CN112208359B - Universal driving system for multi-wheel power bottom plate of small unmanned vehicle - Google Patents

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

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Publication number
CN112208359B
CN112208359B CN202011168860.8A CN202011168860A CN112208359B CN 112208359 B CN112208359 B CN 112208359B CN 202011168860 A CN202011168860 A CN 202011168860A CN 112208359 B CN112208359 B CN 112208359B
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wheel
driving
unmanned vehicle
wheels
instruction
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CN112208359A (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

Abstract

A universal driving system of a multi-wheel power bottom plate of a small unmanned vehicle belongs to the technical field of driving of the bottom plate of the unmanned vehicle. The system acquires the functions of unmanned vehicle driving wheel number, driving wheel state detection, terrain detection, wheel speed detection, upper instruction conversion and the like, so that batch instruction issuing conversion process can be completed by receiving and sending simple running instructions, and independent control of each driving wheel is completed more efficiently. The system reduces development difficulty of unmanned vehicles, improves software development efficiency and reduces hardware operation pressure. The driving bottom plate has various functions, can control quantitative driving wheels, can be added or removed at will according to the needs of developers, and is convenient to use. And the speed or braking action of the upper-layer movement instructions arranged in the bottom plate is carried out according to road condition environments, so that the use is convenient.

Description

Universal driving system for multi-wheel power bottom plate of small unmanned vehicle
Technical Field
The invention relates to a universal driving system of a multi-wheel power base plate of a small unmanned vehicle, and belongs to the technical field of driving-free operation of base plate driving of unmanned vehicles.
Background
Along with the expansion of the small unmanned vehicle market, the unmanned vehicle development industry is developing the existing development situation in blowout type, and the unmanned vehicle developer is required to independently write the bottom layer drive of the product, so that a lot of labor is increased, the unmanned vehicle software development time is increased, and the development difficulty is improved. The problem of converting a software motion instruction of a small unmanned vehicle driven by a crawler or a tire into an actual hardware motion instruction is also common.
The existing small unmanned vehicle drives the bottom plate, has single function, can only control quantitative driving wheels at the same time, cannot be added or removed at will along with the needs of use or developers, and is inconvenient to use. In addition, the existing small-sized unmanned vehicle bottom plate is not provided with built-in preprocessing of upper-layer movement instructions, such as speed or braking behaviors according to road condition environments, so that the pre-processing is not humanized.
Disclosure of Invention
In order to solve the problems, the invention provides a convenient and quick drive-free scheme of the multi-wheel power bottom plate of the small unmanned vehicle.
The invention adopts the technical scheme that: the universal driving system of the multi-wheel power bottom plate of the 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 a lower 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, wherein the counting of the number of the wheels adopts GPIO-A/B universal input/output interfaces to send frequency information when A driving circuit is detected, and the number of the driving wheels is indirectly confirmed after the number of the driving circuits is confirmed according to the information counting acquired by each interface; the wheel state detection adopts A GPIO-A/B universal input/output interface to acquire wheel driving frequency information, so as to acquire the wheel state, and if the wheel state is normal, the operation is continued, and if the wheel state is abnormal, an alarm is sent; uploading detection information of the GPIO-A/B general input/output interface to A Cortex-M3 MCU for processing;
the terrain detection module: acquiring ground and environment data by adopting a temperature and humidity sensor, acquiring 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, the vehicle speed is reduced, and when the humidity is higher than the humidity threshold and the temperature is lower than the temperature threshold, the speed reducing instruction is delayed and the operation is executed at intervals;
wheel speed detection module: acquiring wheel rotation speed information through A wheel motor encoder, and transmitting the wheel rotation speed information to A Cortex-M3 MCU for processing through A GPIO-A/B universal 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 assembly processes data sent to the upper computer by the driving system through the Cortex-M3 MCU, the data is uploaded to the upper computer through the serial port communication assembly, and the command of the upper computer is transmitted to the Cortex-M3 MCU through the serial port communication assembly and then is processed in the next step; the motion information and the frequency are issued to the bottom driving circuit through a register and a high-speed timer, and the low-priority motion information and the frequency of the low-sensitive wheel driving circuit are issued through a general timer;
the core control module comprises a Cortex-M3 MCU and a 512K-FLAH, is responsible for realizing overall system functions, decomposes a motion instruction sent by an upper computer, comprises system self-checking, wheel number identification matching and a motion mode matching, corrects the motion mode according to a temperature and humidity sensor and issues an independent motion instruction to a wheel group;
the motion instruction information includes: a constant speed and variable speed forward and backward instruction is carried out on the unmanned vehicle; and (3) carrying out in-situ and fixed-curve steering instructions on the unmanned vehicle and carrying out braking and deceleration instructions on the unmanned vehicle. a. The number of driving wheels (power wheels) of the unmanned vehicle is obtained, and the number N of wheels is stored in a register.
b. Matching the wheel operation modes: the obtained number of the driving wheels is matched with a multi-wheel driving scheme arranged in the system, and the optimal driving mode is selected, so that the unmanned vehicle mobility is maximized.
c. And (3) terrain detection: and the temperature and humidity sensor data are acquired once in each working period, when the humidity is higher than a certain value, the speed is automatically reduced, and when the temperature is simultaneously reduced to a certain threshold value, the speed reducing instruction is delayed and the operation is executed at intervals, so that the anti-lock braking function is realized. If no abnormal road condition is detected in the step c, continuing to operate the step c, and if the abnormal road condition is detected, determining a specific vehicle movement instruction modification value according to a specific environment temperature and humidity value.
d. Upper level instruction translation: and d, decomposing the motion instruction sent by the upper computer, matching the number N of the wheels obtained in the step a and the terrain detection data obtained in the step c, and sending independent motion instructions to a control circuit of each wheel.
The step of obtaining the number of driving wheels (power wheels) of the unmanned vehicle comprises the following steps: when the general input/output interface detects the driving circuit, the frequency information is sent, statistics is carried out according to the information acquired by each interface, the number of driving wheels is indirectly confirmed after the number of the driving circuit is confirmed, and the number is stored in a register to wait for processing.
The terrain detection comprises the following steps: and the temperature and humidity sensor data are acquired once in each working period, when the humidity is higher than a certain value, the speed is automatically reduced, and when the temperature is simultaneously reduced to a certain threshold value, the speed reducing instruction is delayed and the operation is executed at intervals, so that the anti-lock braking function is realized. The upper instruction conversion includes: and matching the acquired motion instructions with the number N of the wheels, and distributing a frequency sending unit to independently control each wheel without interference. Uploading partial data of the bottom plate through the serial port, including: and uploading the number of the wheels, the environmental temperature and humidity value and the rotating speed information of each wheel to an upper computer.
The upper instruction information includes:
a constant speed and variable speed forward and backward instruction is carried out on the unmanned vehicle,
the unmanned vehicle is subjected to in-situ and fixed curve steering instructions,
braking and decelerating the unmanned vehicle.
The invention has the beneficial effects that: the functions of the number of driving wheels, the state detection of the driving wheels, the terrain detection, the wheel speed detection, the upper-layer instruction conversion and the like of the unmanned vehicle are obtained, so that the batch instruction issuing conversion process can be completed by receiving and sending simple running instructions, and the independent control of each driving wheel can be completed more efficiently. The system reduces development difficulty of unmanned vehicles, improves software development efficiency and reduces hardware operation pressure. The driving bottom plate has various functions, can control quantitative driving wheels, can be added or removed at will according to the needs of developers, and is convenient to use. And the speed or braking action of the upper-layer movement instructions arranged in the bottom plate is carried out according to road condition environments, so that the use is convenient.
Drawings
Fig. 1 is a schematic structural diagram of a universal driving system for a multi-wheel power floor of a small unmanned vehicle.
Fig. 2 is a schematic flow diagram of a universal drive system for a multi-wheel power floor of a small unmanned vehicle.
Detailed Description
The universal driving system of the multi-wheel power bottom plate of the small unmanned vehicle is disclosed in the following description with reference to the accompanying drawings.
Fig. 1 is A schematic structural diagram of A universal driving system of A multi-wheel power base plate of an unmanned vehicle, which 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, 512K-FLAH and A temperature and humidity sensor.
The upper computer is responsible for issuing control instructions, uploading lower sensor data, overall control of the whole machine and comprehensive processing of the data;
the serial port communication component is responsible for communication between the driving system and the upper computer, and high-speed instruction receiving and transmitting, the serial port communication register contained in the serial port communication component is also responsible for storing and transferring a part of instructions, all processed data sent to the upper computer by the sensor of the driving system can be uploaded to the upper computer through the serial port communication component after being processed by the Cortex-M3 MCU, the instructions of the upper computer are also transmitted to the Cortex-M3 MCU by the serial port communication component and then are processed in the next step, and the whole system comprises a group of serial ports connected with the upper computer through a transfer chip of the USB bus and further comprises two paths of direct connection ports for expansion.
The GPIO-A/B general input/output interface is responsible for detecting the state of the wheel, and uploading the detected wheel characteristic information to the 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 the upper computer;
the Cortex-M3 MCU and the 512K-FLAH form a core control part and are responsible for realizing overall system functions, including system self-checking, wheel number identification and matching, matching of a motion mode, motion mode correction according to a temperature and humidity sensor, and independent motion instruction release of a wheel group.
The whole system can not work after being separated from the instruction sent by the upper computer.
The system can not break away from the communication line of the upper computer connected with the serial port of the transfer chip passing through the USB bus in the serial port communication assembly.
The linkage of the two independent serial ports is unnecessary for the system, and the system can work out of the independent serial ports.
The GPIO-A/B general input/output interface must ensure all normal connections, otherwise, some system functions are lost or the system cannot operate.
The GPIO-A/B general input/output interface is connected with the serial port communication assembly, the wheel set, the wheel encoder and the temperature and humidity sensor.
Fig. 2 is a detailed process explanation of the system of fig. 1 in terms of workflow, and also in terms of the software layer.
The system automatically starts self-checking after power-on, is connected with A wheel set and A wheel encoder through A GPIO-A/B universal input/output interface, and performs analysis on the number of wheels after acquiring the wheel information and processing the wheel information by A Cortex-M3 MCU.
After the system acquires the wheel datA, the number is compared, and the number and the GPIO-A/B general input/output interface flat cable logic are compared to acquire the position logic relationship of the wheels, so as to acquire A specific running mode.
After the system acquires the operation mode, the temperature and humidity sensor data are compared.
The system can operate under the condition of separating from the temperature and humidity sensor, but the system does not take the environment state as a hardware layer correction reference basis.
The temperature and humidity sensor datA are acquired through A GPIO-A/B general input/output interface, processed by A Cortex-M3 MCU, and the processing result is reported to the 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 conditions of the whole system comprises the following steps:
A. acquiring the number of wheels and matching the driving modes of the wheels through gpio;
B. acquiring a temperature and humidity sensor and correcting environmental data;
C. obtaining an upper computer movement instruction, and correcting the environmental speed by means of Cortex-M3 MCU processing;
D. and the braking instruction is independently processed and bound with the mcu timer to issue the intermittent braking instruction, so that the hardware layer ABS function is realized.

Claims (2)

1. The universal driving system of the multi-wheel power bottom plate of the 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 a lower 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, wherein the counting of the number of the wheels adopts GPIO-A/B universal input/output interfaces to send frequency information when A driving circuit is detected, and the number of the driving wheels is indirectly confirmed after the number of the driving circuits is confirmed according to the information counting acquired by each interface; the wheel state detection adopts A GPIO-A/B universal input/output interface to acquire wheel driving frequency information, so as to acquire the wheel state, and if the wheel state is normal, the operation is continued, and if the wheel state is abnormal, an alarm is sent; uploading detection information of the GPIO-A/B general input/output interface to A Cortex-M3 MCU for processing;
the terrain detection module: acquiring ground and environment data by adopting a temperature and humidity sensor, acquiring 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, the vehicle speed is reduced, and when the humidity is higher than the humidity threshold and the temperature is lower than the temperature threshold, the speed reducing instruction is delayed and the operation is executed at intervals;
wheel speed detection module: acquiring wheel rotation speed information through A wheel motor encoder, and transmitting the wheel rotation speed information to A Cortex-M3 MCU for processing through A GPIO-A/B universal 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 assembly processes data sent to the upper computer by the driving system through the Cortex-M3 MCU, the data is uploaded to the upper computer through the serial port communication assembly, and the command of the upper computer is transmitted to the Cortex-M3 MCU through the serial port communication assembly and then is processed in the next step; the motion information and the frequency are issued to the bottom driving circuit through a register and a high-speed timer, and the low-priority motion information and the frequency of the low-sensitive wheel driving circuit are issued through a general timer;
the core control module comprises a Cortex-M3 MCU and a 512K-FLAH, is responsible for realizing overall system functions, decomposes a motion instruction sent by an upper computer, comprises system self-checking, wheel number identification matching and a motion mode matching, corrects the motion mode according to a temperature and humidity sensor and issues an independent motion instruction to a wheel group;
the motion instruction information includes: a constant speed and variable speed forward and backward instruction is carried out on the unmanned vehicle; and (3) carrying out in-situ and fixed-curve steering instructions on the unmanned vehicle and carrying out braking and deceleration instructions on the unmanned vehicle.
2. The method of operating a universal drive system for a multi-wheel power floor of a small unmanned vehicle of claim 1, comprising the steps of:
a. the number of the power wheels of the unmanned vehicle is obtained, wherein the system is electrified, 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 modes: matching the obtained number of the driving wheels, matching the number of the driving wheels with a multi-wheel driving scheme arranged in the system, and selecting a driving mode to maximize the maneuverability of the unmanned vehicle;
c. and (3) terrain detection: acquiring temperature and humidity sensor data once in each working period, automatically performing vehicle speed reduction operation when the humidity is higher than a humidity threshold value, and delaying a deceleration instruction and performing operation at intervals when the temperature is simultaneously lower than a temperature threshold value; c, if no abnormal road condition is detected in the step c, continuing to operate the step c, and if the abnormal road condition is detected, determining a specific vehicle movement instruction modification value according to a specific environment temperature and humidity value;
d. upper level instruction translation: and d, decomposing the motion instruction sent by the upper computer, matching the number N of the wheels obtained in the step a and the terrain detection data obtained in the step c, and sending independent motion instructions 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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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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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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