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Track information based wheel slip rate and slip angle measurement method

A measurement method and technology of sideslip angle, applied in special data processing applications, instruments, electrical digital data processing, etc. Strong practicability and wide application

Active Publication Date: 2015-12-16
HARBIN INST OF TECH
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Problems solved by technology

[0014] The present invention is to solve the existing method for measuring the wheel slip rate and side slip angle of planetary exploration vehicles, the problem that the passive wheel method has external force interference and the problem of inaccurate measurement and the visual odometer method cannot directly observe the problem of a single wheel slip, and A method for measuring wheel slip and slip angle based on rutting information is proposed

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  • Track information based wheel slip rate and slip angle measurement method
  • Track information based wheel slip rate and slip angle measurement method
  • Track information based wheel slip rate and slip angle measurement method

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specific Embodiment approach 1

[0045] Embodiment 1. A method for measuring wheel slip and slip angle based on rutting information described in this embodiment is carried out in the following steps:

[0046] 1. Determine the relationship between the rut and the wheel slip rate and side slip angle:

[0047] The width of the rut unit is equal to the distance between two adjacent shear regions, which is Δx p (See figure 2). When the wheel rolls for one week, each thorn will have a shearing action with the soil. A rut unit is produced when the spur leaves the soil. That is, the number of wheel thorns is n, and the wheel rolls on the soil for one week, and n ruts will be generated, so the distance traveled by the wheel decreases with the increase of the slip rate, and the distance between rut units Δx p also decreased accordingly. Then the slip rate of the wheel can be determined according to the distance between the rut cells.

[0048] When the planetary vehicle slips sideways, the center line velocity v o...

specific Embodiment approach 2

[0072] Specific Embodiment 2. This embodiment is a further description of the method for measuring wheel slip and side slip angle based on rut information described in Specific Embodiment 1. The wheels described in step 1 use straight teeth through Type wheel thorn.

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Abstract

The invention relates to wheel slip rate and slip angle measurement methods, in particular to a track information based wheel slip rate and slip angle measurement method, and solves the problems of inaccurate measurement due to external force interference in a driven wheel method and incapability of directly observing single wheel slip in a visual odometer method in existing methods for measuring wheel slip rate and a slip angle of a planetary exploration vehicle. The method is carried out by the following steps: 1, determining relationships between a track and the wheel slip rate and between the track and the slip angle; 2, establishing a wheel slip angle measurement model; and 3, establishing a wheel slip rate measurement model. The method solves the problems of inaccurate measurement due to external force interference in the driven wheel method and incapability of directly observing single wheel slip in the visual odometer method, has the advantages of high speed, high precision, high practicality, wide application range and the like, and is suitable for the field of planetary exploration.

Description

technical field [0001] The invention relates to a method for measuring wheel slip rate and side slip angle, in particular to a method for measuring wheel slip rate and side slip angle based on rut information. Background technique [0002] Since the 1990s, the United States has successively launched Sojouner ("Sojourney"), Spirit ("Spirit") and Opportunity ("Opportunity"), and the world's aerospace powers have set off an upsurge in the use of planetary exploration vehicles for planetary exploration . The exploration activities of the Curiosity ("curiosity rover") Mars rover in the MSL (Mars Science Lab) mission of the United States have become the focus of everyone. China's "Chang'e" lunar exploration project is expected to launch a lunar rover in 2013 to explore the moon. The complex and unknown alien planet environment poses new challenges for the development of mobile robot technology. [0003] When the planetary exploration vehicle works in the soft and rugged environ...

Claims

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Application Information

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IPC IPC(8): G06F19/00G06F17/50
Inventor 丁亮李楠杨怀广高海波邓宗全刘振吕凤天
Owner HARBIN INST OF TECH
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