CN113335417B - Foldable and unfoldable reconstructed variable-wheel-track all-terrain trolley and control method thereof - Google Patents
Foldable and unfoldable reconstructed variable-wheel-track all-terrain trolley and control method thereof Download PDFInfo
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- CN113335417B CN113335417B CN202110649558.2A CN202110649558A CN113335417B CN 113335417 B CN113335417 B CN 113335417B CN 202110649558 A CN202110649558 A CN 202110649558A CN 113335417 B CN113335417 B CN 113335417B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/14—Understructures, i.e. chassis frame on which a vehicle body may be mounted of adjustable length or width
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Abstract
The invention relates to the field of wheeled robots, in particular to a foldable and reconfigurable variable-track all-terrain trolley and a control method thereof. The overall structure of the foldable and reconfigurable variable-track all-terrain trolley comprises a posture adjusting assembly, a driving wheel assembly, a bottom supporting plate, a top supporting plate, a first driven wheel assembly and a second driven wheel assembly; the control framework of the device consists of an attitude sensing module, a steering control module, an included angle control module and a four-wheel speed cooperative control module. The vehicle body is completely symmetrical about the neutral surfaces of the bottom supporting plate and the top supporting plate, the track and the form of the trolley are continuously changed by the aid of the multiple whole-circle rotary foldable and unfoldable mechanisms, so that the trolley has the capability of spanning different terrain obstacles, and meanwhile, the trolley has omnibearing maneuvering performance and further improves the stability because the front side, the back side and the front side are not distinguished, and the wheeled trolley has wide social application prospect.
Description
Technical Field
The invention relates to the field of wheeled robots, in particular to a foldable and reconfigurable variable-track all-terrain trolley and a control method thereof.
Background
As a mobile robot, the wheel type robot has a higher moving speed than a foot type robot, but has poor complex environment adaptability, and is often used for carrying out tasks such as material transportation, emergency rescue, security patrol and the like. The traditional wheel type trolley has a fixed wheel track and a fixed chassis, and has front and back sides and front and back sides in obvious physical significance, so that the traditional wheel type trolley does not have the capabilities of obstacle crossing, dumping recovery, flexible folding and unfolding and the like when facing complex terrains, and the capabilities have very important significance for adapting to the field environment with complex terrains and overcoming the bad terrains without good road conditions. The invention aims to provide a foldable trolley with multi-wheel drive, variable wheel track and dumping self-recovery function and a control method thereof, so as to meet the requirement of complex tasks on the travelling capacity of the trolley, and realize the functions of climbing stairs, climbing pipelines, climbing cracks, climbing or penetrating through complex terrains such as height-limiting rods and the like and balancing vehicles.
Disclosure of Invention
The invention aims to solve the problem of designing a foldable and reconfigurable variable-wheel-track all-terrain trolley and a control method thereof, so as to ensure the high-speed moving capability of a wheeled robot and further improve the adaptability and the maneuvering performance of the robot to a complex terrain environment.
The technical scheme adopted by the invention for solving the technical problem is as follows:
the utility model provides a can roll over reconsitute and become full topography dolly of wheel track that unfolds, its overall structure comprises gesture adjusting part, drive wheel subassembly, bottom sprag board, top sprag board and first, second driven wheel subassembly.
The bottom supporting plate consists of a second main plate, a second side plate and a fourth side plate; the top supporting plate consists of a first main plate, a first side plate and a third side plate; the posture adjusting assembly is fixed on a second main plate of the bottom supporting plate, and the first driven wheel assembly and the second driven wheel assembly are respectively arranged on a second side plate and a fourth side plate of the bottom supporting plate; two sides of a cross shaft of the posture adjusting component respectively penetrate through a first connecting seat and a second connecting seat of a first driven wheel component and a second driven wheel component, are fixedly connected with the connecting seats and are simultaneously connected with a first driven wheel and a second driven wheel of the first driven wheel component and the second driven wheel component through revolute pairs; the adjustable included angle between the second main board of the bottom supporting board and the second and fourth side boards is realized by controlling a vehicle body posture control motor in the posture adjusting component, namely, the foldable and expandable reconstruction variable-track function of the trolley is realized, so as to adapt to various terrain environments; the first and fourth wheel components of the driving wheel component are respectively arranged on the second and fourth side plates of the bottom supporting plate, the second and third wheel components are arranged on the second main plate of the bottom supporting plate, in the initial state, namely when the second main plate of the bottom supporting plate is on the same plane with the second and fourth side plates, the driving wheels of the first, second, third and fourth wheel components are coaxial, and at the moment, the driving wheel component and the first and second driven wheel components are respectively arranged at two ends of the trolley; the top supporting plate and the bottom supporting plate clamp other parts of the trolley in the middle part, so that the trolley has a protection effect.
The attitude adjusting assembly consists of a vehicle transverse shaft, a vehicle body attitude control motor, a driven gear, a driving gear and first and second conductive slip ring assemblies; the first conductive slip ring assembly consists of a first conductive outer ring, a first conductive inner ring and a first fixed seat, and the second conductive slip ring assembly consists of a second conductive outer ring, a second conductive inner ring and a second fixed seat; the first conductive inner ring and the second conductive inner ring are fixedly connected with a cross shaft of the vehicle and are respectively connected with the first conductive outer ring and the second conductive outer ring through revolute pairs; the first and second conductive outer rings are fixedly connected with the first and second fixed seats, and the first and second fixed seats are fixedly connected with the second main board; the vehicle body attitude control motor is also fixed on the second main board, an output shaft of the vehicle body attitude control motor is connected with the driving gear, and power is transmitted to a vehicle transverse shaft through a driven gear meshed with the driving gear, so that included angles between the second main board and the second and fourth side boards can be changed, and wheel distance adjustment between the first and fourth wheel assemblies and between the second and third wheel assemblies is realized; through the first and second conductive slip ring assemblies, the elements between the first and second main boards can be ensured to be well electrically connected with the elements on the first, second, third and fourth side boards after multiple complete revolutions.
The device can work in a working mode of continuously variable wheel track without distinguishing the front side, the back side and the front side and the back side; the body is completely symmetrical about the neutral plane of the bottom and top support plates. The trolley can work in a short track mode and a long track mode, the track is continuously variable, and meanwhile, the trolley can actively turn over the first main plate, the second main plate and the first side plate, the second main plate, the third side plate and the fourth side plate by controlling a trolley body posture control motor in the posture adjusting assembly, so that the trolley has obstacle crossing capability.
A foldable and unfoldable reconstructed variable-track all-terrain trolley control method is characterized in that a control framework of the foldable and unfoldable reconstructed variable-track all-terrain trolley control method is composed of an attitude sensing module, a steering control module, an included angle control module and a four-wheel speed cooperative control module;
wherein the posture sensing module consists of the postures of the first main plate and the second main plate and the postures of the first side plate, the second side plate, the third side plate and the fourth side plate, and the postures (alpha) of the first main plate and the second main plate 1 ,β 1 ,γ 1 ) The postures (alpha) of the first, second, third and fourth side plates measured by a posture sensor mounted on the second main plate 2 ,β 2 ,γ 2 ) Measured by an attitude sensor mounted on the first side plate, so that the overall roll attitude angle of the trolley is
Overall yaw attitude angle of
Integral pitching attitude angle of beta 1 ,β 2 Are jointly determined as
θ＝π+β 1 -β 2
Wherein l 1 ,l 2 The wheel tracks of the second wheel assembly, the third wheel assembly, the first wheel assembly, the fourth wheel assembly, the first driven wheel assembly and the second driven wheel assembly are respectively; theta is an included angle between the first side plate, the second side plate, the third side plate, the fourth side plate and the first main plate and between the fourth side plate and the second main plate; dThe wheel track of the second wheel assembly, the third wheel assembly, the first wheel assembly and the fourth wheel assembly.
The wheel track/included angle control module is carried out on the basis of attitude sensing, and the expected wheel track D is known d Calculated desired angle
After the expected included angle is obtained, a controller is designed by combining the actual included angle measured in the attitude sensing module, and a vehicle body attitude control motor in the attitude adjusting assembly is controlled, so that the track/included angle control of the trolley can be realized.
In the steering control module, the known desired and actual yaw angles are each γ d Gamma, because the trolley has no steering mechanism, the steering can only be realized by four-wheel differential steering, and the smaller the wheel track of the trolley is, the faster the steering is, the steering controller of the trolley can be designed to be
e γ ＝γ-γ d
Wherein k is Pi (D),k Ii (D),k Di (D) I =1,2,3,4 is a proportional, integral, derivative control parameter in the steering controller, and k is k when i =1,2 Pi (D),k Ii (D),k Di (D) Is not less than 0, when i =3,4, k Pi (D),k Ii (D),k Di (D) Not more than 0, and | k Pi (D)|,|k Ii (D)|,|k Di (D) I =1,2,3,4 is proportional to the size of the track D, ensuring a uniform change in the steering control.
In the four-wheel speed cooperative control module, the overall expected speed and the actual speed of the known trolley are respectively v d V, radius of curvature of the walking trajectory is R, which can be decomposed into desired speeds of the first, second, third and fourth wheel assemblies
When k = -1, it represents a left turn, and when k =1, it represents a right turn. It will also be appreciated that the first, second, third and fourth wheel assemblies are trueThe velocity is v 1 ,v 2 ,v 3 ,v 4 The difference value between the actual speed and the expected speed of each wheel assembly is not consistent, and in order to ensure the cooperative control of four-wheel drive, the four-wheel speed cooperative controller is designed to be
Wherein v is i ′ d I =1,2,3,4 is the desired speed of the new wheel assembly to be produced in a coordinated control, c 1 As a global velocity co-factor, c 2 A factor for self-desired velocity tracking, c 1 The greater the speed the faster the synergy, c 2 The greater the speed the faster the track is expected to track itself.
Compared with the prior art, the invention has the following beneficial effects: the wheel track and the form of the trolley are continuously changed by the multiple whole-circle rotation foldable and unfoldable mechanisms, so that the trolley has the capability of crossing different terrain obstacles, and meanwhile, because the front side, the back side and the front side are not distinguished, the trolley has omnibearing maneuvering performance, the stability is further improved, and the wheel type trolley has wide social application prospect.
Drawings
FIG. 1 is an overall schematic view of a foldable and reconfigurable variable-track all-terrain trolley;
FIG. 2 is an internal structural view;
FIG. 3 is an exploded view;
FIG. 4 is a schematic view of an attitude adjustment assembly;
FIG. 5 is a schematic view of a short track operating mode;
FIG. 6 is a schematic view of a long track operating mode;
FIG. 7 is a schematic view of a wheel assembly;
FIG. 8 is a schematic diagram of a cart control architecture;
FIG. 9 is a schematic view of the structural parameters of the cart;
FIG. 10 is a schematic view of the cooperative control of four wheel speeds of the cart;
in the figure: the vehicle comprises a posture adjusting assembly (1), a driving wheel assembly (2), a bottom supporting plate (3-1), a top supporting plate (3-2), a first driven wheel assembly (4-1) and a second driven wheel assembly (4-2), a first conductive sliding ring assembly (10-1) and a second conductive sliding ring assembly (10-2) and a first side plate (11-1) and a second conductive sliding ring assembly (11-3) and a second side plate (11-3) and a fourth side plate (11-3) and a second side plate (11-2) and a vehicle body posture controlling motor (7), a driven gear (8), a driving gear (9), a first conductive outer ring (13-1) and a second conductive outer ring (13-2) and a first conductive inner ring (14-1) and a second conductive inner ring (14-2) and a first fixed seat (15-1) and a second fixed seat (15-2) and a first connecting seat (16-1 and a second driving gear (16-2), a first driven gear (17-1) and a second driven gear (17-2), a motor (17-2) and a motor (18-2).
Detailed Description
The invention is further explained with reference to the drawings.
The invention aims to solve the problem of designing a foldable and reconfigurable variable-wheel-track all-terrain trolley and a control method thereof, so as to ensure the high-speed moving capability of a wheeled robot and further improve the adaptability and the maneuvering performance of the robot to a complex terrain environment.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a foldable and reconfigurable track-variable all-terrain trolley is shown in figure 1, and the overall structure of the trolley is composed of a posture adjusting assembly (1), a driving wheel assembly (2), a bottom supporting plate (3-1), a top supporting plate (3-2) and first and second driven wheel assemblies (4-1, 4-2);
wherein the bottom support plate (3-1) is composed of a second main plate (12-2), a second and a fourth side plates (11-2, 11-4); the top supporting plate (3-2) consists of a first main plate (12-1), a first side plate (11-1) and a third side plate (11-3); the posture adjusting component (1) is fixed on a second main plate (12-2) of the bottom supporting plate (3-1), and the first driven wheel component and the second driven wheel component (4-1 and 4-2) are respectively arranged on a second side plate and a fourth side plate (11-2 and 11-4) of the bottom supporting plate (3-1); two sides of a vehicle transverse shaft (6) of the posture adjusting component (1) respectively penetrate through first and second connecting seats (16-1 and 16-2) of first and second driven wheel components (4-1 and 4-2) and are fixedly connected with the first and second connecting seats, and are simultaneously connected with first and second driven wheels (17-1 and 17-2) of the first and second driven wheel components (4-1 and 4-2) through revolute pairs; the included angle between the second main board (12-2) of the bottom supporting board (3-1) and the second and fourth side boards (11-2, 11-4) can be adjusted by controlling a vehicle body attitude control motor (7) in the attitude adjusting component (1), namely, the function of changing the wheel track by unfolding and reconstructing the trolley is realized so as to adapt to various terrain environments; the first and fourth wheel assemblies (5-1, 5-4) of the driving wheel assembly (2) are respectively mounted on the second and fourth side plates (11-2, 11-4) of the bottom support plate (3-1), the second and third wheel assemblies (5-2, 5-3) thereof are mounted on the second main plate (12-2) of the bottom support plate (3-1), and in an initial state, that is, when the second main plate (12-2) of the bottom support plate (3-1) is on the same plane as the second and fourth side plates (11-2, 11-4), the driving wheels (19) of the first, second, third and fourth wheel assemblies (5-1, 5-2, 5-3, 5-4) are coaxial, and at this time, the driving wheel assembly (2) and the first and second driven wheel assemblies (4-1, 4-2) are respectively arranged at both ends, as shown in fig. 2; the top supporting plate (3-2) and the bottom supporting plate (3-1) clamp the rest parts of the trolley in the middle part to play a role in protection.
The attitude adjusting assembly (1) of the device consists of a vehicle transverse shaft (6), a vehicle body attitude control motor (7), a driven gear (8), a driving gear (9) and a first conductive slip ring assembly (10-1, 10-2), as shown in figure 4; the first conductive slip ring assembly consists of a first conductive outer ring (13-1), a first conductive inner ring (14-1) and a first fixed seat (15-1), and the second conductive slip ring assembly consists of a second conductive outer ring (13-2), a second conductive inner ring (14-2) and a second fixed seat (15-2); the first conductive inner ring (14-1) and the second conductive inner ring (14-2) are fixedly connected with the transverse axle (6) and are respectively connected with the first conductive outer ring (13-1) and the second conductive outer ring (13-2) through revolute pairs; the first and second conductive outer rings (13-1, 13-2) are fixedly connected with the first and second fixed seats (15-1, 15-2), and the first and second fixed seats (15-1, 15-2) are fixedly connected with the second main board (12-2); the vehicle body posture control motor (7) is also fixed on the second main plate (12-2), an output shaft of the vehicle body posture control motor is connected with the driving gear (9), and power is transmitted to the vehicle transverse shaft (6) through the driven gear (8) meshed with the driving gear (9), so that the included angle between the second main plate (12-2) and the second and fourth side plates (11-2 and 11-4) can be changed, and the wheel distance adjustment between the first and fourth wheel assemblies (5-1 and 5-4) and the second and third wheel assemblies (5-2 and 5-3) is realized; by means of the first and second conductive slip ring assemblies (10-1, 10-2), it is ensured that the components between the first and second main plates (12-1, 12-2) can be well electrically connected with the components on the first, second, third and fourth side plates (11-1, 11-2, 11-3, 11-4) after a plurality of complete revolutions.
The device can work in a continuous variable-track working mode without distinguishing the front side, the back side and the front side and the back side; the vehicle body is completely symmetrical about the neutral plane of the bottom support plate (3-1) and the top support plate (3-2). As shown in figures 5 and 6, the trolley can work in a short track mode and a long track mode, the track is continuously variable, and meanwhile, the trolley can actively turn over between the first main plate (12-1), the second main plate (12-1, 12-2) and the first side plate (11-1, 11-2, 11-3, 11-4) through controlling a vehicle body posture control motor (7) in the posture adjusting assembly (1), so that the trolley has obstacle crossing capability.
A foldable and unfoldable reconstructed variable-wheel-track all-terrain trolley control method is shown in figure 8, and a control framework of the foldable and unfoldable reconstructed variable-wheel-track all-terrain trolley control method is composed of an attitude sensing module, a wheel track/included angle control module, a steering control module and a four-wheel speed cooperative control module;
wherein, as shown in FIG. 9, the gesture sensing module is composed of the gestures of the first and second main boards (12-1, 12-2) and the first, second, third and fourth side boards (11-1, 11-2, 11-3, 11-4), the gestures (α) of the first and second main boards (12-1, 12-2) 1 ,β 1 ,γ 1 ) The attitudes (alpha) of the first, second, third and fourth side plates (11-1, 11-2, 11-3, 11-4) measured by attitude sensors mounted on the second main plate (12-2) 2 ,β 2 ,γ 2 ) Measured by an attitude sensor mounted on the first side plate (11-1) so that the overall roll attitude angle of the cart is
Overall yaw attitude angle of
Integral pitching attitude angle of beta 1 ,β 2 Are jointly determined as
θ＝π+β 1 -β 2
Wherein l 1 ,l 2 The wheel tracks of the second wheel assembly (5-2), the third wheel assembly (5-3), the first wheel assembly (5-1), the fourth wheel assembly (5-4) and the first driven wheel assembly (4-1), the second driven wheel assembly (4-2) are respectively; theta is the included angle between the first, second, third and fourth side plates (11-1, 11-2, 11-3, 11-4) and the first and second main plates (12-1, 12-2); d is the wheel track of the second and third wheel assemblies (5-2, 5-3) and the first and fourth wheel assemblies (5-1, 5-4).
The track/included angle control module is carried out on the basis of attitude perception, and the expected track D is known d Calculating the desired angle
After an expected included angle is obtained, a controller is designed by combining an actual included angle measured in the attitude sensing module, and a vehicle body attitude control motor (7) in the attitude adjusting assembly (1) is controlled, so that the track/included angle control of the trolley can be realized.
In the steering control module, the known desired and actual yaw angles are each γ d Gamma, because the trolley has no steering mechanism, the steering can only be realized by four-wheel differential steering, and the smaller the wheel track of the trolley is, the faster the steering is, the steering controller of the trolley can be designed to be
e γ ＝γ-γ d
Wherein k is Pi (D),k Ii (D),k Di (D) I =1,2,3,4 is a proportional, integral, derivative control parameter in the steering controller, and k is k when i =1,2 Pi (D),k Ii (D),k Di (D) ≥ 0, when i =3,4, k Pi (D),k Ii (D),k Di (D) Not more than 0, and | k Pi (D)|,|k Ii (D)|,|k Di (D) I =1,2,3,4 is proportional to the size of the track D, ensuring a uniform change in the steering control.
In the four-wheel speed cooperative control module, the overall expected speed and the actual speed of the known trolley are respectively v d V, radius of curvature of the walking trajectory is R, which can be decomposed into desired speeds of the first, second, third and fourth wheel assemblies (5-1, 5-2, 5-3, 5-4) respectively
When k = -1, left turn is represented, and when k =1, right turn is represented. It will also be appreciated that the actual speeds of the first, second, third and fourth wheel assemblies (5-1, 5-2, 5-3, 5-4) are v, respectively 1 ,v 2 ,v 3 ,v 4 In order to ensure the cooperative control of the four-wheel drive, the magnitude of the difference between the actual speed and the desired speed of each wheel assembly is not the same, and the four-wheel speed cooperative controller is designed as shown in fig. 10
Wherein v is i ′ d I =1,2,3,4 is the desired speed of the new wheel assemblies to be produced in a coordinated control, c 1 As a global velocity co-factor, c 2 For the desired speed tracking factor itself, c 1 The greater the speed the faster the synergy, c 2 The greater the speed the faster the track is expected to track itself.
Compared with the prior art, the invention has the following beneficial effects: the wheel track and the form of the trolley are continuously changed by the multiple whole-circle rotary foldable and unfoldable mechanisms, so that the trolley has the capability of spanning different terrain obstacles, and meanwhile, the trolley has omnibearing maneuvering performance because the front side, the back side and the front side and the back side are not distinguished, the stability is further improved, and the wheel type trolley has wide social application prospect.
Claims (4)
1. The utility model provides a can fold and unfold reconsitution full topography dolly of variable wheel base which characterized in that: the overall structure of the device consists of a posture adjusting component (1), a driving wheel component (2), a bottom supporting plate (3-1), a top supporting plate (3-2), a first driven wheel component (4-1) and a second driven wheel component (4-2);
wherein the bottom support plate (3-1) consists of a second main plate (12-2), a second and a fourth side plates (11-2, 11-4); the top support plate (3-2) is composed of a first main plate (12-1), a first and a third side plates (11-1, 11-3); the posture adjusting component (1) is fixed on a second main plate (12-2) of the bottom supporting plate (3-1), and the first driven wheel component and the second driven wheel component (4-1 and 4-2) are respectively arranged on a second side plate and a fourth side plate (11-2 and 11-4) of the bottom supporting plate (3-1); two sides of a vehicle transverse shaft (6) of the posture adjusting component (1) respectively penetrate through first connecting seats (16-1) and second connecting seats (16-1 and 16-2) of the first driven wheel components (4-1) and the second driven wheel components (4-2) and are fixedly connected with the first connecting seats and the second connecting seats, and meanwhile, the two sides of the vehicle transverse shaft are connected with first driven wheels (17-1) and second driven wheels (17-2) of the first driven wheel components and the second driven wheel components (4-1 and 4-2) through revolute pairs; the included angle between the second main board (12-2) of the bottom supporting board (3-1) and the second and fourth side boards (11-2, 11-4) can be adjusted by controlling a vehicle body attitude control motor (7) in the attitude adjusting component (1), namely, the foldable and reconfigurable variable wheel track function of the trolley is realized so as to adapt to various terrain environments; the first and fourth wheel assemblies (5-1, 5-4) of the driving wheel assembly (2) are respectively arranged on the second and fourth side plates (11-2, 11-4) of the bottom supporting plate (3-1), the second and third wheel assemblies (5-2, 5-3) thereof are arranged on the second main plate (12-2) of the bottom supporting plate (3-1), and in an initial state, namely when the second main plate (12-2) of the bottom supporting plate (3-1) and the second and fourth side plates (11-2, 11-4) are on the same plane, the driving wheels (19) of the first, second, third and fourth wheel assemblies (5-1, 5-2, 5-3, 5-4) are coaxial, and at the same time, the driving wheel assembly (2) and the first and second driven wheel assemblies (4-1, 4-2) are respectively arranged at two ends of the trolley; the top support plate (3-2) and the bottom support plate (3-1) clamp the rest parts of the trolley in the middle part to play a role in protection.
2. A control method for the expandable reconfigurable variable-track all-terrain vehicle of claim 1, characterized by: the control framework of the device consists of an attitude sensing module, a track/included angle control module, a steering control module and a four-wheel speed cooperative control module;
wherein, the posture sensing module consists of the postures of the first main board (12-1) and the second main board (12-2) and the postures of the first side board (11-1), the second side board (11-2), the third side board (11-3) and the fourth side board (11-4), and the postures (alpha) of the first main board (12-1) and the second main board (12-2) 1 ,β 1 ,γ 1 ) The attitude (alpha) of the first, second, third and fourth side plates (11-1, 11-2, 11-3, 11-4) is measured by an attitude sensor mounted on the second main plate (12-2) 2 ,β 2 ,γ 2 ) Measured by an attitude sensor mounted on the first side plate (11-1) so that the overall roll attitude angle of the cart is
Overall yaw attitude angle of
Integral pitching attitude angle is controlled by beta 1 ,β 2 Are jointly determined as
θ＝π+β 1 -β 2
Wherein l 1 ,l 2 The wheel track of the second wheel assembly (5-2), the third wheel assembly (5-3), the first wheel assembly (5-1), the fourth wheel assembly (5-4) and the first driven wheel assembly (4-1, 4-2) respectively; theta is the included angle between the first, second, third and fourth side plates (11-1, 11-2, 11-3, 11-4) and the first and second main plates (12-1, 12-2); d is the wheel track of the second and third wheel assemblies (5-2, 5-3) and the first and fourth wheel assemblies (5-1, 5-4);
wheel track/included angle control module is felt at gestureOn the basis of the knowledge that the desired track width D is known d Calculating the desired angle
After an expected included angle is obtained, a controller is designed by combining an actual included angle measured in the attitude sensing module, and a vehicle body attitude control motor (7) in the attitude adjusting assembly (1) is controlled, so that the track/included angle control of the trolley can be realized;
in the steering control module, the known desired and actual yaw angles are gamma, respectively d Gamma, because the trolley has no steering mechanism, the steering can only be realized by four-wheel differential steering, and the smaller the wheel track of the trolley is, the faster the steering is, the steering controller of the trolley can be designed to be
e γ ＝γ-γ d
Wherein k is Pi (D),k Ii (D),k Di (D) I =1,2,3,4 is a proportional, integral, derivative control parameter in the steering controller, and k is k when i =1,2 Pi (D),k Ii (D),k Di (D) ≥ 0, when i =3,4, k Pi (D),k Ii (D),k Di (D) Not more than 0, and | k Pi (D)|,|k Ii (D)|,|k Di (D) I =1,2,3,4 is in direct proportion to the size of the wheel track D, so as to ensure the uniform change of the steering control;
in the four-wheel speed cooperative control module, the overall expected speed and the actual speed of the known trolley are respectively v d V, radius of curvature R of the walking path, which can be decomposed into desired speeds of the first, second, third and fourth wheel assemblies (5-1, 5-2, 5-3, 5-4), respectively
When k = -1, representing a left turn, when k =1, representing a right turn; it can also be seen that the actual speeds of the first, second, third and fourth wheel assemblies (5-1, 5-2, 5-3, 5-4) are v, respectively 1 ,v 2 ,v 3 ,v 4 The difference value of the actual speed and the expected speed of each wheel component is not consistent, and in order to ensure the cooperative control of four-wheel drive, the four-wheel speed cooperative controller is designed to
V 'of the total' id I =1,2,3,4 is the desired speed of the new wheel assemblies to be produced in a coordinated control, c 1 As a global velocity co-factor, c 2 A factor for self-desired velocity tracking, c 1 The greater the speed the faster the synergy, c 2 The greater the speed the faster the track is to track itself.
3. The expandable reconfigurable variable-track all-terrain vehicle of claim 1, wherein: the attitude adjusting component (1) of the device consists of a vehicle transverse shaft (6), a vehicle body attitude control motor (7), a driven gear (8), a driving gear (9) and first and second conductive slip ring components (10-1, 10-2); the first conductive slip ring assembly consists of a first conductive outer ring (13-1), a first conductive inner ring (14-1) and a first fixed seat (15-1), and the second conductive slip ring assembly consists of a second conductive outer ring (13-2), a second conductive inner ring (14-2) and a second fixed seat (15-2); the first conductive inner ring (14-1) and the second conductive inner ring (14-2) are fixedly connected with the transverse axle (6) and are respectively connected with the first conductive outer ring (13-1) and the second conductive outer ring (13-2) through revolute pairs; the first and second conductive outer rings (13-1, 13-2) are fixedly connected with the first and second fixed seats (15-1, 15-2), and the first and second fixed seats (15-1, 15-2) are fixedly connected with the second main board (12-2); the vehicle body attitude control motor (7) is also fixed on the second main board (12-2), an output shaft of the vehicle body attitude control motor is connected with the driving gear (9), and power is transmitted to a vehicle transverse shaft (6) through a driven gear (8) meshed with the driving gear (9), so that the included angle between the second main board (12-2) and the second and fourth side boards (11-2 and 11-4) can be changed, and the wheel distance adjustment between the first and fourth wheel assemblies (5-1 and 5-4) and the second and third wheel assemblies (5-2 and 5-3) is realized; by means of the first and second conductive slip ring assemblies (10-1, 10-2), it is ensured that the components between the first and second main boards (12-1, 12-2) can be well electrically connected with the components on the first, second, third and fourth side boards (11-1, 11-2, 11-3, 11-4) after a plurality of complete revolutions.
4. The expandable and reconfigurable variable-track all-terrain trolley according to claim 1, characterized in that: the device can work in a continuous variable-track working mode without distinguishing the front side, the back side and the front side and the back side; the vehicle body is completely symmetrical about the neutral plane of the bottom support plate (3-1) and the top support plate (3-2); the trolley can work in a short track mode and a long track mode, the track is continuously variable, and meanwhile, the first main plate (12-1), the second main plate (12-2), the first side plate (11-1), the second main plate (11-2), the third side plate (11-3), the fourth side plate (11-3), and the fourth side plate (11-1, 11-2, 11-3, and 11-4) are actively turned over by controlling a trolley body posture control motor (7) in the posture adjusting assembly (1), so that the trolley has obstacle crossing capability.
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| CN101890986B (en) * | 2010-06-13 | 2012-01-04 | 上海中为智能机器人有限公司 | Deformable all-terrain adaptable robot walking mechanism |
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