Unlock instant, AI-driven research and patent intelligence for your innovation.

A control method and control system for a guide wheel of a planetary exploration vehicle

A technology of planetary rover and control system, which is applied in the direction of control drive, extraterrestrial vehicle, motor vehicle, etc.

Active Publication Date: 2022-01-04
HARBIN INST OF TECH
View PDF7 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The problem solved by the invention is to improve the trajectory tracking ability of the planetary exploration vehicle body under complex terrain conditions

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
  • A control method and control system for a guide wheel of a planetary exploration vehicle
  • A control method and control system for a guide wheel of a planetary exploration vehicle
  • A control method and control system for a guide wheel of a planetary exploration vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0046] In order to make the above objects, features and advantages of the present invention more comprehensible, specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0047] If there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. Significance or implicitly indicates the number of technical features indicated.

[0048] In order to increase the number of wheels and reduce the average load of the wheels, reduce the internal force confrontation between the wheels and ensure the high efficiency of the planetary exploration vehicle, the following methods are used to control the wheels of the planetary exploration vehicle:

[0049] Adjust the speed of the support wheel to make the real-time hook traction F of the support wheel x Approaching target hitch traction F xd , so as to reduce the driving force and resistance...

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 provides a control method and a control system for a guide wheel of a planetary exploration vehicle, and relates to the technical field of robot control. The state judges whether the planet exploration vehicle is in a rough terrain, and controls the power output of the guide wheels in the direction of motion and side according to the judgment result, so that the guide wheels can run on the planet exploration vehicle in the rough terrain. The vehicle has a driving force, and the trajectory tracking ability of the vehicle body of the planetary exploration vehicle is improved. When the guide wheels are in rough terrain, reducing the lateral power output of the guide wheels can prevent the vehicle body from deviating from the track, increase the driving ability of the guide wheels on complex terrain, and improve the track tracking performance of the vehicle body. precision.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a control method and a control system for a guide wheel of a planetary exploration vehicle. Background technique [0002] When wheeled mobile robots are used to detect celestial bodies such as the moon and Mars, due to the soft and rugged terrain on the surface of the celestial bodies, it is easy to cause the wheels to sink and slip. Increasing the number of wheels can reduce the average wheel load, reduce wheel sinking and slippage, but it will lead to redundant control and energy consumption of multi-wheeled mobile robots. Coordinated control among the driving wheels is an important issue to fully utilize the traction capacity of the planetary exploration vehicle and save energy. At present, the method to realize the coordinated control between the driving wheels is to establish the kinematics model of the planetary exploration vehicle, and realize the coordinated contro...

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
Patent Type & Authority Patents(China)
IPC IPC(8): B64G1/16B62D63/02B62D63/04B60L15/20B60R1/00B60R16/02
CPCB64G1/16B62D63/02B62D63/04B60L15/20B60R1/00B60R16/02Y02T10/72
Inventor 杨怀广齐华囡廉文浩黄澜丁亮高海波邓宗全尤波
Owner HARBIN INST OF TECH