CN116118885A - Running system of crawler robot, running system control method and storage medium - Google Patents
Running system of crawler robot, running system control method and storage medium Download PDFInfo
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- CN116118885A CN116118885A CN202211590877.1A CN202211590877A CN116118885A CN 116118885 A CN116118885 A CN 116118885A CN 202211590877 A CN202211590877 A CN 202211590877A CN 116118885 A CN116118885 A CN 116118885A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000013016 damping Methods 0.000 claims abstract description 73
- 230000035939 shock Effects 0.000 claims abstract description 53
- 239000006096 absorbing agent Substances 0.000 claims abstract description 52
- 239000000725 suspension Substances 0.000 claims abstract description 24
- 238000004590 computer program Methods 0.000 claims description 4
- 239000003921 oil Substances 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 238000010521 absorption reaction Methods 0.000 description 3
- 239000000411 inducer Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000010426 asphalt Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
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- 239000002689 soil Substances 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/116—Attitude or position control of chassis by action on suspension, e.g. to compensate for a slope
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/112—Suspension devices for wheels, rollers, bogies or frames with fluid springs, e.g. hydraulic pneumatic
- B62D55/1125—Hydro-pneumatic or pneumatic, e.g. air-cushioned
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/14—Arrangement, location, or adaptation of rollers
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Abstract
The application provides a traveling system of a tracked robot, a traveling system control method and a storage medium. The system comprises: the road condition acquisition system comprises a load wheel, an oil-gas suspension matched with the load wheel, a road condition acquisition module and a controller, wherein the oil-gas suspension comprises a shock absorber with an oil cylinder, an energy accumulator and an electric control valve group, the electric control valve group is arranged in a pipeline between the oil cylinder and the energy accumulator, and the pipeline is used for communicating the oil cylinder and the energy accumulator; the road condition acquisition module is used for acquiring the road conditions around the tracked robot to obtain road condition data and outputting the acquired road condition data to the controller; the controller is used for determining an expected damping coefficient of the shock absorber according to road condition data, determining an opening corresponding to the expected damping coefficient as a target opening based on a corresponding relation between the damping coefficient and the valve opening, and controlling the valve of the electric control valve group to be opened to the target opening. The self-adaptive adjustment of the damping coefficient of the shock absorber based on the road surface working condition is facilitated, the problem that the suspension is easy to deform is solved, and the running stability of the tracked robot is improved.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a traveling system of a crawler robot, a traveling system control method and a storage medium.
Background
The running system of the crawler robot mainly comprises a four-wheel belt and a suspension system, namely a driving wheel, an inducer, a towing wheel, a loading wheel and suspension. The side projection view of the crawler walking system (or the crawler) is generally in an inverted trapezoid shape, and the inverted trapezoid shape is easy to be damaged when the trapezoid shape faces a complex road surface, has large height difference and more distorted road surface and rapidly passes through the working conditions of wall breaking and wall residue and the like, so that the crawler is loosened, power transmission is delayed and even teeth jump. When the track robot runs on the undulating road, the influence of the undulating road on the track can be relieved through the shock absorber, but the damping coefficient of the shock absorber is usually a fixed value, the damping coefficient of the shock absorber cannot be flexibly adjusted according to road conditions, and the suspension is easy to deform under pressure.
Disclosure of Invention
In view of the foregoing, an object of an embodiment of the present application is to provide a running system of a crawler robot, a running system control method, and a storage medium, which can adaptively adjust a damping coefficient of a shock absorber based on a road surface condition, and improve a problem that a suspension is easy to deform.
In order to achieve the technical purpose, the technical scheme adopted by the application is as follows:
in a first aspect, an embodiment of the present application provides a walking system of a tracked robot, including:
the road condition collection device comprises a load wheel, an oil-gas suspension matched with the load wheel, a road condition collection module and a controller, wherein the oil-gas suspension comprises a shock absorber with an oil cylinder, an energy accumulator and an electric control valve group, the electric control valve group is arranged in a pipeline between the oil cylinder and the energy accumulator, and the pipeline is used for communicating the oil cylinder and the energy accumulator;
the road condition acquisition module is used for acquiring road conditions around the tracked robot to obtain road condition data and outputting the acquired road condition data to the controller;
the controller is used for determining an expected damping coefficient of the shock absorber according to the road condition data, determining an opening corresponding to the expected damping coefficient as a target opening based on a corresponding relation between the damping coefficient and the valve opening, and controlling the valve of the electric control valve group to be opened to the target opening.
With reference to the first aspect, in some optional embodiments, the running system further includes a speedometer, configured to collect a running speed of the tracked robot, and the road condition data includes a heave value of a road segment within a preset distance range of the tracked robot;
and the controller is also used for controlling the valve of the electric control valve group to be opened to the maximum opening degree when the running speed is smaller than or equal to a first preset speed and the fluctuation value is smaller than or equal to a first preset height so as to minimize the damping coefficient of the shock absorber.
With reference to the first aspect, in some optional embodiments, the controller is further configured to control the valve of the electronic control valve group to open to a minimum opening degree when the running speed is greater than or equal to a second preset speed and the heave value is greater than or equal to a second preset height, so as to maximize a damping coefficient of the shock absorber, where the second preset speed is greater than the first preset speed and the second preset height is greater than the first preset height.
With reference to the first aspect, in some optional embodiments, the road condition data includes a fluctuation value of a road segment within a preset distance range of the tracked robot;
the controller is further used for determining the valve opening corresponding to the current fluctuation value acquired by the road condition acquisition module as the target opening based on a relation table of the pre-stored fluctuation value and the valve opening, and controlling the valve of the electric control valve group to be opened to the target opening.
In a second aspect, an embodiment of the present application further provides a running system control method, which is applied to the running system of the tracked robot, where the method includes:
collecting the surrounding road conditions of the tracked robot through a road condition collecting module to obtain road condition data;
determining an expected damping coefficient of the shock absorber according to the road condition data;
and determining the opening corresponding to the expected damping coefficient as a target opening based on the corresponding relation between the damping coefficient and the valve opening, and controlling the valve of the electric control valve group to be opened to the target opening.
With reference to the second aspect, in some optional embodiments, the road condition data includes a heave value of a road segment within a preset distance range of the tracked robot, and determining the desired damping coefficient of the shock absorber according to the road condition data includes:
when the running speed of the tracked robot is smaller than or equal to a first preset speed and the fluctuation value is smaller than or equal to a first preset height, determining that the minimum damping coefficient of the shock absorber is the expected damping coefficient, wherein the running speed is a speed value acquired in advance through a speedometer.
With reference to the second aspect, in some optional embodiments, the road condition data includes a heave value of a road segment within a preset distance range of the tracked robot, and determining the desired damping coefficient of the shock absorber according to the road condition data includes:
when the running speed of the tracked robot is greater than or equal to a second preset speed and the fluctuation value is greater than or equal to a second preset height, determining that the maximum damping coefficient of the shock absorber is the expected damping coefficient, wherein the running speed is a speed value acquired in advance through a speedometer, the second preset speed is greater than the first preset speed, and the second preset height is greater than the first preset height.
With reference to the second aspect, in some optional embodiments, the road condition data includes a heave value of a road segment within a preset distance range of the tracked robot, and determining the desired damping coefficient of the shock absorber according to the road condition data includes:
and determining the valve opening corresponding to the current fluctuation value acquired by the road condition acquisition module as the target opening based on a pre-stored relation table of the fluctuation value and the valve opening.
With reference to the second aspect, in some optional embodiments, the road condition data includes a heave value of a road segment within a preset distance range of the tracked robot, and the method further includes:
when the fluctuation value is larger than or equal to a second preset height, determining a plurality of paths from a plurality of directions to the preset end position based on the preset end position of the tracked robot and the road condition data;
and selecting a path with the smallest fluctuation value from the paths as a running path of the tracked robot.
In a third aspect, embodiments of the present application also provide a computer readable storage medium having a computer program stored therein, which when run on a computer causes the computer to perform the method according to any of claims 6-9.
The invention adopting the technical scheme has the following advantages:
in the technical scheme provided by the application, in a running system of the crawler robot, road condition data are acquired through a road condition acquisition module, the road condition data are output to a controller, then the controller determines an expected damping coefficient of a shock absorber according to the road condition data, determines the opening corresponding to the expected damping coefficient as a target opening based on the corresponding relation between the damping coefficient and the valve opening, and controls the valve of an electric control valve group to be opened to the target opening. Therefore, the self-adaptive adjustment of the damping coefficient of the shock absorber based on the road surface working condition is facilitated, the problem that the suspension is easy to deform is solved, and the running stability of the tracked robot is improved.
Drawings
The present application may be further illustrated by the non-limiting examples given in the accompanying drawings. It is to be understood that the following drawings illustrate only certain embodiments of the present application and are therefore not to be considered limiting of its scope, for the person of ordinary skill in the art may derive other relevant drawings from the drawings without inventive effort.
Fig. 1 is a schematic structural diagram of a running system of a tracked robot according to an embodiment of the present application.
Fig. 2 is a flow chart of a running system control method according to an embodiment of the present application.
Icon: 10-a walking system; 11-a controller; 12-a first bogie wheel; 13-a second bogie wheel; 16-a driving wheel; 17-inducer; 18-a towing wheel; 21-a shock absorber; 22-accumulator; 23-electric control valve group.
Detailed Description
The present application will be described in detail below with reference to the drawings and the specific embodiments, and it should be noted that in the drawings or the description of the specification, similar or identical parts use the same reference numerals, and implementations not shown or described in the drawings are in a form known to those of ordinary skill in the art. In the description of the present application, the terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
First embodiment
Referring to fig. 1, an embodiment of the present application provides a walking system of a tracked robot, which is simply referred to as a walking system 10. The running system 10 may include road wheels, hydro-pneumatic suspensions matched with the road wheels, a road condition acquisition module, and a controller 11. The tracked robot may be a conventional lightweight rubber tracked robot. The light rubber track robot has excellent ground mechanical property, and is widely applied to the fields of industry, agriculture, service industry and the like in the characteristics of strong bearing capacity, excellent passing performance, good complex terrain adaptability and the like.
The running system 10 may further include a driving wheel 16, an inducer 17 and a towing wheel 18, where the functions of the wheels in the running system 10 are well known to those skilled in the art, and the wheels cooperate with each other to drive the crawler to move, so that the running of the crawler robot can be achieved. The number of the loading wheels can be multiple, and the loading wheels can be flexibly arranged according to actual conditions. Among the plurality of road wheels, the road wheels on two sides are subjected to larger impact pressure under complex road conditions, so that the road wheels on two sides are respectively provided with corresponding hydro-pneumatic suspensions.
For example, in fig. 1, running system 10 may include 5 road wheels. For convenience of distinction, among the 5 road wheels, the road wheels on both sides are a first road wheel 12 and a second road wheel 13, the first road wheel 12 is movably connected with a hydro-pneumatic suspension (called a first hydro-pneumatic suspension), and the first road wheel 12 is movably connected with another hydro-pneumatic suspension (called a second hydro-pneumatic suspension).
In this embodiment, the hydro-pneumatic suspension (referred to as a first hydro-pneumatic suspension and a second hydro-pneumatic suspension) includes a shock absorber 21 having an oil cylinder, an accumulator 22, and an electric control valve group 23, and the electric control valve group 23 is disposed in a pipeline between the oil cylinder and the accumulator 22, and the pipeline is used for communicating the oil cylinder and the accumulator 22.
It is understood that the oil cylinders of the accumulator 22 and the shock absorber 21 may be communicated through a pipe, and the electric control valve group 23 is provided on the pipe where the accumulator 22 and the shock absorber 21 are communicated. The accumulator 22 and the cylinder of the damper 21 are filled with damping oil (e.g., lubricating oil). The chamber of the accumulator 22 need not be filled with damping oil and may be reserved with a cavity for cushioning. The energy accumulator 22 has the functions of energy storage, hydraulic impact absorption, pulse absorption, shock absorption, balance, pressure maintaining and the like, and the energy accumulator 22 can be matched with the electric control valve group 23 to realize damping adjustment of the shock absorber 21.
The valve opening of the electric control valve group 23 can be flexibly adjusted under the control of the controller 11. The inventors have found that there is a mapping relationship between the opening of the valve and the damping coefficient of the shock absorber 21, i.e., the damping coefficient of the shock absorber 21 varies with the valve opening of the electronic control valve group 23. Based on this, the controller 11 can adjust the damping coefficient of the shock absorber 21 according to the opening degree of the valve of the electronic control valve group 23.
In this embodiment, the road condition collection module may be configured to collect road conditions around the tracked robot to obtain road condition data, and output the collected road condition data to the controller 11. The road condition acquisition module can be, but not limited to, a 3D laser radar or a vision system, and can be used for acquiring the road condition around the tracked robot to obtain road condition data. The road condition data may include, but is not limited to, a fluctuation value of a road section within a preset distance range of the tracked robot, a road surface type, and the like. The way in which the 3D lidar and the vision system collect the road condition data is a conventional way, and will not be described here again.
The preset distance range can be flexibly determined according to actual conditions. For example, the preset distance range may be within 50 cm. The heave value can be understood as: the vertical distance of elevation/depression for a horizontal road surface is over the road surface within 50cm of the tracked robot perimeter.
Road surface types may include, but are not limited to, cement road, soil road, stone road, asphalt road, and the like. The detection mode of the road surface type is a conventional mode and is not described herein.
In this embodiment, the controller 11 may determine the desired damping coefficient of the shock absorber 21 according to the road condition data, determine the opening corresponding to the desired damping coefficient as the target opening based on the correspondence between the damping coefficient and the valve opening, and control the valve of the electric control valve group 23 to be opened to the target opening.
Understandably, the controller 11 may adaptively calculate the opening corresponding to the desired damping coefficient as the target opening based on the road condition data, and the valve of the electronic control valve group 23 is opened to the target opening. For example, when the road surface relief value is small, for example, when the relief value is within 2cm, the target opening degree is the maximum opening degree of the electronic control valve group 23. At this time, the controller 11 may control the valve of the electric control valve group 23 to be opened to a maximum opening degree to minimize the damping coefficient of the shock absorber 21.
For another example, when the road surface relief value is large, for example, when the relief value exceeds 10cm, the target opening is the minimum opening of the electric control valve group 23 (or the valve of the electric control valve group 23 is closed). At this time, the controller 11 may control the valve of the electric control valve group 23 to be opened to a minimum opening degree or close the valve to maximize the damping coefficient of the shock absorber 21.
If the fluctuation value exceeds 2cm and is less than or equal to 10cm, the controller 11 may look up a table based on a pre-stored relation table of fluctuation values and valve opening degrees to obtain the opening degrees corresponding to the current fluctuation values as the target opening degrees. That is, the opening corresponding to the fluctuation value that is the same as or closest to the current fluctuation value in the relational table is set as the target opening.
In this embodiment, in order to achieve flexible control of the running system 10, the controller 11 may also adaptively control the damping coefficient of the shock absorber 21 in conjunction with the running rate of the tracked robot. That is, the running system 10 further includes a speedometer for collecting the running speed of the tracked robot. The road condition data includes undulation values of road sections within a preset distance range of the tracked robot. The undulation value may refer to a road section of the tracked robot within a preset distance range in the traveling direction. For example, when the tracked robot is traveling forward, the undulation value may be an undulation value of a road surface within a road section of 50cm ahead of traveling.
When the driving speed is equal to or less than the first preset speed and the heave value is equal to or less than the first preset height, the controller 11 may control the valve of the electric control valve group 23 to be opened to the maximum opening degree so as to minimize the damping coefficient of the shock absorber 21.
The first preset speed and the first preset height can be flexibly set according to actual conditions. For example, the first preset rate may be 5km/h and the first preset height may be 3cm. That is, when the speedometer detects that the traveling speed of the tracked robot is 5km/h or less and the road condition acquisition module detects that the heave value is 3cm or less, the controller 11 controls the valve of the electric control valve group 23 to be opened to the maximum opening degree so as to minimize the damping coefficient of the shock absorber 21.
When the running speed is greater than or equal to a second preset speed and the heave value is greater than or equal to a second preset height, the controller 11 may control the valve of the electric control valve group 23 to be opened to a minimum opening degree so as to maximize the damping coefficient of the shock absorber 21, wherein the second preset speed is greater than the first preset speed and the second preset height is greater than the first preset height.
The second preset speed and the second preset height can be flexibly set according to actual conditions. For example, the second preset rate may be 20km/h and the second preset height may be 20cm. That is, when the speedometer detects that the traveling speed of the tracked robot is 20km/h or more and the road condition acquisition module detects that the heave value is 20cm or more, the controller 11 controls the valve of the electric control valve group 23 to be opened to a minimum opening degree so as to maximize the damping coefficient of the shock absorber 21.
If the current fluctuation value is between the first preset height and the second preset height, the controller 11 may determine, based on a pre-stored relation table of fluctuation values and valve openings, the valve opening corresponding to the current fluctuation value acquired by the road condition acquisition module as a target opening, and control the valve of the electric control valve group 23 to be opened to the target opening. The relation table is a pre-calibrated mapping table, and records damping coefficients and fluctuation values of the shock absorber 21 under different valve opening degrees, so that the controller 11 can determine the valve opening degrees based on the current fluctuation values.
Of course, in other embodiments, the controller 11 may also perform targeted control on the electric control valve set 23 based on special road conditions. For example, the road condition collection module can also be used for collecting the height of a vertical wall or a lifting sill. When the speedometer detects that the running speed of the tracked robot is greater than or equal to 20km/h and the road condition acquisition module detects that the height of the vertical wall or the lifting ridge is greater than or equal to 10cm, a large impact is usually caused on the first bogie in the advancing direction, at this time, the controller 11 controls the valve of the electric control valve group 23 to be opened to the minimum opening degree so as to maximize the damping coefficient of the damper 21, thereby maximizing the rigidity of the damper.
Based on the design, the running system 10 can adaptively adjust the damping coefficient of the damper based on road condition data, actively compensate the rigidity of the suspension, keep the stable posture of the running system 10, and be beneficial to reducing the problem that the suspension is easy to deform due to the fact that the damping coefficient of the shock absorber 21 cannot be adjusted, so that the normal running of the running system 10 is affected.
The running system 10 may further comprise a positioning chip electrically connected to the controller 11. The walking system 10 can be combined with a positioning system to realize path navigation and self-adaptive planning of paths.
For example, when the undulation value is equal to or greater than the second preset height, the controller 11 may determine a plurality of paths from a plurality of directions to the preset end position based on the preset end position of the tracked robot and the road condition data; then, the controller 11 selects a path having the smallest fluctuation value from among the plurality of paths as a travel path of the tracked robot. Therefore, when the fluctuation of the road surface is large, the tracked robot can re-plan the running path based on the acquired fluctuation values in multiple directions around, and the path with the smallest fluctuation value is selected as the running path of the tracked robot, so that the bump of the tracked robot in the running process can be reduced.
The system simulation of the running system 10 may be performed before the physical design of the running system 10 is performed, and after the system simulation is completed, the running system 10 of the physical object may be manufactured by the running system 10 based on the simulation optimization.
In this embodiment, the controller 11 may be a microcontroller, a central processing unit (Central Processing Unit, CPU), a digital signal processor (Digital Signal Processing, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a Field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, and may implement or perform the methods, steps, and logic blocks disclosed in the embodiments of the present application.
It will be appreciated that the configuration of running system 10 shown in fig. 1 is merely a schematic configuration and running system 10 may include many more components than those shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
Second embodiment
Referring to fig. 2, the present application further provides a running system control method, which can be applied to the running system 10, and the running system 10 executes or implements the steps of the method. The running system control method may include the following steps:
and 130, determining the opening corresponding to the expected damping coefficient as a target opening based on the corresponding relation between the damping coefficient and the valve opening, and controlling the valve of the electric control valve bank to be opened to the target opening.
Optionally, the road condition data includes a fluctuation value of a road section within a preset distance range of the tracked robot, and step 120 may include:
when the running speed of the tracked robot is smaller than or equal to a first preset speed and the fluctuation value is smaller than or equal to a first preset height, determining that the minimum damping coefficient of the shock absorber is the expected damping coefficient, wherein the running speed is a speed value acquired in advance through a speedometer.
Optionally, the road condition data includes a fluctuation value of a road section within a preset distance range of the tracked robot, and step 120 may include:
when the running speed of the tracked robot is greater than or equal to a second preset speed and the fluctuation value is greater than or equal to a second preset height, determining that the maximum damping coefficient of the shock absorber is the expected damping coefficient, wherein the running speed is a speed value acquired in advance through a speedometer, the second preset speed is greater than the first preset speed, and the second preset height is greater than the first preset height.
Optionally, the road condition data includes a fluctuation value of a road section within a preset distance range of the tracked robot, and step 120 may include:
and determining the valve opening corresponding to the current fluctuation value acquired by the road condition acquisition module as the target opening based on a pre-stored relation table of the fluctuation value and the valve opening.
Optionally, the road condition data includes a fluctuation value of a road section within a preset distance range of the tracked robot, and the method further includes:
when the fluctuation value is larger than or equal to a second preset height, determining a plurality of paths from a plurality of directions to the preset end position based on the preset end position of the tracked robot and the road condition data;
and selecting a path with the smallest fluctuation value from the paths as a running path of the tracked robot.
It should be noted that, for convenience and brevity of description, specific working processes of the above-described method may refer to executing processes of the aforementioned hardware modules, such as the controller and the road condition acquisition module, in the running system, and will not be described in detail herein.
Embodiments of the present application also provide a computer-readable storage medium. The computer-readable storage medium has stored therein a computer program which, when run on a computer, causes the computer to execute the running system control method as described in the above embodiments.
From the foregoing description of the embodiments, it will be apparent to those skilled in the art that the present application may be implemented in hardware, or by means of software plus a necessary general hardware platform, and based on this understanding, the technical solution of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disc, a mobile hard disk, etc.), and includes several instructions to cause a computer device (may be a personal computer, a server, or a network device, etc.) to perform the methods described in the respective implementation scenarios of the present application.
In summary, the embodiments of the present application provide a running system of a tracked robot, a running system control method, and a storage medium. In a running system of the crawler robot, road condition data are acquired through a road condition acquisition module, the road condition data are output to a controller, then the controller determines an expected damping coefficient of a shock absorber according to the road condition data, determines the opening corresponding to the expected damping coefficient as a target opening based on the corresponding relation between the damping coefficient and the valve opening, and controls the valve of an electric control valve group to be opened to the target opening. Therefore, the self-adaptive adjustment of the damping coefficient of the shock absorber based on the road surface working condition is facilitated, and the problem that the suspension is easy to deform is solved.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus, system, and method may be implemented in other manners as well. The above-described apparatus, systems, and method embodiments are merely illustrative, for example, flow charts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. In addition, the functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The foregoing is merely exemplary embodiments of the present application and is not intended to limit the scope of the present application, and various modifications and variations may be suggested to one skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims (10)
1. A track robot travel system, comprising:
the road condition collection device comprises a load wheel, an oil-gas suspension matched with the load wheel, a road condition collection module and a controller, wherein the oil-gas suspension comprises a shock absorber with an oil cylinder, an energy accumulator and an electric control valve group, the electric control valve group is arranged in a pipeline between the oil cylinder and the energy accumulator, and the pipeline is used for communicating the oil cylinder and the energy accumulator;
the road condition acquisition module is used for acquiring road conditions around the tracked robot to obtain road condition data and outputting the acquired road condition data to the controller;
the controller is used for determining an expected damping coefficient of the shock absorber according to the road condition data, determining an opening corresponding to the expected damping coefficient as a target opening based on a corresponding relation between the damping coefficient and the valve opening, and controlling the valve of the electric control valve group to be opened to the target opening.
2. The system of claim 1, wherein the traveling system further comprises a speedometer for acquiring a traveling rate of the tracked robot, the road condition data comprising a heave value of a road segment within a preset distance range of the tracked robot;
and the controller is also used for controlling the valve of the electric control valve group to be opened to the maximum opening degree when the running speed is smaller than or equal to a first preset speed and the fluctuation value is smaller than or equal to a first preset height so as to minimize the damping coefficient of the shock absorber.
3. The system of claim 2, wherein the controller is further configured to control the valve of the electronic control valve bank to open to a minimum opening to maximize the damping coefficient of the shock absorber when the travel rate is greater than or equal to a second preset rate, and the heave value is greater than or equal to a second preset height, wherein the second preset rate is greater than the first preset rate, and the second preset height is greater than the first preset height.
4. The system of claim 1, wherein the road condition data comprises a heave value for a road segment within a preset distance range of the tracked robot;
the controller is further used for determining the valve opening corresponding to the current fluctuation value acquired by the road condition acquisition module as the target opening based on a relation table of the pre-stored fluctuation value and the valve opening, and controlling the valve of the electric control valve group to be opened to the target opening.
5. A running system control method, characterized by being applied to the running system of the tracked robot according to any one of claims 1 to 4, comprising:
collecting the surrounding road conditions of the tracked robot through a road condition collecting module to obtain road condition data;
determining an expected damping coefficient of the shock absorber according to the road condition data;
and determining the opening corresponding to the expected damping coefficient as a target opening based on the corresponding relation between the damping coefficient and the valve opening, and controlling the valve of the electric control valve group to be opened to the target opening.
6. The method of claim 5, wherein the road condition data includes a heave value of a road segment within a preset distance range of the tracked robot, and determining the desired damping coefficient of the shock absorber based on the road condition data comprises:
when the running speed of the tracked robot is smaller than or equal to a first preset speed and the fluctuation value is smaller than or equal to a first preset height, determining that the minimum damping coefficient of the shock absorber is the expected damping coefficient, wherein the running speed is a speed value acquired in advance through a speedometer.
7. The method of claim 6, wherein the road condition data includes a heave value of a road segment within a preset distance range of the tracked robot, and determining the desired damping coefficient of the shock absorber based on the road condition data comprises:
when the running speed of the tracked robot is greater than or equal to a second preset speed and the fluctuation value is greater than or equal to a second preset height, determining that the maximum damping coefficient of the shock absorber is the expected damping coefficient, wherein the running speed is a speed value acquired in advance through a speedometer, the second preset speed is greater than the first preset speed, and the second preset height is greater than the first preset height.
8. The method of claim 5, wherein the road condition data includes a heave value of a road segment within a preset distance range of the tracked robot, and determining the desired damping coefficient of the shock absorber based on the road condition data comprises:
and determining the valve opening corresponding to the current fluctuation value acquired by the road condition acquisition module as the target opening based on a pre-stored relation table of the fluctuation value and the valve opening.
9. The method of any of claims 5-8, wherein the road condition data includes undulation values for road segments within a preset distance range of the tracked robot, the method further comprising:
when the fluctuation value is larger than or equal to a second preset height, determining a plurality of paths from a plurality of directions to the preset end position based on the preset end position of the tracked robot and the road condition data;
and selecting a path with the smallest fluctuation value from the paths as a running path of the tracked robot.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program which, when run on a computer, causes the computer to perform the method according to any of claims 6-9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211590877.1A CN116118885A (en) | 2022-12-12 | 2022-12-12 | Running system of crawler robot, running system control method and storage medium |
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| CN202211590877.1A CN116118885A (en) | 2022-12-12 | 2022-12-12 | Running system of crawler robot, running system control method and storage medium |
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