CN112208359A - Universal driving system of small unmanned vehicle multi-wheel power bottom plate - Google Patents

Universal driving system of small unmanned vehicle multi-wheel power bottom plate Download PDF

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Publication number
CN112208359A
CN112208359A CN202011168860.8A CN202011168860A CN112208359A CN 112208359 A CN112208359 A CN 112208359A CN 202011168860 A CN202011168860 A CN 202011168860A CN 112208359 A CN112208359 A CN 112208359A
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wheel
wheels
driving
unmanned vehicle
upper computer
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CN112208359B (en
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刘明剑
薛浩昌
郑超
金媛媛
段浩然
刘丽丽
张思佳
滕琳
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Dalian Ocean University
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Dalian Ocean University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
    • 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
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

A universal driving system of a multi-wheel power bottom plate of a small unmanned vehicle belongs to the technical field of bottom plate driving of unmanned vehicles. The system has the functions of acquiring the number of the driving wheels of the unmanned vehicle, detecting the states of the driving wheels, detecting the terrain, detecting the speed of the wheels, converting an upper-layer instruction and the like, so that the batch of instructions can be completed by receiving and sending simple operating instructions, and the independent control of each driving wheel can be completed more efficiently. The system reduces the development difficulty of unmanned vehicles, improves the software development efficiency and reduces the hardware operation pressure. This drive bottom plate, the function is various, can not only control quantitative drive wheel, can also add or get rid of convenient to use at will according to the developer needs. And speed or braking action such as according to road conditions and environment to upper motion instruction that is built-in the bottom plate, convenient to use.

Description

Universal driving system of small unmanned vehicle multi-wheel power bottom plate
Technical Field
The invention relates to a universal driving system of a multi-wheel power bottom plate of a small unmanned vehicle, belonging to the technical field of drive-free operation of bottom plate driving of unmanned vehicles.
Background
With the expansion of the market of small unmanned vehicles, the development condition of the unmanned vehicle development industry is also shown in a blowout type development, and unmanned vehicle developers need to write independent bottom layer drive on own products, so that a lot of labor is increased, the software development time of the unmanned vehicles is prolonged, and the development difficulty is improved. The problem that the software motion instruction of the small unmanned vehicle driven by the crawler or the tire is converted into the actual hardware motion instruction is also rare.
The existing small-sized unmanned vehicle driving bottom plate has single function, can only control quantitative driving wheels at the same time, cannot be added or removed randomly along with the use or the requirement of a developer, and is inconvenient to use. In addition, the existing small unmanned vehicle bottom plate is not humanized enough to be internally provided with preprocessing for upper-layer motion instructions, such as speed or braking behavior according to road conditions and environments.
Disclosure of Invention
In order to solve the problems, the invention provides a convenient and quick driving-free scheme for a multi-wheel power bottom plate of a small unmanned vehicle.
The technical scheme adopted by the invention is as follows: a universal driving system of a multi-wheel power bottom plate of a small unmanned vehicle comprises an upper computer, a wheel detection module, a terrain detection module, a wheel speed detection module, an instruction transmission module and a core control module;
the upper computer is responsible for issuing control instructions, receiving data of the lower-layer temperature and humidity sensor, overall control of the whole machine and comprehensive processing of the data;
the wheel detection module is responsible for counting the number of wheels and detecting the state of the wheels, the counting of the number of the wheels adopts A GPIO-A/B general input/output interface to send frequency information when A driving circuit is detected, and the number of the driven wheels is indirectly confirmed after the number of the driving circuit is confirmed according to the information counting obtained by each interface; the wheel state detection adopts A GPIO-A/B general input/output interface to obtain wheel driving frequency information to obtain the wheel state, the wheel continues to operate when the wheel state is normal, and an alarm is given when the wheel state is abnormal; uploading detected information of the GPIO-A/B general input/output interface to Cortex-M3 MCU for processing;
a terrain detection module: acquiring ground and environment data by adopting a temperature and humidity sensor, acquiring the temperature and humidity sensor data once in each working period, and uploading the data to a Cortex-M3 MCU for processing; when the humidity is higher than the humidity threshold value, the vehicle speed is reduced, and when the humidity is higher than the humidity threshold value and the temperature is lower than the temperature threshold value, the deceleration instruction is delayed and the operation is executed at intervals;
a wheel speed detection module: the wheel rotating speed information is obtained through A wheel motor encoder and is transmitted to A Cortex-M3 MCU for processing through A GPIO-A/B general input/output interface; the wheel set and the wheel encoder are controlled by a Cortex-M3 MCU and can upload pose information to an upper computer;
the command transmission module is responsible for communication and high-speed command receiving and transmitting between the driving system and the upper computer, the serial port communication component uploads data sent to the upper computer by the driving system after being processed by the Cortex-M3 MCU to the upper computer, and the command of the upper computer is transmitted to the Cortex-M3 MCU by the serial port communication component and then is processed in the next step; issuing motion information and frequency to a bottom layer driving circuit through a register and a high-speed timer, and issuing low-priority motion information and frequency of a low-sensitivity wheel driving circuit through a general timer;
the core control module comprises a Cortex-M3 MCU and a 512K-FLAH, is responsible for realizing the overall system function, decomposes the motion instruction sent by the upper computer, and comprises system self-check, wheel number identification and matching, motion mode correction according to a temperature and humidity sensor, and independent motion instruction issuing to the wheel group;
the motion instruction information includes: carrying out forward and backward commands of constant speed and variable speed on the unmanned vehicle; and carrying out in-situ and curve-fixed steering instructions on the unmanned vehicle and carrying out braking and deceleration instructions on the unmanned vehicle. a. And acquiring the number of driving wheels (power wheels) of the unmanned vehicle, namely electrifying the system, acquiring the number of driving wheels (power wheels) of the unmanned vehicle, and storing the number N of wheels to a register.
b. Matching the wheel operation mode: and matching the obtained number of the driving wheels, matching with a multi-wheel driving scheme built in the system, and selecting an optimal driving mode to achieve the purpose of maximizing the maneuverability of the unmanned aerial vehicle.
c. Terrain detection: and acquiring the data of the temperature and humidity sensor once in each working period, automatically performing vehicle speed reduction operation when the humidity is higher than a certain value, and delaying and executing operation at intervals on a deceleration instruction when the temperature is reduced to a certain threshold value at the same time, so as to play a role of anti-lock braking. If the abnormal road condition is not detected in the step c, continuing to perform the operation c, and if the abnormal road condition is detected, determining a specific vehicle motion instruction modification value according to the specific environment temperature and humidity value.
d. And (3) converting an upper-layer instruction: and (c) decomposing the motion command sent by the upper computer, matching the number N of the wheels obtained in the step a with the terrain detection data obtained in the step c, and sending an independent motion command to a control circuit of each wheel.
The acquiring of the number of driving wheels (power wheels) of the unmanned vehicle comprises the following steps: and when the universal input/output interface detects the driving circuit, frequency information is sent according to the information statistics obtained by each interface, the number of the driving wheels is indirectly confirmed after the number of the driving circuits is confirmed, and the number is stored in a register to wait for processing.
The terrain detection comprises the following steps: and acquiring the data of the temperature and humidity sensor once in each working period, automatically performing vehicle speed reduction operation when the humidity is higher than a certain value, and delaying and executing operation at intervals on a deceleration instruction when the temperature is reduced to a certain threshold value at the same time, so as to play a role of anti-lock braking. The upper layer instruction conversion comprises the following steps: and matching the obtained motion commands with respect to the number N of the wheels, and allocating a frequency sending unit to realize independent control of each wheel without mutual interference. Uploading partial data of the bottom plate through a serial port, comprising the following steps: and uploading the number of the wheels, the ambient temperature and humidity value and the rotating speed information of each wheel to an upper computer.
The upper layer instruction information comprises:
the unmanned vehicle is instructed to move forward and backward at a constant speed and variable speed,
the unmanned vehicle is subjected to in-situ and fixed curve steering instructions,
and braking and decelerating the unmanned vehicle.
The invention has the beneficial effects that: the system has the advantages that functions of acquiring the number of driving wheels of the unmanned vehicle, detecting the states of the driving wheels, detecting the terrain, detecting the speed of the wheels, converting an upper-layer instruction and the like are achieved, so that the batch of instructions can be completed by receiving and sending simple operation instructions, and the independent control of each driving wheel can be completed more efficiently. The system reduces the development difficulty of unmanned vehicles, improves the software development efficiency and reduces the hardware operation pressure. This drive bottom plate, the function is various, can not only control quantitative drive wheel, can also add or get rid of convenient to use at will according to the developer needs. And speed or braking action such as according to road conditions and environment to upper motion instruction that is built-in the bottom plate, convenient to use.
Drawings
Fig. 1 is a schematic structural diagram of a universal driving system of a multi-wheel power chassis of a small-sized unmanned vehicle.
Fig. 2 is a schematic flow chart of a universal driving system of a multi-wheel power chassis of a small-sized unmanned vehicle.
Detailed Description
The invention relates to a universal driving system of a small-sized unmanned vehicle multi-wheel power bottom plate, which is combined with an attached drawing.
FIG. 1 is A schematic diagram of A universal driving system of an unmanned vehicle multi-wheel power base plate, and the universal driving system comprises an upper computer, A serial port communication assembly, A GPIO-A/B universal input/output interface, A wheel set, A wheel encoder, A Cortex-M3 MCU, A512K-FLAH and A temperature and humidity sensor.
The upper computer is responsible for issuing control instructions, uploading data of the lower sensor, overall control of the whole machine and comprehensive processing of the data;
the serial port communication assembly is responsible for communication between the driving system and the upper computer and high-speed instruction receiving and sending, a serial port communication register contained in the serial port communication assembly is also responsible for storage and transfer of a part of instructions, all processed data sent to the upper computer by a sensor of the driving system are processed by the Cortex-M3 MCU and then are uploaded to the upper computer by the serial port communication assembly, the instructions of the upper computer are also transmitted to the Cortex-M3 MCU by the serial port communication assembly and then are processed in the next step, the whole system comprises a group of serial ports of a switching chip through a USB bus, the serial ports of the switching chip are connected with the upper computer, and two paths of direct-connected interfaces are used for expansion.
The GPIO-A/B general input/output interface is responsible for detecting the state of the wheel, and detecting the characteristic information of the wheel and uploading the characteristic information to Cortex-M3 MCU for processing;
the driving part formed by the wheel set and the wheel encoder is controlled by a Cortex-M3 MCU and can upload a part of pose information to an upper computer;
the Cortex-M3 MCU and the 512K-FLAH form a core control part and are responsible for realizing the overall system functions, including system self-checking, wheel number identification and matching, motion mode correction according to a temperature and humidity sensor and independent motion instruction issuing to the wheel set.
The whole system can not work when being separated from the instruction sent by the upper computer.
The system can not be separated from a serial port of a switching chip of a USB bus in the serial port communication assembly to be connected with a communication line of an upper computer to work.
The link of the two independent serial ports is unnecessary for the system, and the system can work away from the independent serial ports.
The GPIO-A/B general input/output interface must ensure all normal connections, otherwise part of the system function is lost or the system cannot operate.
And the GPIO-A/B general input/output interface is connected with the serial port communication component, the wheel set, the wheel encoder and the temperature and humidity sensor.
Fig. 2 is a detailed process explanation of fig. 1 by the system in terms of workflow, and is also a detailed workflow of the system at a software layer.
The system automatically starts self-checking after being electrified, is connected with A wheel set and A wheel encoder through A GPIO-A/B general input/output interface, and analyzes the number of wheels after acquiring wheel information and hands the wheel information to A Cortex-M3 MCU for processing.
After the system acquires the wheel datA, the quantity comparison is carried out, the quantity and the GPIO-A/B general input/output interface flat cable logic comparison is carried out, the position logic relation of the wheel is acquired, and A specific operation mode is obtained.
The system can compare the temperature and humidity sensor data after acquiring the operation mode.
The system can operate under the condition of being separated from the temperature and humidity sensor, but the system cannot take the environmental state as a hardware layer correction reference.
The temperature and humidity sensor datA are acquired through A GPIO-A/B general input/output interface and processed by A Cortex-M3 MCU, and the processing result is reported to an upper computer through A serial port in real time and is used as an environment correction reference.
The hardware layer adaptation work flow under the complex road condition of the whole system comprises the following steps:
A. acquiring the number of wheels and a matching wheel driving mode through gpio;
B. acquiring a temperature and humidity sensor, and acquiring environmental data for correction;
C. obtaining a motion instruction of the upper computer, and correcting the environmental speed after processing by virtue of a Cortex-M3 MCU;
D. and (4) independently processing the braking instruction, binding the braking instruction with the mcu timer, and issuing an intermittent braking instruction to play a hardware layer ABS function.

Claims (2)

1. A universal driving system of a multi-wheel power bottom plate of a small unmanned vehicle is characterized by comprising an upper computer, a wheel detection module, a terrain detection module, a wheel speed detection module, an instruction transmission module and a core control module;
the upper computer is responsible for issuing control instructions, receiving data of the lower-layer temperature and humidity sensor, overall control of the whole machine and comprehensive processing of the data;
the wheel detection module is responsible for counting the number of wheels and detecting the state of the wheels, the counting of the number of the wheels adopts A GPIO-A/B general input/output interface to send frequency information when A driving circuit is detected, and the number of the driven wheels is indirectly confirmed after the number of the driving circuit is confirmed according to the information counting obtained by each interface; the wheel state detection adopts A GPIO-A/B general input/output interface to obtain wheel driving frequency information to obtain the wheel state, the wheel continues to operate when the wheel state is normal, and an alarm is given when the wheel state is abnormal; uploading detected information of the GPIO-A/B general input/output interface to Cortex-M3 MCU for processing;
a terrain detection module: acquiring ground and environment data by adopting a temperature and humidity sensor, acquiring the temperature and humidity sensor data once in each working period, and uploading the data to a Cortex-M3 MCU for processing; when the humidity is higher than the humidity threshold value, the vehicle speed is reduced, and when the humidity is higher than the humidity threshold value and the temperature is lower than the temperature threshold value, the deceleration instruction is delayed and the operation is executed at intervals;
a wheel speed detection module: the wheel rotating speed information is obtained through A wheel motor encoder and is transmitted to A Cortex-M3 MCU for processing through A GPIO-A/B general input/output interface; the wheel set and the wheel encoder are controlled by a Cortex-M3 MCU and can upload pose information to an upper computer;
the command transmission module is responsible for communication and high-speed command receiving and transmitting between the driving system and the upper computer, the serial port communication component uploads data sent to the upper computer by the driving system after being processed by the Cortex-M3 MCU to the upper computer, and the command of the upper computer is transmitted to the Cortex-M3 MCU by the serial port communication component and then is processed in the next step; issuing motion information and frequency to a bottom layer driving circuit through a register and a high-speed timer, and issuing low-priority motion information and frequency of a low-sensitivity wheel driving circuit through a general timer;
the core control module comprises a Cortex-M3 MCU and a 512K-FLAH, is responsible for realizing the overall system function, decomposes the motion instruction sent by the upper computer, and comprises system self-check, wheel number identification and matching, motion mode correction according to a temperature and humidity sensor, and independent motion instruction issuing to the wheel group;
the motion instruction information includes: carrying out forward and backward commands of constant speed and variable speed on the unmanned vehicle; and carrying out in-situ and curve-fixed steering instructions on the unmanned vehicle and carrying out braking and deceleration instructions on the unmanned vehicle.
2. The method of claim 1, comprising the steps of:
a. the number of the power wheels of the unmanned vehicle is obtained, the system is powered on, the number of the power wheels of the unmanned vehicle is obtained, and the number N of the wheels is stored in a register;
b. matching the wheel operation mode: matching the obtained number of driving wheels, matching with a multi-wheel driving scheme built in the system, and selecting a driving mode to achieve the maximum mobility of the unmanned aerial vehicle;
c. terrain detection: acquiring data of a temperature and humidity sensor once in each working period, automatically performing vehicle speed reduction operation when the humidity is higher than a humidity threshold, and delaying a speed reduction instruction and performing operation at intervals when the temperature is lower than a temperature threshold; if the abnormal road condition is not detected in the step c, continuing to perform the operation c, and if the abnormal road condition is detected, determining a specific vehicle motion instruction modification value according to the specific environment temperature and humidity value;
d. and (3) converting an upper-layer instruction: and (c) decomposing the motion command sent by the upper computer, matching the number N of the wheels obtained in the step a with the terrain detection data obtained in the step c, and sending an independent motion command to a control circuit of each wheel.
CN202011168860.8A 2020-10-28 2020-10-28 Universal driving system for multi-wheel power bottom plate of small unmanned vehicle Active CN112208359B (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110238251A1 (en) * 2010-03-29 2011-09-29 Ian Wright System and method for vehicle dynamics control in electric drive vehicles
CN106143135A (en) * 2016-07-04 2016-11-23 清华大学 The four-wheel independent steering independent drive vehicles control system of theory is driven based on intuition
CN109683611A (en) * 2018-12-20 2019-04-26 苏州观瑞汽车技术有限公司 A kind of control method of motion controller and its use towards unmanned vehicle

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110238251A1 (en) * 2010-03-29 2011-09-29 Ian Wright System and method for vehicle dynamics control in electric drive vehicles
CN106143135A (en) * 2016-07-04 2016-11-23 清华大学 The four-wheel independent steering independent drive vehicles control system of theory is driven based on intuition
CN109683611A (en) * 2018-12-20 2019-04-26 苏州观瑞汽车技术有限公司 A kind of control method of motion controller and its use towards unmanned vehicle

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孙中骏;余卓平;熊璐;黄少帅;: "六轮无人差动转向车辆控制策略设计" *

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