CN114313036A - Unmanned vehicle and control method - Google Patents
Unmanned vehicle and control method Download PDFInfo
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Abstract
The invention discloses an unmanned vehicle and a control method, relates to the field of engineering machinery, and aims to enhance the off-road performance of the unmanned vehicle. The unmanned vehicle comprises a vehicle body, a wheel carrier, a wheel type travelling mechanism and a crawler travelling mechanism. The wheel carrier is rotatably mounted to the vehicle body about its own axis. The wheel type walking mechanism comprises walking wheels. The crawler belt walking mechanism comprises a crawler belt; the wheel type travelling mechanism and the crawler travelling mechanism are arranged on the wheel carrier in a switchable manner. According to the technical scheme, the road surface leveling device is provided with two sets of travelling mechanisms, and any one set of wheel type travelling mechanism and crawler type travelling mechanism can be adopted when the road surface leveling device runs; when the user needs to go off the country, such as crossing a gully, the user can climb the gully by using a wheel type walking mechanism or a crawler type walking mechanism.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to an unmanned vehicle and a control method.
Background
With the rapid development of science and technology, the automotive industry and the unmanned vehicle industry are distinguished by military prominence. For the design of the unmanned vehicle, factors such as mobility, trafficability, light weight and the like are comprehensively considered.
In recent years, China has made great progress in unmanned vehicle research, but compared with developed countries, the research scale, investment intensity, technical level and application degree of results are in certain gaps.
The inventor finds that at least the following problems exist in the prior art: at present, the research on the chassis and the travelling mechanism is particularly weak, and the performance of the vehicle is far away from the off-road running requirement of the unmanned vehicle. Therefore, it is necessary to improve the trafficability and off-road performance of the unmanned vehicle to adapt to various complex conditions.
Disclosure of Invention
The invention provides an unmanned vehicle and a control method thereof, which are used for enhancing the off-road performance of the unmanned vehicle.
An embodiment of the present invention provides an unmanned vehicle, including:
a vehicle body;
a wheel carrier mounted to the vehicle body so as to be rotatable about its own axis;
the wheel type travelling mechanism comprises travelling wheels; and
the crawler traveling mechanism comprises a crawler;
wherein the wheel-type traveling mechanism and the crawler traveling mechanism are switchably mounted to the wheel carrier.
In some embodiments, the wheel carriage comprises:
the supporting component comprises a first supporting plate and a second supporting plate which are arranged in parallel;
the transmission mechanism comprises a first gear mechanism, a driving shaft, a planetary gear train and a transmission shaft assembly; the first gear mechanism is arranged on one side of the first supporting plate, which is far away from the second supporting plate; the driving shaft is rotatably installed between the first support plate and the second support plate; the planetary gear train is mounted on one side, far away from the first supporting plate, of the second supporting plate;
the first gear mechanism is in driving connection with the driving shaft, and the driving shaft is in driving connection with the planetary gear train; the planetary gear train is in driving connection with the transmission shaft assembly; the walking wheels and the crawler belt are in driving connection with the transmission shaft assembly in a switchable mode.
In some embodiments, the first support plate and the second support plate each include three protruding ends, the three protruding ends of the first support plate and the second support plate corresponding one to one;
the transmission shaft assembly comprises three transmission shafts, and one transmission shaft is rotatably arranged between each pair of the extending ends.
In some embodiments, the wheel carriage further comprises:
the flange plate is fixed on the transmission shaft assembly; the walking wheels and the crawler belt are connected with the flange in a driving mode in a switchable mode.
In some embodiments, the crawler travel mechanism further comprises:
the crawler driving wheel is fixedly connected with the flange plate; the number of the crawler driving wheels is three, and each transmission shaft corresponds to one crawler driving wheel; the track is wound around the track drive wheel.
In some embodiments, the unmanned vehicle further comprises:
and the walking motor is arranged on the supporting component and is in driving connection with the transmission mechanism so as to transmit power to the transmission mechanism.
In some embodiments, the unmanned vehicle further comprises:
and the protection plate is arranged on one side of the planetary gear train, which is far away from the second support plate, and is fixedly connected with the second support plate.
In some embodiments, the first support plate and/or the second support plate are provided with weight-reducing holes symmetrical with respect to the respective centerlines.
In some embodiments, the unmanned vehicle further comprises:
the overturning motor is arranged on the vehicle body and is in driving connection with the wheel carrier; the overturning motor is configured to drive the wheel frame to rotate around the axis of the wheel frame.
In some embodiments, the unmanned vehicle further comprises:
a controller;
the contour recognition sensor is in communication connection with the controller so as to recognize road conditions;
a height sensor in communicative connection with the controller, the depth sensor configured to detect a height of a ravine and an obstacle when the identified road condition is any of the ravine and the obstacle; and
an angle sensor in communication with both the controller and the flipping motor, the angle sensor configured to detect a flipping angle of the flipping motor and transmit to the controller.
The embodiment of the invention also provides a control method of the unmanned vehicle, which comprises the following steps:
determining that the unmanned vehicle adopts one of a wheel type travelling mechanism and a crawler travelling mechanism as a travelling mechanism according to the road type;
when at least one of a hard road surface, a gully and an obstacle is identified, starting a turnover motor of the unmanned vehicle to drive a wheel type running gear or a crawler type running gear of the unmanned vehicle to turn over;
the wheel type travelling mechanism or the crawler travelling mechanism is driven to synchronously turn over by turning over the wheel carrier of the unmanned vehicle, so that the unmanned vehicle can cross the gully.
In some embodiments, the step of simultaneously flipping the wheeled or tracked undercarriage by flipping the wheel carriage of the unmanned vehicle such that the unmanned vehicle bridges the ravines comprises:
collecting shape parameters of the gullies by adopting a contour recognition sensor;
calculating a theoretical turning angle of a wheel carrier of the unmanned vehicle according to shape parameters of the ravines;
and starting a turning motor of the unmanned vehicle, and turning the wheel carrier according to the theoretical turning angle.
In some embodiments, the unmanned vehicle control method further comprises the steps of:
when any one of the conditions of a hard road surface, a gully and an obstacle is not identified, identifying whether the road surface is a bumpy road surface;
and if the road surface is a bumpy road surface, unlocking a wheel carrier of the unmanned vehicle and turning a motor so that the wheel carrier swings around the axis of the wheel carrier along with the fluctuation of the bumpy road surface.
In some embodiments, the unmanned vehicle control method further comprises the steps of:
when the fact that the unmanned vehicle needs to accelerate is judged, torque towards the driving direction of the unmanned vehicle is added to a wheel carrier of the unmanned vehicle through a turnover motor of the unmanned vehicle; or when the fact that the unmanned vehicle needs to decelerate is judged, torque deviating from the driving direction of the unmanned vehicle is added to a wheel carrier of the unmanned vehicle through a turnover motor of the unmanned vehicle.
The unmanned vehicle provided by the technical scheme is provided with two sets of running mechanisms, and any one set of wheel type running mechanism and crawler running mechanism can be adopted when the unmanned vehicle runs on a flat road surface; and the two mechanisms can be switched quickly. When the user needs to go off the country, such as crossing a gully, the gully climbing function can be realized by adopting either the wheel type travelling mechanism or the crawler type travelling mechanism. The wheel type traveling mechanism and the crawler traveling mechanism are limited in use scene, the unmanned vehicle is provided with the wheel type traveling mechanism and the crawler traveling mechanism, the working conditions suitable for the unmanned vehicle are greatly expanded, the unmanned vehicle has the advantages of being high in mobility of the wheel type traveling mechanism, good in trafficability of the crawler traveling mechanism and high in off-road capacity, and can adapt to different road conditions of complex terrains, so that the off-road capacity and the terrain adaptability of the vehicle are improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a schematic perspective view of a wheeled traveling mechanism of an unmanned vehicle according to an embodiment of the present invention.
Fig. 2 is a schematic perspective view of a wheeled traveling mechanism of an unmanned vehicle according to an embodiment of the present invention with a fender removed.
Fig. 3 is a schematic perspective view of a crawler unit of an unmanned vehicle according to an embodiment of the present invention.
FIG. 4 is a schematic flow chart of a method for controlling an unmanned vehicle according to an embodiment of the present invention;
FIG. 5 is a logic diagram of a method for controlling an unmanned vehicle according to an embodiment of the invention.
Reference numerals:
1. a wheel carrier; 2. a wheel-type traveling mechanism; 3. a crawler travel mechanism; 11. a support assembly; 12. a transmission mechanism; 13. a flange plate; 14. a protection plate; 111. a first support plate; 112. a second support plate; 110. lightening holes; 121. a first gear mechanism; 122. a drive shaft; 123. a planetary gear train; 124. a driveshaft assembly; 1241. a drive shaft; 125. a bolt; 21. a traveling wheel; 31. a crawler belt; 32. a track driving wheel.
Detailed Description
The technical solution provided by the present invention is explained in more detail with reference to fig. 1 to 5.
Referring to fig. 1-3, embodiments of the present invention provide an unmanned vehicle, particularly suitable for use in situations where people arrive, such as hazardous or harsh environments. The unmanned vehicle includes a vehicle body (not shown), a wheel carrier 1, a wheel type traveling mechanism 2, and a crawler traveling mechanism 3. The wheel carrier 1 is mounted to the vehicle body so as to be rotatable about its own axis. The wheel type traveling mechanism 2 includes traveling wheels 21. The crawler belt 3 includes a crawler belt 31. Wherein, the wheel type traveling mechanism 2 and the crawler traveling mechanism 3 are switchably mounted on the wheel carrier 1.
The vehicle body is a main part of the unmanned vehicle, the unmanned vehicle does not comprise a cab for a driver to ride, and the main functions of the unmanned vehicle are mainly loading goods and executing set tasks.
With reference to fig. 1 and 2, the wheel carrier 1 is mounted to the vehicle body, in particular via a balance elbow 4. The wheel carrier 1 is used for mounting the travelling mechanism on the vehicle body, and the wheel carrier 1 is also a bearing mechanism of the travelling mechanism. In some embodiments, the wheel carriage 1 comprises a support assembly 11 and a transmission mechanism 12.
The support assembly 11 includes a first support plate 111 and a second support plate 112 arranged in parallel with a gap therebetween for mounting the road wheels 21 and the crawler 31. Specifically, the first support plate 111 and the second support plate 112 are both flat plates and each include a plurality of, specifically, three protruding ends, and the three protruding ends of the first support plate 111 and the second support plate 112 correspond to each other one by one. The respective intermediate areas of the first support plate 111 and the second support plate 112 are drive shafts 122 for mounting the same transmission mechanism 12. If the wheel type traveling mechanism 2 is adopted, the wheel type traveling mechanism 2 comprises the same number of traveling wheels 21 as the number of the extending ends, and one traveling wheel 21 is arranged between each pair of the extending ends. If a crawler belt 3 is used, a crawler belt drive wheel 32 is mounted at each pair of projecting ends, and a crawler belt 31 is wound around these crawler belt drive wheels 32.
In some embodiments, the unmanned vehicle further comprises a travel motor (not shown) mounted to the support assembly 11 and drivingly connected to the transmission 12 for transmitting power to the transmission 12. The walking motor is used for driving the walking wheels 21 and the crawler belt 31 to rotate so as to realize walking.
Referring to fig. 1 and 2, the transmission mechanism 12 includes a first gear mechanism 121, a drive shaft 122, a planetary gear train 123, and a propeller shaft assembly 124. The first gear mechanism 121 is mounted on a side of the first support plate 111 remote from the second support plate 112. The driving shaft 122 is rotatably installed between the first support plate 111 and the second support plate 112. The planetary gear train 123 is mounted on a side of the second support plate 112 remote from the first support plate 111. The first gear mechanism 121 is drivingly connected to a drive shaft 122, and the drive shaft 122 is drivingly connected to a planetary gear train 123. The planetary gear set 123 is in driving connection with the transmission shaft assembly 124. The road wheels 21 and the track 31 are switchably in driving connection with the drive shaft assembly 124. The drive shaft assembly 124 includes three drive shafts 1241, one drive shaft 1241 being rotatably mounted between each pair of projecting ends. The power is transmitted to the drive shaft 122 via the first gear mechanism 121, transmitted to the planetary gear set 123 via the drive shaft 122, and transmitted to the respective drive shafts 1241 of the drive shaft assembly 124 from the planetary gear set 123. The rotation of the drive shaft 1241 about its own axis causes the rotation of the road wheels 21 attached to the drive shaft 1241 and also causes the rotation of the crawler 31 attached to the drive shaft 1241 via the crawler drive wheel 32. According to the technical scheme, the multi-stage gear transmission is adopted, the power transmission is stable and reliable, and the phenomenon that the tooth jumping is easy in chain transmission is avoided.
The first gear mechanism 121 includes a first gear train 1211 and a first gear 1212. First gear train 1211 includes a plurality of pinion gears in mesh; the diameter of the first gear 1212 is larger than the diameter of each gear in the first gear train 1211. The first gear 1212 is fixedly connected to the end of the driving shaft 122 extending out of the first supporting plate 111, specifically, by a key connection. The other end of the driving shaft 122 protrudes out of the second support plate 112. The planetary gear train 123 includes a sun gear 1231 and a plurality of second gear trains 1232. Each second gear train 1232 includes a plurality of, specifically, three gears, distributed as a second gear 123a, a third gear 123b, and a fourth gear 123 c. The sun gear 1231 is meshed with the second gear 123a, the second gear 123a is meshed with the third gear 123b, the third gear 123b is meshed with the fourth gear 123c, and the fourth gear 123c is in driving connection with the transmission shaft 1241, so that the transmission shaft 1241 rotates around the axis thereof. Each of the protruding ends of the second support plate 112 is provided with a second gear train 1232. The sun gear 1231 drives each second gear train 1232 to rotate synchronously. Each second gear train 1232 drives a drive shaft 1241 in rotation with respect to its own axis of the drive shaft 1241.
Specifically, the wheel carrier 1 is of an inner and outer vertical plate welding structure, and the travelling wheels 21 or the crawler belt driving wheels 32 are installed between the first supporting plate 111 and the second supporting plate 112 to form a simple beam structure type, so that the structural strength is effectively improved, and the stress of the wheel carrier 1 is improved. The wheel carrier 1 has three extending ends, and the three extending ends are all provided with through hole structures for mounting and fixing the transmission shaft 1241. The transmission shaft 1241 and the second gear train 1232 are respectively three and coaxially connected with the three support leg through holes. The center of the second gear train 1232 is on the same straight line with the center of the planetary gear of the second gear train 1232 in meshing transmission with the center of the wheel carrier 1. One side of each gear shaft of the second gear train 1232 is fixed on the first supporting plate 111, the other side of each gear shaft is axially fixed through the second supporting plate 112, and the second supporting plate 112 enables each gear and planet gear structure of the second gear train 1232 to be more reliable. The planetary gear at the most downstream of the second gear train 1232 is coaxial with the transmission shaft 1241 on the road wheel 21, and the two are fixedly connected through a spline. According to the technical scheme, the gear transmission mechanism is adopted to transmit power to the walking wheels 21 or the crawler driving wheels 32, so that the transmission precision is high, the work is reliable, and the service life is long.
With continued reference to fig. 1 and 2, in some embodiments, the crawler travel unit 3 further includes a crawler drive wheel 32, the crawler drive wheel 32 being fixedly connected to the flange 13; the number of the track driving wheels 32 is three, and each transmission shaft 1241 corresponds to one track driving wheel 32; the track 31 is wound around a track drive wheel 32.
Specifically, the wheel carrier 1 further comprises a flange 13, and the flange 13 is fixed on the transmission shaft assembly 124; the road wheels 21 and the crawler belt 31 are switchably connected with the flange plate 13 in a driving way. The number of the transmission shafts 1241 included in the transmission shaft assembly 124 is the same as the number of the pairs of the protruding ends, and three transmission shafts 1241 are provided here as an example. Each transmission shaft 1241 is provided with a flange 13, and the flange 13 is fixedly connected with the travelling wheels 21 and the crawler driving wheels 32 through bolts.
With continued reference to fig. 1 and 2, in some embodiments, the unmanned vehicle further includes a fender 14, the fender 14 is mounted to a side of the planetary gear set 123 remote from the second support plate 112, and the fender 14 is fixedly connected to the second support plate 112. The fender 14 and the second support plate 112 together form a mounting cavity, and in one aspect, the drive shaft 122 may extend to rotatably couple with the fender 14. Since drive shaft 122 needs to carry the sun gear, fender 14 and second support plate 112 together support drive shaft 122 so that the portion of drive shaft 122 used to mount the sun gear is not a cantilevered structure, which makes the support for the sun gear more robust. On the other hand, the sun gear and the second gear train are both located in the installation cavity formed by the protection plate 14 and the second support plate 112, so that the protection effect is achieved, foreign matters are prevented from entering the sun gear and the second gear train, and casualties and other parts damage caused by the moving sun gear and the moving second gear train are also prevented.
With continued reference to fig. 1 to 3, the first support plate 111 and/or the second support plate 112 are provided with lightening holes 110 symmetrical with respect to the respective centerlines to effectively lighten the weight of the running gear. In some embodiments, taking the example that the first support plate 111 and the second support plate 112 are provided with lightening holes 110, the first support plate 111 and the second support plate 112 are each provided with dozens of lightening holes 110. When one of the extending ends is seen, the number of the lightening holes 110 between the sun gear and the transmission shaft 1241 is three, the opening sizes of the two lightening holes 110 are larger, wherein the opening size of the lightening hole 110 close to the sun gear is larger than the opening size of the two lightening holes 110 close to the transmission shaft 1241. In addition, a ring of lightening holes 110 is further provided around the circumference of the mounting hole for mounting the drive shaft 1241 at each protruding end, and the lightening holes 110 are annular.
Specifically, at least one of the first support plate 111 and the second support plate 112 is provided with lightening holes 110, and there are 3 groups of lightening holes, each group has six lightening holes, and the lightening holes are symmetrically distributed. The lightening holes 110 are long round holes, 2 of the lightening holes are smaller, and one is larger, so that the stress concentration phenomenon around the lightening holes can be effectively avoided. By adopting a topological optimization method, the shape and the position layout of the lightening holes 110 of the second support plate 112 are obtained, the side plate structure is light and has high rigidity and strength, the design contradiction between the requirement of light weight and the improvement of rigidity and strength can be effectively solved, and the operation safety of the multistage gear transmission system is ensured.
In some embodiments, the unmanned vehicle further comprises a roll-over motor (not shown) mounted to the vehicle body and in driving connection with the wheel carriage 1. The tilting motor is configured to rotate the wheel carriage 1 about its own axis, i.e., about the axis of the drive shaft 122. The turning motor drives the wheel carrier 1 and the wheel type travelling mechanism 2 installed on the wheel carrier 1 to turn synchronously, so as to realize off-road functions of climbing slopes, climbing gullies and the like.
When needing to realize cross-country function, upset motor and walking motor simultaneous working, no matter unmanned vehicle adopts wheeled running gear 2 this moment, still crawler travel mechanism 3, all can realize cross-country function. The following description will be given by taking the wheel type traveling mechanism 2 as an example. The wheel frame 1 and the wheel type traveling mechanism 2 attached to the wheel frame 1 simultaneously rotate about the axis of the drive shaft 122. When the bicycle is normally walking, the overturning motor does not work, and the walking motor works. The traveling motor drives the traveling wheels 21 of the wheel type traveling mechanism 2 and the track driving wheels 32 of the track traveling mechanism 3 to rotate around the transmission shafts 1241 installed respectively, so as to realize traveling.
When the unmanned vehicle runs on a gentle ground, the turning motor is locked, the walking motor is in a working state, and power is transmitted to the sun gear 1231 of the planetary gear train 123 through the output end of the walking motor and then transmitted to the planet carrier of the planetary gear train 123 through the second gear train 1232 of the planetary gear train 123. The carrier of the planetary gear train 123 is spline-connected to the sun gear 1231, so that power is transmitted to the sun gear 1231. The sun gear 1231 is in meshed transmission with the second gear train 1232 to drive each planet wheel of the second gear train 1232 to rotate, the transmission shaft 1241 which coaxially rotates with the planet wheel is driven to rotate, and finally the walking wheel 21 fixedly connected with the transmission shaft 1241 is driven to rotate, so that the unmanned vehicle moves forward or backward. By adopting multi-stage gear transmission, the gear transmission ratio needs to be calculated according to a related algorithm, and the requirements of the vehicle on required speed, space positions of components, size and the like can be met.
When the road surface is a rugged terrain with mud, snow, marsh or obstacle trenches, the wheel structure is easy to slip and sink, and the trafficability is poor. At this time, the running mechanism can be changed into a crawler-type structure. The crawler type has the advantages of large traction force, low ground pressure ratio, strong climbing capability and the like. The crawler-type running mechanism is of a tooth meshing type.
The replacement process of the crawler-type traveling mechanism comprises the following steps: the middle part of the transmission shaft 1241 is provided with a flange 13 which is fixedly connected with the road wheel 21 in the circumferential direction through a bolt 125, and the central shaft of the transmission shaft 1241 is coaxial with the central shaft of the road wheel 21. The transmission shaft 1241 is connected with the wheel carrier 1 through a bearing with a seat. After the bolt 125 and the seated bearing are removed, the transmission shaft 1241 is taken out, and the road wheel 21 is removed. The crawler driving wheels 32 are fixedly connected with the middle flange of the transmission shaft 1241 in the circumferential direction by bolts 125, and finally the crawler 31 is installed and meshed with 3 crawler driving wheels 32, namely, the exchange of the wheel type walking mechanism and the crawler type walking mechanism is completed. The working principle of the crawler type walking structure is the same as that of the wheel type structure, and the detailed description is omitted here.
Referring to fig. 4 and 5, an embodiment of the present invention further provides a method for controlling an unmanned vehicle, which is implemented by using the unmanned vehicle provided in any of the above technical solutions. The unmanned vehicle control method includes the steps of:
and S100, determining that the unmanned vehicle adopts one of the wheel type travelling mechanism 2 and the crawler type travelling mechanism 3 as a travelling mechanism according to the road type.
Step S200, when at least one of a hard road surface, a gully and an obstacle is identified, starting a turnover motor of the unmanned vehicle to drive the wheel type running gear 2 or the crawler track running gear 3 of the unmanned vehicle to turn over. The hard pavement refers to a smooth pavement with similar performance such as a cement pavement, an asphalt pavement, a hard mud pavement and the like. When the unmanned vehicle travels on a hard road, the wheel type traveling mechanism 2 is selected. The wheel type walking mechanism 2 can drive the wheel carrier 1 to climb stairs and steps through a turnover motor; when the stair and the step do not need to be climbed, the overturning motor is locked and does not need to be overturned. In the off-road situation, specifically, under the conditions of a ravine, an obstacle, and the like, the unmanned vehicle selects the crawler travel mechanism 3. The crawler traveling mechanism 3 is turned over, so that gully climbing and obstacle crossing can be realized.
Step S300, the wheel carrier 1 of the unmanned vehicle is turned over to drive the wheel type traveling mechanism 2 or the crawler traveling mechanism 3 to turn over synchronously, so that the unmanned vehicle crosses the gully.
Step S300 specifically includes: firstly, a contour recognition sensor is adopted to collect the shape parameters of gullies. Next, the theoretical turning angle of the wheel carrier 1 of the unmanned vehicle is calculated based on the shape parameters of the ravines. And thirdly, starting a turning motor of the unmanned vehicle, and turning the wheel carrier 1 according to the theoretical turning angle.
The unmanned vehicle comprises a turnover control system, and specifically comprises a controller, a contour recognition sensor, a height sensor and an angle sensor. When an obstacle or a trench is encountered, the data information is fed back to a data processor of the controller after being identified by the profile identification sensor and is compared with a preset threshold value. If the threshold value is larger than the preset threshold value, the obstacle crossing state or the trench crossing state is determined.
And then, the height sensor starts to work, accurately measures the obstacles or the trenches, feeds measured values back to the data processor, calculates the theoretical angle of the wheel carrier 1 needing to rotate, transmits signals to the overturning motor, and controls the overturning motor to rotate by the corresponding angle.
The angle sensor measures the actual rotation angle of the turnover motor and compares the actual rotation angle with the theoretical angle: if the difference value is within the allowable range, the overturning is realized; and if the interpolation value is not within the threshold range, readjusting the rotation angle of the turnover motor until the condition is met, and finally realizing smooth crossing of the barrier or the trench. The control strategy is shown in fig. 5.
In some embodiments, the unmanned vehicle control method further comprises the steps of:
step S400, when any one of the conditions of a hard road surface, a gully and an obstacle is not identified, whether the road surface is a bumpy road surface or not is identified. Bumpy road surface refers to a road surface with unevenness on the ground, such as uneven stone roads, uneven mud roads and the like.
Step S500, if the road surface is a bumpy road surface, unlocking the wheel carrier 1 of the unmanned vehicle and turning the motor, so that the wheel carrier 1 swings around the axis of the wheel carrier 1 along with the fluctuation of the bumpy road surface. In the above manner, the wheel carriage 1 is not locked but is not turned over. By way of example of the triangular wheel frame 1 mentioned above, without overturning is meant that the angle of rotation of the wheel frame 1 about its own axis is less than 120 °. The wheel carrier 1 can slightly move along with the axis of the wheel carrier, so that the impact of the road surface on the unmanned vehicle is reduced, and the unmanned vehicle can adapt to various complex road conditions.
The unmanned vehicle control method further includes the steps of, when driving on a bumpy road surface:
and step S600, when judging that the unmanned vehicle needs to accelerate, adding torque towards the driving direction of the unmanned vehicle to a wheel carrier of the unmanned vehicle through a turnover motor of the unmanned vehicle. I.e. the process is repeated. Or when the unmanned vehicle is judged to need to be decelerated, torque deviating from the driving direction of the unmanned vehicle is added to the wheel carrier of the unmanned vehicle through the overturning motor of the unmanned vehicle. The steps enable the wheel carrier to realize follow-up along with the increase or decrease of the vehicle speed, and finally enable the unmanned vehicle to smoothly run and reduce the impact.
In the description of the present invention, it is to be understood that the terms "central", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the scope of the present invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: it is to be understood that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalents may be substituted for some of the technical features thereof, but such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (14)
1. An unmanned vehicle, comprising:
a vehicle body;
a wheel carrier (1) rotatably mounted to the vehicle body about its own axis;
a wheel-type traveling mechanism (2) including traveling wheels (21); and
a crawler travel mechanism (3) including a crawler belt (31);
wherein the wheel-type travelling mechanism (2) and the crawler travelling mechanism (3) are switchably mounted on the wheel carrier (1).
2. Unmanned vehicle according to claim 1, characterized in that the wheel carrier (1) comprises:
a support assembly (11) comprising a first support plate (111) and a second support plate (112) arranged in parallel;
the transmission mechanism (12) comprises a first gear mechanism (121), a driving shaft (122), a planetary gear train (123) and a transmission shaft assembly (124); the first gear mechanism (121) is mounted on one side of the first support plate (111) far away from the second support plate (112); the drive shaft (122) is rotatably mounted between the first support plate (111) and the second support plate (112); the planetary gear train (123) is mounted on one side, away from the first support plate (111), of the second support plate (112);
the first gear mechanism (121) is in driving connection with the drive shaft (122), and the drive shaft (122) is in driving connection with the planetary gear train (123); the planetary gear train (123) is in driving connection with the transmission shaft assembly (124); the travelling wheels (21) and the crawler belt (31) are in switchable driving connection with the transmission shaft assembly (124).
3. The unmanned vehicle of claim 2, wherein the first support plate (111) and the second support plate (112) each comprise three protruding ends, the three protruding ends of the first support plate (111) and the second support plate (112) corresponding one to one;
the drive shaft assembly (124) includes three drive shafts (1241), one drive shaft (1241) being rotatably mounted between each pair of the projecting ends.
4. Unmanned vehicle according to claim 3, characterized in that the wheel carrier (1) further comprises:
a flange plate (13) fixed to the driveshaft assembly (124); the travelling wheels (21) and the crawler belt (31) are in driving connection with the flange (13) in a switchable manner.
5. The unmanned vehicle of claim 4, wherein the crawler track (3) further comprises:
the crawler driving wheel (32) is fixedly connected with the flange plate (13); the number of the crawler driving wheels (32) is three, and each transmission shaft (1241) corresponds to one crawler driving wheel (32); the track (31) is wound around the track drive wheel (32).
6. The unmanned vehicle of claim 2, further comprising:
and the walking motor is arranged on the supporting component (11) and is in driving connection with the transmission mechanism (12) so as to transmit power to the transmission mechanism (12).
7. The unmanned vehicle according to claim 2, wherein the wheel carrier (1) further comprises:
and the protection plate (14) is arranged on one side, away from the second support plate (112), of the planetary gear train (123) and fixedly connected with the second support plate (112).
8. Unmanned vehicle according to claim 2, characterized in that the first support plate (111) and/or the second support plate (112) are provided with weight-reducing holes (110) symmetrical with respect to the respective centre line.
9. The unmanned vehicle of claim 1, further comprising:
the overturning motor is arranged on the vehicle body and is in driving connection with the wheel carrier (1); the overturning motor is configured to drive the wheel carrier (1) to rotate around the axis of the wheel carrier.
10. The unmanned vehicle of claim 1, further comprising:
a controller;
the contour recognition sensor is in communication connection with the controller so as to recognize road conditions;
a height sensor in communicative connection with the controller, the depth sensor configured to detect a height of a ravine and an obstacle when the identified road condition is any of the ravine and the obstacle; and
an angle sensor in communication with both the controller and the flipping motor, the angle sensor configured to detect a flipping angle of the flipping motor and transmit to the controller.
11. A method of controlling an unmanned vehicle, comprising the steps of:
determining that the unmanned vehicle adopts one of a wheel type travelling mechanism and a crawler travelling mechanism as a travelling mechanism according to the road type;
when at least one of a hard road surface, a gully and an obstacle is identified, starting a turnover motor of the unmanned vehicle to drive a wheel type running gear or a crawler type running gear of the unmanned vehicle to turn over;
the wheel type travelling mechanism or the crawler travelling mechanism is driven to synchronously turn over by turning over the wheel carrier of the unmanned vehicle, so that the unmanned vehicle can cross the gully.
12. The unmanned vehicle control method of claim 11, wherein the step of simultaneously flipping the wheeled or tracked undercarriage by flipping the wheel carriage of the unmanned vehicle such that the unmanned vehicle bridges the ravines comprises:
collecting shape parameters of the gullies by adopting a contour recognition sensor;
calculating a theoretical turning angle of a wheel carrier of the unmanned vehicle according to shape parameters of the ravines;
and starting a turning motor of the unmanned vehicle, and turning the wheel carrier according to the theoretical turning angle.
13. The unmanned vehicle control method of claim 11, further comprising the steps of:
when any one of the conditions of a hard road surface, a gully and an obstacle is not identified, identifying whether the road surface is a bumpy road surface;
and if the road surface is a bumpy road surface, unlocking a wheel carrier of the unmanned vehicle and turning a motor so that the wheel carrier swings around the axis of the wheel carrier along with the fluctuation of the bumpy road surface.
14. The unmanned vehicle control method of claim 11, further comprising the steps of:
when the fact that the unmanned vehicle needs to accelerate is judged, torque towards the driving direction of the unmanned vehicle is added to a wheel carrier of the unmanned vehicle through a turnover motor of the unmanned vehicle; or when the fact that the unmanned vehicle needs to decelerate is judged, torque deviating from the driving direction of the unmanned vehicle is added to a wheel carrier of the unmanned vehicle through a turnover motor of the unmanned vehicle.
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| CN202111657472.0A CN114313036A (en) | 2021-12-30 | 2021-12-30 | Unmanned vehicle and control method |
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