Dual-mode wire-controlled steering control system and method for self-following cleaning and suction machine

Abstract

The present invention discloses a dual-mode, wire-controlled steering control system and method for a self-following sanitation machine. The system includes a wire-controlled chassis and a dual-mode, wire-controlled steering control system. The dual-mode, wire-controlled steering control system is used to control the operating state of the wire-controlled chassis based on the steering angle and torque magnitude. The wire-controlled chassis is used to drive the self-following sanitation machine to operate normally. The dual-mode, wire-controlled steering control system includes a torque sensor, a steering angle sensor, and a dual-mode controller module. The torque sensor is used to detect torque information of the steering control mechanism, and the steering angle sensor is used to detect the steering angle of the steering and transmission mechanism. The dual-mode controller module is used to calculate the measurement data of the torque sensor in real time and send the command information to the on-board electronic control unit, or convert the command information of the upper-level intelligent control system into a torque voltage signal and transmit it to the on-board electronic control unit. The present invention accurately controls the travel, steering, and braking of sanitation equipment, effectively improving the driving stability of the equipment.

Description

Technical Field

[0001] The present invention relates to the field of intelligent environmental sanitation technology, and in particular to a dual-mode wire-controlled steering control system and method for a self-following vacuum cleaner. Background Art

[0002] The demand for unmanned sanitation equipment continues to rise as the demand for cleaning operations surges. Wire-controlled steering, a key technology in unmanned intelligent vehicles, has not yet been applied to unmanned sanitation equipment. Currently, small vacuum cleaners require manual operation. When cleaning requires manpower, one person is required to drive and one to clean, or one person cleans a specific spot before getting on the vehicle and moving to the next location. This still fails to effectively address the issues of low cleaning efficiency, high labor intensity, and high costs. Furthermore, the driving stability, safety, and general applicability of existing small self-following vacuum cleaners cannot meet the needs of increasingly complex cleaning environments. Summary of the Invention

[0003] The object of the present invention is to provide a dual-mode steer-by-wire control system and method for a self-following vacuum cleaner.

[0004] The technical solution adopted in the present invention is:

[0005] A dual-mode, wire-controlled steering control system for a self-following vacuum cleaner includes a wire-controlled chassis and a dual-mode, wire-controlled steering control system. The dual-mode, wire-controlled steering control system controls the operating state of the wire-controlled chassis based on steering angle and torque. The wire-controlled chassis drives the self-following vacuum cleaner in normal operation.

[0006] The dual-mode wire-controlled steering control system includes a torque sensor, a steering angle sensor and a dual-mode controller module. The torque sensor is used to detect the torque information of the steering control mechanism, and the steering angle sensor is used to detect the steering angle of the steering and transmission mechanism; the dual-mode controller module is used to calculate the measurement data of the torque sensor in real time and send the command information to the on-board electronic control unit, or convert the command information of the upper-level intelligent control system into a torque voltage signal and transmit it to the on-board electronic control unit.

[0007] Furthermore, as a preferred embodiment, a torque sensor is provided on the steering control mechanism of the vacuum cleaner to detect torque information, a steering angle sensor is provided on the steering and transmission mechanism of the vacuum cleaner to detect the steering angle of the vacuum cleaner, the output end of the steering angle sensor is connected to the steering angle controller of the dual-mode controller module, the output end of the torque sensor is connected to the torque signal generating circuit, the torque signal generating circuit is respectively connected to the on-board electronic control unit of the vacuum cleaner and the torque controller of the dual-mode controller module, the on-board electronic control unit is connected to the electric motor and the steering and transmission mechanism of the vacuum cleaner in turn, and the torque controller is connected to the steering angle controller to receive torque control instructions.

[0008] Furthermore, as a preferred embodiment, the normal operating conditions of the vacuum cleaner include forward, reverse, turning and braking.

[0009] Furthermore, as a preferred embodiment, the torque controller is used to send the torque information measured by the torque sensor to the vehicle-mounted electronic control unit, or convert the torque command received from the steering angle controller into a torque voltage signal and send it to the vehicle-mounted electronic control unit.

[0010] Furthermore, as a preferred embodiment, the steering angle controller receives the angle control instruction, the vehicle speed and the real-time steering angle information, calculates the torque control instruction and outputs it to the torque controller.

[0011] Furthermore, as a preferred embodiment, the torque sensor is a phase splitter type that outputs four sinusoidal wave analog signals, which are marked as ICS, ISN, OCS, and OSN respectively.

[0012] Furthermore, as a preferred embodiment, the torque signal generation circuit includes an inverse amplifier circuit, a programmable amplifier circuit, an addition circuit, and an isolation circuit. An ICS signal from the torque sensor is converted to -ICS / 15 after being multiplied by -1 / 15 by the inverse amplifier circuit. The -ICS / 15 signal is then converted to -ICS(Rf+1) / 15 and ICS*11 / 15 by the forward programmable amplifier circuit and the inverse amplifier circuit, respectively. The ICS, -ICS(Rf+1) / 15, and ICS*11 / 15 signals are then converted to ICS_Sum by the addition circuit. Finally, the ICS_OUT signal is output via a 1:1 isolation circuit.

[0013] The ISN signal of the torque sensor is converted into -ISN / 15 after being multiplied by -1 / 15 by the reverse amplifier circuit. The -ISN / 15 signal is converted into ISN*Rf / 15 and -ISN*10 / 15 respectively through the reverse programmable amplifier circuit and the forward amplifier circuit. The ISN, ISN*Rf / 15 and -ISN*10 / 15 signals are converted into IS_Sum through the adding circuit, and finally the ISN_OUT signal is output through the 1:1 isolation circuit.

[0014] A control method for a dual-mode steer-by-wire control system for a self-following vacuum cleaner comprises the following steps:

[0015] Step 1: The steering angle controller receives the angle control target value and obtains the current steering angle and vehicle speed.

[0016] Step 2: The steering angle controller calculates the torque control target value using a PID control algorithm based on the current steering angle and vehicle speed, and sends the torque control target value to the torque controller via the CAN bus;

[0017] Step 3: After receiving the CAN bus data, the torque controller reads the working mode configuration instruction and the torque control target value;

[0018] Step 4: Check whether the torque sensor data is greater than the safety threshold. If so, the system switches to manual operation and then executes step 3. Otherwise, the torque output voltage value is set according to the torque control target value.

[0019] Step 5: The torque signal generation circuit intercepts the torque sensor voltage output and outputs the torque voltage to the EPS ECU based on the steering angle requirement of the vacuum cleaner.

[0020] Step 6: The microcontroller of the vehicle-mounted electronic control unit collects the voltage output of the torque sensor of the suction machine in real time and determines whether the torque voltage output of the torque sensor of the suction machine currently detected reaches a preset value; if so, the torque signal output of the torque signal generation circuit is set to the same value as the torque sensor voltage;

[0021] Step 7: Determine whether the torque control of the steering mechanism of the suction machine is completed; if so, end the torque control; otherwise, execute step 3.

[0022] Furthermore, as a preferred embodiment, the PID algorithm is calculated once per cycle T, that is, once per steering angle data sampling cycle.

[0023] Furthermore, as a preferred embodiment, the sampling period T of the steering angle data is 1ms, the sampling times are set to α, which is an integer; the updating period T of the vehicle speed is φ1 The update period of the angle control target value is 100ms. φ2is 10ms.

[0024] Furthermore, as a preferred implementation, the single chip microcomputer of the vehicle-mounted electronic control unit adopts an STM32 single chip microcomputer.

[0025] This invention utilizes the above technical solution to precisely control the travel, steering, and braking of sanitation equipment by receiving relevant instructions from an upper-level intelligent control system. This effectively improves the equipment's driving stability, operational safety, and universal applicability. It efficiently assists sanitation workers in cleaning operations and meets the needs of various cleaning environments. This addresses the operational shortcomings of current mainstream self-following vacuum cleaners, improving their efficiency and reducing labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments;

[0027] Figure 1 This is a schematic diagram of the overall structure of a self-following cleaning and suction machine according to a preferred embodiment of the present invention;

[0028] Figure 2 2. It is a schematic structural diagram of a dual-mode steer-by-wire control system according to a preferred embodiment of the present invention;

[0029] Figure 3 This is a flowchart of ICS signal conversion work in accordance with a preferred embodiment of the present invention;

[0030] Figure 4 This is a flowchart of the ISN signal conversion process of the preferred embodiment of the present invention;

[0031] Figure 5 1 is a flowchart of the steering angle controller of the preferred embodiment of the present invention;

[0032] Figure 6 4 is a flowchart of the torque controller of the preferred embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0034] like Figures 1 to 6 As shown in FIG1 , the present invention discloses a dual-mode wire-controlled steering control system for a self-following vacuum cleaner, comprising a wire-controlled chassis 1 and a dual-mode wire-controlled steering control system 2 connected in communication. The wire-controlled chassis 1 is used to drive the normal operation of the self-following vacuum cleaner, including forward, reverse, steering and braking. The dual-mode wire-controlled steering control system 2 is used to control the relevant working states of the wire-controlled chassis based on the steering angle and torque size by processing the above two types of data.

[0035] In this embodiment, the dual-mode, steer-by-wire control system for a self-following vacuum cleaner utilizes dual-mode steer-by-wire control technology to accurately and rapidly calculate instructions from the upper-level intelligent control system and related sensor measurement data, and transmits specific driving instructions to the steer-by-wire chassis. This allows precise control of the travel, steering, and braking of the sanitation equipment, effectively improving its driving stability, operational safety, and universal applicability. This system efficiently assists sanitation workers in cleaning operations and meets the needs of various cleaning environments. This addresses the operational shortcomings of current mainstream self-following vacuum cleaners, improving their efficiency and reducing labor costs.

[0036] Specifically, such as Figure 2 The dual-mode wire-controlled steering control system 2 includes a steering mechanism, a torque sensor, a torque controller, an on-board electronic control unit, a power steering motor, a steering transmission mechanism, a steering angle sensor, a steering angle controller, etc. The specific connection relationship and function of each component are the same as those of the existing wire-controlled chassis, so they will not be repeated here.

[0037] It is clear that the dual-mode steer-by-wire control system 2 described herein includes a torque sensor 3 and a dual-mode controller module 4. The dual-mode controller module 4 is in communication with the torque sensor 3 and the steer-by-wire chassis 1, respectively. The torque sensor 3 is used to detect torque information from the steering mechanism. The dual-mode controller module 4 is used to perform real-time algorithm calculations on the measurement data from the torque sensor 3 and transmit relevant command information to the onboard electronic control unit (ECU), or to convert relevant command information from the upper-level intelligent control system into a torque voltage signal and transmit it to the ECU, thereby controlling the relevant operating states of the steer-by-wire chassis 1. The purpose of performing real-time algorithm calculations on the measurement data and transmitting relevant command information to the ECU is to ensure that the device performs autonomous motion corrections during operation and prevent accidental collisions. The purpose of converting relevant command information from the upper-level intelligent control system into a torque voltage signal and transmitting it to the ECU is to accurately execute the relevant motion commands of the upper-level intelligent control system, ensuring that the device can properly follow sanitation workers in their work and realize autonomous following functionality. The torque sensors include a torque sensor mounted on the input shaft side of the main shaft and a torque sensor mounted on the output shaft side. The dual-mode controller module 4 is installed inside the vacuum cleaner.

[0038] Obviously, it can be understood that the described dual-mode controller module 4 includes a torque controller 5 and a steering angle controller 6, wherein the torque controller 5 and the steering angle controller 6 are communicatively connected to the dual-mode controller module 4, and the above-mentioned torque controller 5 is used to send the torque information measured by the torque sensor to the on-board electronic control unit; or convert the torque instruction received from the steering angle controller into a torque voltage signal and send it to the on-board electronic control unit; the steering angle controller 6 is used to receive the angle control instruction, vehicle speed and real-time steering angle information, calculate the torque control instruction through an algorithm, and output it to the torque controller.

[0039] Obviously, the torque controller is mainly composed of the torque signal generation circuit and the STM32 microcontroller control circuit, such as Figure 1 In the torque controller module, the STM32 microcontroller receives torque control commands via the CAN bus. The STM32 microcontroller then controls the programmable amplifier in the torque signal generation circuit to adjust the torque signal. The torque sensor is a phase splitter type, outputting four sinusoidal analog signals, labeled ICS, ISN, OCS, and OSN. The torque signal generation circuit structure is designed as follows:

[0040] According to the requirements of ICS_OUT and ISN_OUT output signals, a torque signal generation circuit consisting of an inverse amplifier circuit, a programmable amplifier circuit, and an addition circuit is designed. The ICS and ISN signals are processed by the circuit to generate ICS_OUT and ISN_OUT signals. The signal conversion process is as follows: Figure 2 、 Figure 3 shown.

[0041] Figure 2 In the circuit, ICS is converted into -ICS / 15 after being multiplied by -1 / 15 by the reverse amplifier circuit. -ICS / 15 is converted into -ICS(Rf+1) / 15 and ICS*11 / 15 respectively through the forward programmable amplifier circuit and the reverse amplifier circuit. Then, the ICS, -ICS(Rf+1) / 15, and ICS*11 / 15 signals are converted into ICS_Sum through the adding circuit, and finally the ICS_OUT signal is output through the 1:1 isolation circuit.

[0042] Figure 3 In the circuit, ISN is converted into -ISN / 15 after the reverse amplifier circuit with a -1 / 15 times the signal. -ISN / 15 is converted into ISN*Rf / 15 and -ISN*10 / 15 respectively through the reverse program-controlled amplifier circuit and the forward amplifier circuit. The three signals of ISN, ISN*Rf / 15 and -ISN*10 / 15 are converted into IS_Sum through the adding circuit, and finally the ISN_OUT signal is output through the 1:1 isolation circuit.

[0043] After receiving the angle control target value, the steering angle controller uses the PID control algorithm to calculate the torque control target value according to the current steering angle and vehicle speed, and sends the torque control target value to the torque controller via the CAN bus. Figure 5 As shown. The specific software design of the steering angle controller is as follows:

[0044] The sampling period T of the steering angle data is 1ms, and the sampling times are set to α, which is an integer; the updating period T of the vehicle speed is φ1 The update period of the angle control target value is 100ms. φ2 The PID algorithm is calculated once per cycle T, that is, once per steering angle data sampling cycle.

[0045] After receiving the CAN bus data, the torque controller reads the working mode configuration instructions and the torque control target value. When the torque sensor data is lower than the safety threshold, the torque output voltage value is set according to the torque control target value to complete the torque control of the steering mechanism of the vacuum cleaner. The flowchart of the torque controller software is as follows Figure 6 The specific software design of the torque controller is as follows:

[0046] The torque signal generation circuit intercepts the torque sensor voltage output and outputs the torque voltage to the EPS ECU based on the steering angle required by the vacuum cleaner. The STM32 microcontroller collects the voltage output of the vacuum cleaner torque sensor in real time. When the torque voltage output of the vacuum cleaner torque sensor reaches a preset value, the torque signal output of the torque signal generation circuit is set to the same value as the torque sensor voltage.

[0047] This invention utilizes the above technical solution to precisely control the travel, steering, and braking of sanitation equipment by receiving relevant instructions from an upper-level intelligent control system. This effectively improves the equipment's driving stability, operational safety, and universal applicability. It efficiently assists sanitation workers in cleaning operations and meets the needs of various cleaning environments. This addresses the operational shortcomings of current mainstream self-following vacuum cleaners, improving their efficiency and reducing labor costs.

[0048] Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. In the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the detailed description of the embodiments of the present application is not intended to limit the scope of the application for protection, but merely represents the selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

Claims

1. A dual-mode steer-by-wire control system for a self-following vacuum cleaner, characterized by: It includes a wire-controlled chassis and a dual-mode wire-controlled steering control system. The dual-mode wire-controlled steering control system is used to control the working state of the wire-controlled chassis based on the steering angle and torque. The wire-controlled chassis is used to drive the self-following vacuum cleaner to operate normally. The dual-mode steer-by-wire control system includes a torque sensor, a steering angle sensor, and a dual-mode controller module. The torque sensor detects the torque of the steering mechanism, while the steering angle sensor detects the steering angle of the steering and transmission mechanisms. The dual-mode controller module calculates the torque sensor's measurement data in real time and sends the command information to the vehicle's electronic control unit (ECU), or converts the command information from the upper-level intelligent control system into a torque voltage signal and transmits it to the vehicle's ECU. A torque sensor is provided on the steering control mechanism of the vacuum cleaner to detect torque information. A steering angle sensor is provided on the steering and transmission mechanism of the vacuum cleaner to detect the steering angle of the vacuum cleaner. The output end of the steering angle sensor is connected to the steering angle controller of the dual-mode controller module. The output end of the torque sensor is connected to the torque signal generating circuit. The torque signal generating circuit is respectively connected to the vehicle-mounted electronic control unit of the vacuum cleaner and the torque controller of the dual-mode controller module. The vehicle-mounted electronic control unit is connected in sequence to the electric motor and the steering and transmission mechanism of the vacuum cleaner. The torque controller is connected to the steering angle controller to receive torque control instructions. The torque sensor is a phase splitter type that outputs four sinusoidal analog signals, marked as ICS, ISN, OCS, and OSN. The torque signal generation circuit includes an inverse amplifier circuit, a programmable amplifier circuit, an addition circuit, and an isolation circuit. The ICS signal of the torque sensor is converted to -ICS / 15 after being multiplied by -1 / 15 by the inverse amplifier circuit. The -ICS / 15 signal is then converted to -ICS(Rf+1) / 15 and ICS*11 / 15 by the forward programmable amplifier circuit and the inverse amplifier circuit, respectively. The ICS, -ICS(Rf+1) / 15, and ICS*11 / 15 signals are then converted to ICS_Sum by the addition circuit. Finally, the ICS_OUT signal is output through a 1:1 isolation circuit. The ISN signal of the torque sensor is converted into -ISN / 15 after being multiplied by -1 / 15 by the reverse amplifier circuit. The -ISN / 15 signal is converted into ISN*Rf / 15 and -ISN*10 / 15 respectively through the reverse programmable amplifier circuit and the forward amplifier circuit. The ISN, ISN*Rf / 15 and -ISN*10 / 15 signals are converted into IS_Sum through the adding circuit, and finally the ISN_OUT signal is output through the 1:1 isolation circuit.

2. The dual-mode steer-by-wire control system for a self-following vacuum cleaner according to claim 1, characterized in that: The normal working conditions of the vacuum cleaner include forward, reverse, turning and braking.

3. The dual-mode steer-by-wire control system for a self-following vacuum cleaner according to claim 1, characterized in that: The torque controller is used to send the torque information measured by the torque sensor to the vehicle-mounted electronic control unit, or convert the torque command received from the steering angle controller into a torque voltage signal and send it to the vehicle-mounted electronic control unit.

4. The dual-mode steer-by-wire control system for a self-following vacuum cleaner according to claim 1, characterized in that: The steering angle controller receives the angle control command, vehicle speed and real-time steering angle information, calculates the torque control command and outputs it to the torque controller.

5. A control method for a dual-mode steer-by-wire control system for a self-following vacuum cleaner, comprising: The method comprises the following steps: Step 1: The steering angle controller receives the angle control target value and obtains the current steering angle and vehicle speed. Step 2: The steering angle controller calculates the torque control target value using a PID control algorithm based on the current steering angle and vehicle speed, and sends the torque control target value to the torque controller via the CAN bus; Step 3: After receiving the CAN bus data, the torque controller reads the working mode configuration instruction and the torque control target value; Step 4: Check whether the torque sensor data is greater than the safety threshold. If so, the system switches to manual operation and then executes step 3. Otherwise, the torque output voltage value is set according to the torque control target value. Step 5: The torque signal generation circuit intercepts the torque sensor voltage output and outputs the torque voltage to the EPS-ECU based on the steering angle requirement of the vacuum cleaner. Step 6: The microcontroller of the vehicle-mounted electronic control unit collects the voltage output of the torque sensor of the suction machine in real time and determines whether the torque voltage output of the torque sensor of the suction machine currently detected reaches a preset value; if so, the torque signal output of the torque signal generation circuit is set to the same value as the torque sensor voltage; Step 7: Determine whether the torque control of the steering mechanism of the suction machine is completed; if so, end the torque control; otherwise, execute step 3.

6. The control method for a dual-mode steer-by-wire control system for a self-following vacuum cleaner according to claim 5, characterized in that: The PID algorithm is calculated once per cycle T, that is, once per steering angle data sampling cycle.

7. The control method for a dual-mode steer-by-wire control system for a self-following vacuum cleaner according to claim 6, characterized in that: The sampling period T of the steering angle data is 1ms, and the sampling times are set to α, which is an integer; the updating period T of the vehicle speed is φ1 The update period of the angle control target value is 100ms. φ2 is 10ms.

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