specifically set, for example, the preset value is 45 °. When the gyroscope detects that the inclination angle of the vehicle body relative to the horizontal plane is larger than the preset value, the driving device can be judged to be climbing.
Specifically, step S102 includes: and when the acquired inclination angle value is larger than a preset value, determining that the target driving state is a four-wheel driving state, and determining that the target working state of the locking assembly is a locking state.
And then controlling the locking assembly to be in the locking state and controlling the chassis to operate in a four-wheel drive state.
Therefore, the inclination angle value of the vehicle body relative to the horizontal plane can be obtained, whether the running equipment is in the climbing working condition or not can be accurately reflected, and when the running equipment is determined to be in the climbing working condition, the locking assembly is controlled to be in the locking state and the chassis is controlled to run in the four-wheel drive state. Therefore, the whole chassis is in a rigid structure, and a large enough driving force is provided through four-wheel drive, so that the power of the whole running device is sufficient, and the climbing capability of the running device is improved.
Fig. 8 is a flowchart of a method for determining a current driving condition in a chassis driving control method according to another embodiment of the present invention; as shown in fig. 8, in some other embodiments, step S101 may specifically include:
and S2011, acquiring displacement value information of the chassis within preset time in the running state of at least one hub motor.
And S2012, judging the current running condition of the running equipment according to the displacement value information.
It can be understood that, when the operation of at least one in-wheel motor indicates that the running device is in a running state at the time, and whether the in-wheel motor is in operation is determined, it may be further indicated that the running device is in the running state, rather than the parking state, by providing an angle sensor on the in-wheel motor, if the angle sensor detects that the angle is changed, and if the angle is continuously changed, it indicates that the in-wheel motor is in operation.
When the running equipment is in a running state, one or more wheels of the running equipment may be stuck, for example, one of the wheels falls into a hollow place or is blocked by an obstacle such as a brick or a speed bump, so that the running equipment cannot move, which indicates that the power of the wheels is insufficient at the moment, and the wheels are not enough to get out of the way.
The chassis is driven to move by the rotation of the wheels, and the displacement of the chassis reflects the walking state of the whole running equipment. The displacement of the chassis is normal, which indicates that the whole running equipment runs normally, and the displacement of the chassis is very small or even zero, which indicates that the whole running equipment is blocked and cannot run normally. Therefore, the running condition of the current running equipment can be judged through the displacement value information of the chassis within the preset time.
Specifically, step S102 includes: and if the displacement value of the chassis within the preset time is less than or equal to a preset value, determining that the target driving state is a four-wheel driving state, and determining that the target working state of the locking assembly is a locking state.
When the running apparatus is normally running, the displacement of the chassis may be continuously increased, and when the displacement of the chassis is zero or smaller when the wheels of the running apparatus are stuck, it is indicated that the power of the running apparatus is insufficient at this time, and it is necessary to increase the driving force of the running apparatus. The preset value may be zero or a value close to zero, and when the wheels are jammed, if the chassis is in the two-wheel-drive state, even if the chassis is displaced and the displacement is small, the chassis may be considered to be close to zero. Therefore, as long as the displacement of the chassis within the preset time is found to be small, it is required to switch the running equipment to the four-wheel drive state, and the locking component is in the locking state, so that the whole chassis is in a rigid structure, and a sufficient driving force is provided by the four-wheel drive, so that the power of the whole running equipment is sufficient, and the difficulty-escaping capability is improved.
And if the displacement value of the chassis in the preset time is larger than the preset value, determining that the target driving state is a two-drive state, and determining that the target working state of the locking assembly is a locking state or an unlocking state.
It should be noted that, when the running device runs normally, the default is the two-drive state, which can effectively save electricity and energy. When the displacement value of the chassis within the preset time is larger than the preset value, which indicates that the driving force of the chassis at the moment is sufficient, the target driving state is determined to be the two-drive state, the driving equipment keeps the two-drive state to drive, the locking assembly can be in the locking state or the unlocking state, and can be specifically selected according to the needs of a user.
Further, step S2011 includes: detecting a rotation angle value or an angular velocity value of each wheel of the chassis within a preset time under the state that at least one hub motor is operated;
and calculating displacement value information of the chassis within the preset time according to the rotation angle value or the angular velocity value within the preset time.
The angular velocity sensors or the angular sensors can be correspondingly arranged on the wheels, the angular velocity sensors are used for measuring the angular velocity of the wheels, so that the linear velocity of the wheels is obtained according to the linear velocity, namely the angular velocity and the radius of the wheels, and the displacement of the chassis in the preset time can be obtained.
The angle sensor is used for measuring the rotating angle of the wheel within the preset time, so that the angular speed of the wheel can be determined, then the linear speed of the wheel is obtained according to the relation between the linear speed and the angular speed, and the displacement of the chassis within the preset time can be obtained.
By arranging an angle sensor or an angular velocity sensor on the wheel, the displacement of the chassis within a preset time can be calculated through the measured angle or angular velocity of the wheel.
Specifically, calculating displacement information of the chassis within the preset time according to the rotation angle value or the angular velocity value within the preset time may specifically include: and if the detected rotation angle or angular speed of at least one wheel in the preset time is zero, determining that the displacement of the chassis in the preset time is zero.
When one or more wheels of the running equipment are stuck by an obstacle, for example, when the running equipment falls into a low place, all wheels on the chassis need to rotate due to displacement of the chassis, so that if the detected angle or angular speed of rotation of at least one wheel in a preset time is zero, which indicates that at least one wheel of the running equipment cannot normally operate, the running equipment is stuck, and therefore the driving state of the chassis can be switched to the four-wheel driving state.
It can be understood that, when the chassis is in a four-wheel drive state, the wheels pass through the low-lying area or encounter an obstacle, the chassis can pass through the low-lying area smoothly, and when the chassis is in a two-wheel drive state, the wheels pass through the low-lying area or encounter the obstacle, and after a preset time, the displacement of the chassis is still zero, which indicates that the driving state of the chassis needs to be changed from the two-wheel drive state to the four-wheel drive state, and the locking group is controlled to be in the locking state, so that the whole chassis is in the rigid state, and therefore the driving power of the traveling equipment is improved, and the traveling equipment is convenient to get rid of difficulties.
EXAMPLE III
The present embodiment provides a control device, which is applied to a chassis driving system, and the applied chassis driving system is the chassis driving system provided in the first embodiment. Fig. 9 is a first electrical control schematic diagram of a chassis driving device according to an embodiment of the present invention; as shown in fig. 9, the control device 2000 of the present embodiment includes:
the identification module 2001 is used for identifying the current running condition of the running equipment;
a determining module 2002, configured to determine a target operating state of the locking component according to the identified driving condition;
and the control module 2003 is used for controlling the locking component to be in the target working state according to the determined target working state of the locking component.
Further, the chassis driving system further comprises a second wheel pair 20, the bogie 30 is fixedly connected with the second wheel pair 20, and wheels of each wheel pair are respectively connected with a hub motor;
then, the determining module 2002 is further configured to determine a target driving state of the chassis;
the control module 2003 is further configured to control the chassis to operate with the determined target driving state based on the determined target driving state.
Specifically, the target driving state at least includes a two-drive state or a four-drive state; it should be noted that, during the running, the running device is driven in the current driving state, and the current driving state may include a two-drive state and a four-drive state. In some embodiments, the number of the wheels may also be six, eight, etc., and the current driving state may include a two-drive state, a four-drive state, a six-drive state, an eight-drive state, etc., it is understood that the more wheels involved in driving, the more power is sufficient for the entire running device, and the easier it is to get out of the way, and the less wheels involved in driving, the more energy and electricity are saved for the entire running device.
The target working state comprises a locking state or an unlocking state. Referring to fig. 1 to 5, when the locking assembly 200 is the electromagnet 2011 and the matching device 202, the locking state of the locking assembly 200 is the state that the electromagnet 2011 is powered on, so that the electromagnet 2011 is attracted to the matching device 202, and at this time, the entire chassis is rigidly connected. The unlocked state of the locking assembly 200 is a state in which the electromagnet 2011 is powered down, such that the electromagnet 2011 is disengaged from the mating device 202, and at this time, the bogie 30 of the chassis and the first wheelset 10 can rotate relative to each other, while the bogie 30 and the second wheelset 20 maintain a rigid connection.
The two-wheel drive state is that the hub motor of the wheel of the first wheel pair 10 is in a starting state, and the hub motor of the wheel of the second wheel pair 20 is in a closing state; or, the two-wheel drive state is that the hub motor of the wheel of the first wheel pair 10 is in an off state, and the hub motor of the wheel of the second wheel pair 20 is in an on state.
The four-wheel drive state is that the hub motor of the wheel of the first wheel pair 10 and the hub motor of the wheel of the second wheel pair 20 are both in a starting state. The four-wheel drive state is that the hub motor of the wheel of the first wheel pair 10 and the hub motor of the wheel of the second wheel pair are both in a starting state.
Specifically, fig. 10 is a second electrical control schematic diagram of the chassis driving device according to the embodiment of the present invention; as shown in fig. 10, the identification module 2001 includes:
a first obtaining unit 20011, configured to obtain information of an inclination angle value of a vehicle body length direction of the running device with respect to a horizontal plane in a state where at least one in-wheel motor is operating;
and the first judging unit 20012 is configured to judge a current driving condition of the driving device according to the inclination value information.
The determining module is specifically configured to: and when the acquired inclination angle value is larger than a preset value, determining that the target driving state is a four-wheel driving state, and determining that the target working state of the locking assembly is a locking state.
Fig. 11 is a third electrical control schematic diagram of the chassis driving device according to the embodiment of the present invention, as shown in fig. 11, the optional identification module includes:
the second obtaining unit 20013 is configured to obtain displacement value information of the chassis within a preset time in a state where at least one in-wheel motor is operating;
and a second judging unit 20014, configured to judge a current driving condition of the driving device according to the displacement value information.
Specifically, the determining module is specifically configured to: and if the displacement value of the chassis within the preset time is less than or equal to a preset value, determining that the target driving state is a four-wheel driving state, and determining that the target working state of the locking assembly is a locking state.
The determining module is further specifically configured to: and if the displacement value of the chassis in the preset time is larger than the preset value, determining that the target driving state is a two-drive state, and determining that the target working state of the locking assembly is a locking state or an unlocking state.
On the basis of the above embodiment, further, the second obtaining unit 20013 includes:
the detection subunit is used for detecting the rotation angle value or angular velocity value of each wheel of the chassis within preset time under the state that at least one hub motor runs;
and the calculating subunit is used for calculating displacement value information of the chassis within the preset time according to the rotation angle value or the angular velocity value within the preset time.
The calculation subunit is specifically configured to: and if the detected angle or angular speed of at least one wheel rotating in the preset time is zero, determining that the displacement value of the chassis in the preset time is zero.
It should be noted that the foregoing explanation of the chassis driving control method embodiment also applies to the control device of this embodiment, and details are not repeated here.
Example four
Fig. 12 is a functional block diagram of an implementation of a driving device according to an embodiment of the present invention. As shown in fig. 12, the present embodiment provides a running apparatus on which a chassis drive system is provided, the chassis drive system including a memory 4000 and a processor 5000;
the memory is configured to store one or more computer instructions, wherein the one or more computer instructions, when executed by the processor, implement the chassis drive control method provided by the above embodiments.
It should be noted that the chassis driving control method executed by the processor in this embodiment is the method executed in the second embodiment, and specific reference may be made to the description of the second embodiment, which is not described herein again.
It should be noted that the structure and function of the chassis in this embodiment are the same as those in the first embodiment, the second embodiment, or the third embodiment, and specific reference may be made to the description of the first embodiment, the second embodiment, or the third embodiment, and no further description is given in this embodiment.
Various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (15)

1. A chassis drive system, comprising: a chassis and a control device;
the chassis comprises a first wheel pair, a bogie and a locking assembly, wherein the bogie is rotatably connected with the first wheel pair; the locking assembly is arranged between the bogie and the first wheel pair and is used for locking the bogie and the first wheel pair relatively;
the locking assembly is electrically connected with the control device, and the control device is at least used for controlling the locking assembly to open and close.
2. The chassis drive system of claim 1, further comprising a second wheel pair, the bogie fixedly connected to the second wheel pair.
3. The chassis driving system according to claim 2, wherein the wheels of the first wheel pair and/or the second wheel pair are respectively connected with a hub motor, the hub motors are electrically connected with the control device, and the control device is further configured to control the rotation speed of each hub motor.
4. The chassis driving system according to claim 1, wherein the locking assembly includes a force application device and an engagement device, the force application device is disposed on the first wheel pair in a vertically floating manner, the engagement device is fixed on one side of the bogie facing the first wheel pair, and the force application device is configured to abut against the engagement device to generate the predetermined friction force, so that the bogie and the first wheel pair are locked relatively.
5. The chassis drive system of claim 4, wherein the force applying device comprises an electromagnet, the electromagnet is electrically connected to the control device, and the control device is specifically configured to control the electromagnet to be energized so that the electromagnet is energized to magnetically engage with the engaging device to generate the predetermined frictional resistance.
6. A chassis drive control method applied to the chassis drive system according to any one of claims 1 to 5, the method comprising:
identifying the current running condition of running equipment;
determining a target operating state of the locking assembly according to the identified driving condition;
and controlling the locking assembly to be in the target working state according to the determined target working state of the locking assembly.
7. The chassis drive control method according to claim 6,
the method further comprises the following steps:
determining a target driving state of the chassis according to the identified driving condition;
and controlling the chassis to operate in the determined target driving state according to the determined target driving state.
8. The chassis drive control method according to claim 7,
the target driving state at least comprises a two-drive state or a four-drive state;
the target working state comprises a locking state or an unlocking state.
9. The chassis drive control method according to claim 8, wherein the identifying the current running condition of the running device includes:
acquiring dip angle value information of a vehicle body length direction of the running equipment relative to a horizontal plane under the state that at least one in-wheel motor runs;
and judging the current running working condition of the running equipment according to the inclination angle value information.
10. The chassis drive control method of claim 9, wherein determining the target drive state of the chassis and the target operating state of the locking assembly based on the identified driving condition comprises:
and when the acquired inclination angle value is larger than a preset value, determining that the target driving state is a four-wheel driving state, and determining that the target working state of the locking assembly is a locking state.
11. The chassis drive control method according to claim 8, wherein the identifying the current running condition of the running device includes:
acquiring displacement value information of the chassis within preset time under the state that at least one hub motor runs;
and judging the current running condition of the running equipment according to the displacement value information.
12. The chassis drive control method of claim 11, wherein determining the target drive state of the chassis and the target operating state of the locking assembly based on the identified driving condition comprises:
if the displacement value of the chassis within the preset time is smaller than or equal to a preset value, determining that the target driving state is a four-wheel driving state, and determining that the target working state of the locking assembly is a locking state;
and if the displacement value of the chassis in the preset time is larger than the preset value, determining that the target driving state is a two-drive state, and determining that the target working state of the locking assembly is a locking state or an unlocking state.
13. The chassis drive control method according to claim 11, wherein the acquiring of the displacement value information of the chassis for a preset time in a state where the at least one in-wheel motor is operated includes:
detecting a rotation angle value or an angular velocity value of each wheel of the chassis within a preset time under the state that at least one hub motor is operated;
and calculating displacement value information of the chassis within the preset time according to the rotation angle value or the angular velocity value within the preset time.
14. A control device applied to the chassis driving system according to any one of claims 1 to 5, comprising:
the identification module is used for identifying the current running condition of the running equipment;
the determining module is used for determining a target working state of the locking assembly according to the identified running working condition;
and the control module is used for controlling the locking assembly to be in the target working state according to the determined target working state of the locking assembly.
15. A traveling apparatus, characterized in that a chassis drive system is provided on the traveling apparatus, the chassis drive system including a memory and a processor;
the memory is for storing one or more computer instructions, wherein the one or more computer instructions, when executed by the processor, implement the chassis drive control method of any one of claims 6 to 13.
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