Kinematics based patrol unit gear train coordinating and controlling method

A technology of coordinated control and patrol, which is applied in the field of coordinated control of wheel trains of roaming vehicles, and can solve problems such as the uncertainty of patrol movement

Active Publication Date: 2014-04-30
BEIJING INST OF CONTROL ENG
View PDF0 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] But for the cruiser, due to the existence of the rocker arm structure, the wheels will not always be maintained on the same plane. If the rotation angle distribution of the steering wheel is carried out according to the zero position of the rocker arm structure, when the rocker arm rotation angle changes

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Kinematics based patrol unit gear train coordinating and controlling method
  • Kinematics based patrol unit gear train coordinating and controlling method
  • Kinematics based patrol unit gear train coordinating and controlling method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0057] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments:

[0058] The patrol device has a four-wheel steering and six-wheel drive rocker arm suspension chassis structure, which can passively adapt to natural undulating terrain, so it belongs to a wheeled mobile robot with non-holonomic constraints. The patrol wheel train of the present invention includes six wheels: two front wheels, two rear wheels and two middle wheels. The two front wheels and the two rear wheels have steering capability, and the six wheels are on the same plane or Not on the same plane.

[0059] If the patrol cannot guarantee that the steering wheels are coplanar, if the wheels are not in the same plane, the steering wheel angle must be adjusted accordingly in consideration of the three-dimensional spatial relationship, so that the projection of the ideal trajectory of each wheel on the horizontal plane is at A set of concentric circles o...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to a kinematics based patrol unit gear train coordinating and controlling method. A patrol unit gear train includes two front wheels, two back wheels and two middle wheels, wherein the front wheels and the back wheels are steering wheels, and the six wheels are on the same plane or not on the same plane. The patrol unit gear train coordinating and controlling method includes the steps of 1), respectively calculating steering angles of the front wheels and the back wheels of the patrol unit gear train, namely specifically calculating the speed and location of the patrol unit gear train to enable the speed and location of the patrol unit gear train to be perpendicular with each other so as to obtain the steering angles; calculating and coordinating the speed of the six wheels in the patrol unit gear train. By the application of the patrol unit gear train coordinating and controlling method, a patrol unit can also assuredly reserve coordination of gear train movement to the greatest extent under the condition of non-planar terrain, negative effects against coordination of the whole unit due to the fact that steering angles are too large in errors during the coordinating the steering angles of the steering wheels are effectively lowered; the coordinating and controlling method is applicable to various complicated terrain, good in walking performance and highly practical.

Description

Technical field [0001] The invention relates to a kinematics-based coordinated control method for the wheel train of a patrol, which can be applied to the coordinated control of the wheel train of a roaming vehicle with a rocker arm suspension type chassis structure and adopting steering wheels for steering control. Background technique [0002] The task of coordinated control of the wheel system of the patrol is that according to the desired linear velocity and the desired yaw rate of the patrol, the desired turning angle of each steering wheel and the desired speed of the driving wheel are decomposed, and the desired turning angle speed of the steering wheel is given according to the current turning angle of the steering wheel. Realize the coordinated control of the driving wheel speed and the steering speed of the steering wheel. [0003] In order to achieve coordinated movement of moving vehicles when turning while moving, ideally, the steering wheels should have the same angul...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B62D6/00
Inventor 滕宝毅邢琰贾永毛晓艳刘祥何英姿王大轶陈建新何健刘云徐忠宾王磊党纪红万丽景张晋
Owner BEIJING INST OF CONTROL ENG
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap