Deep-sea walking device and terrain identification and vehicle body posture control method thereof

Abstract

The present application relates to a kind of deep sea walking device and its terrain identification, vehicle body posture control method, adopt four track mode to realize walking, device includes track module, suspension mechanism, car body, terrain identification system, vehicle body posture control system.Track module has 4, each track module is equipped with posture sensor and pressure sensor;Car body is equipped with inertial navigation system, terrain identification system is by 4 track posture sensor and the inertial navigation system on car body composition.When mining car is in seabed operation, vehicle body posture control system calculates the state of current car body according to the posture information collected by the 4 track posture sensors carried, adjusts pressure or length in real time through suspension system, adjusts effect through inertial navigation system monitoring, can make mining car car body produce smaller pitch angle, roll angle, increase the anti-overturning ability and terrain passing ability of mining car, to adapt to the complex terrain of seabed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field, in particular to a deep-sea walking device and a terrain identification and vehicle body posture control method thereof. BACKGROUND

[0002] The seabed ground often has an irregular rugged road condition, and a deep-sea robot such as a mining vehicle is easily affected by the terrain when walking and detecting on the seabed, and is stuck or even overturned.

[0003] At present, a large area of track is often arranged on both sides of the walking device as a special device for irregular ground, but when encountering a road condition with large ups and downs, the local track may still be in contact with the ground and the local track may be suspended, resulting in instability of the overall vehicle body. SUMMARY

[0004] The present application provides a deep-sea walking device with a reasonable structure and a terrain identification and vehicle body posture control method thereof, aiming to improve the terrain passing ability, pit passing ability, obstacle crossing ability and anti-overturning ability of the mining vehicle.

[0005] The technical solution adopted by the present application is as follows:

[0006] A deep-sea walking device comprises a vehicle body, an electronic cabin and an inertial navigation system arranged on the top of the vehicle body, a suspension mechanism led out of the vehicle body, and a track module hingedly connected to one end of the suspension mechanism extending out of the vehicle body,

[0007] The suspension mechanism comprises:

[0008] A suspension oil cylinder is hingedly connected to the vehicle body,

[0009] A four-bar linkage mechanism is hingedly connected to the piston rod of the suspension oil cylinder, and two parallel surfaces of the four-bar linkage mechanism are hingedly connected to the vehicle body and the track module, respectively; the track module rotates around the hinge point.

[0010] A posture sensor is installed on the track module, an inertial navigation system is installed on the vehicle body, and signals of the inertial navigation system and the posture sensor are transmitted to a controller in the electronic cabin; a pressure sensor is installed on the suspension oil cylinder, and signals of the pressure sensor are transmitted to the electronic cabin.

[0011] The electronic cabin comprises a suspension length control system and a suspension pressure control system.

[0012] A terrain identification method for a deep-sea walking device comprises the following steps:

[0013] In the walking process of the deep-sea walking device, the attitude sensor on each track module measures the attitude information of the corresponding track module in real time, the inertial navigation system on the vehicle body measures the attitude information of the vehicle body in real time, and the pressure sensor on each suspension oil cylinder measures the pressure value of each suspension oil cylinder and transmits it to the controller in the electronic cabin; the attitude information includes the pitch angle and the roll angle,

[0014] The terrain identification system in the electronic cabin judges the vehicle body of the deep-sea walking device to be in flat ground walking, slope walking or irregular seabed terrain walking according to the received signals.

[0015] When the pitch angle and the roll angle collected by the attitude sensor on each track module are both 0, the vehicle body is in a horizontal state;

[0016] When the pitch angle collected by the attitude sensor on each track module is 0 and the roll angle is not 0; or: when the pitch angles collected by the attitude sensors on each track module are equal and not 0; or: when the pitch angles collected by the attitude sensors on each track module are equal, not 0 and the roll angle is not 0, it is judged that the deep-sea walking device is driving on a slope;

[0017] When the pitch angle of at least one track is not equal to the pitch angle of the other track, it is determined that the deep-sea walking device is walking on an irregular seabed terrain.

[0018] In the terrain identification process, the judgment sequence of the pitch angle and the roll angle is as follows:

[0019] First, judge whether the pitch angles are equal;

[0020] Under the premise that the pitch angles are equal, judge whether the pitch angle is 0;

[0021] Under the premise that the pitch angle is 0, judge whether the roll angle is 0, if the roll angle is 0, no compensation is needed, if the roll angle is not 0, enable the suspension length control system to compensate the roll angle;

[0022] Under the premise that the pitch angle is not 0, judge whether the roll angle is 0, if the roll angle is 0, enable the suspension length control system to compensate the pitch angle, if the roll angle is not 0, enable the suspension length control system to compensate the pitch angle and the roll angle;

[0023] If the pitch angles are not equal, when a single pitch angle is not 0, it is a single track encountering an obstacle, and the suspension pressure control system is enabled for compensation;

[0024] When two pitch angles are not 0, it is a double track encountering an obstacle, and the suspension pressure control system is enabled for compensation;

[0025] When more than two pitch angles are not 0, it is an irregular terrain driving, and the suspension pressure control system is enabled for compensation.

[0026] The roll angle measured by the attitude sensor on each track module is averaged as the terrain roll angle.

[0027] A vehicle attitude control method of a deep-sea walking device, comprising the following steps:

[0028] When the deep-sea walking device is walking on flat ground, no attitude compensation is needed;

[0029] When the deep-sea walking device is walking on a slope, a suspension length control system is enabled to compensate for the pitch angle and the roll angle;

[0030] When the deep-sea walking device is walking on a special-shaped seabed terrain, a suspension pressure control system is enabled to control the oil chamber pressure of each suspension oil cylinder, so that the support forces output by each suspension oil cylinder remain equal, and the vehicle body tends to be horizontal.

[0031] The suspension length control algorithm is as follows:

[0032] Let the extension and retraction amounts of the left front, right front, left rear and right rear suspension oil cylinders be L1, L2, L3 and L4 respectively, let the distance between the left and right tracks be B, and let the center distance between the front and rear tracks be H. The calculation methods of the extension and retraction amounts of each suspension oil cylinder are as follows:

[0033] When the track attitude sensor measures a pitch angle β, the 50% extension position of the suspension oil cylinder is taken as the zero point, and the retraction values of the left front L1 and right front L2 suspension oil cylinders are made equal to the extension values of the left rear L3 and right rear L4 suspension oil cylinders, i.e.

[0034] L3=-L1 (1)

[0035] L4=-L2 (2)

[0036] The length calculation method of each oil cylinder is as follows:

[0037] L3-L1=H·tanβ (3)

[0038] L4-L2=H·tanβ (4)

[0039] Then the extension and retraction amounts of each suspension oil cylinder are as follows:

[0040]

[0041]

[0042]

[0043]

[0044] When the attitude sensor on the track measures the roll angle as α, the 50% extension position of the suspension oil cylinder is taken as zero point, the shortening value of the left front L1 and the left rear L3 suspension oil cylinders is equal to the elongation value of the right front L2 and the right rear L4 suspension oil cylinders, namely:

[0045] L2=-L1 (9)

[0046] L4=-L3 (10)

[0047] The length calculation method of each oil cylinder is as follows:

[0048] L2-L1=B*tanα (11)

[0049] L4-L3=B*tanα (12)

[0050] Then the extension and contraction amount of each suspension oil cylinder is as follows:

[0051]

[0052]

[0053]

[0054]

[0055] When the attitude sensor on the track measures the roll angle as α and the pitch angle as β, on the basis of mode (1) and mode (2), the extension and contraction length of each suspension oil cylinder is as follows:

[0056]

[0057]

[0058]

[0059]

[0060] The suspension pressure control algorithm is as follows:

[0061] Let the pressure of the left front, right front, left rear and right rear suspension oil cylinders be P1, P2, P3 and P4 respectively, and the extension and contraction amount calculation method of each suspension oil cylinder is as follows:

[0062]

[0063] The beneficial effects of the present application are as follows:

[0064] This invention features a compact and rational structure, and is easy to operate. When the deep-sea walking device is operating on the seabed, the electronic cabin receives signals from sensors to promptly perceive the corresponding road conditions under the four track modules. By adjusting the pressure or extension length of the suspension cylinders in a timely manner through the suspension system, and monitoring the adjustment effect through inertial navigation, the mining vehicle body generates a small pitch and roll angle, keeping the mining vehicle body as level as possible, increasing the mining vehicle's anti-overturning ability and terrain traversal capability, thereby adapting to the complex terrain of the seabed. Attached Figure Description

[0065] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0066] Figure 2 This is a schematic diagram of the suspension mechanism of the present invention.

[0067] Figure 3 for Figure 3 A schematic block diagram of signal transmission.

[0068] Figure 4 This is a block diagram of the suspension length control algorithm of the present invention.

[0069] Figure 5 This is a block diagram of the suspension pressure control algorithm of the present invention.

[0070] Figure 6 This is a schematic diagram of the lateral tilt angle of the mining vehicle according to the present invention.

[0071] Figure 7 This is a schematic diagram of the longitudinal tilt angle of the mining vehicle of the present invention.

[0072] Figure 8 This is a schematic diagram illustrating the actions of a mining vehicle's track module when it encounters an obstacle.

[0073] The components include: 1. Vehicle body; 2. Suspension mechanism; 3. Track module;

[0074] 201. Suspension cylinder; 202. Four-bar linkage; 203. Hinge shaft. Detailed Implementation

[0075] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0076] like Figures 1-2 The deep-sea walking device shown includes a vehicle body, an electronic cabin and inertial navigation system mounted on the top of the vehicle body, a suspension mechanism 2 extending from the vehicle body, and a track module 3 hinged to one end of the suspension mechanism 2 extending out of the vehicle body.

[0077] like Figure 2 As shown, the suspension mechanism 2 includes:

[0078] The suspension cylinder 201 is hinged to the vehicle body 1.

[0079] A four-bar linkage mechanism 202 is hinged to the piston rod of the suspension cylinder 201, and two parallel surfaces of the four-bar linkage mechanism 202 are hinged to the vehicle body 1 and the track module 3 respectively; the track module 3 rotates around the hinge point.

[0080] The attitude sensor is installed on the track module 3, the inertial navigation system is installed in the electronic cabin of the vehicle body 1, the signals of the attitude sensor and the inertial navigation system are transmitted to the controller in the electronic cabin; the pressure sensor is installed on the suspension cylinder 201, and the signal of the pressure sensor is transmitted to the electronic cabin.

[0081] As shown in Figure 3 , the electronic cabin includes a suspension length control system and a suspension pressure control system.

[0082] A terrain identification method of a deep-sea walking device includes the following steps:

[0083] During the walking process of the deep-sea walking device, the attitude sensor on each track module 3 measures the attitude information of the corresponding track module 3 in real time, the inertial navigation system on the vehicle body 1 measures the vehicle body attitude information in real time, the pressure sensor on each suspension cylinder 201 measures the pressure value of each suspension cylinder 201 and transmits it to the electronic cabin controller; the attitude information includes the pitch angle and the roll angle,

[0084] The terrain identification system in the electronic cabin determines whether the vehicle body 1 of the deep-sea walking device is walking on flat ground, on a slope or on an irregular seabed terrain according to the received signals.

[0085] When the pitch angle and the roll angle collected by the attitude sensor on each track module 3 are both 0, the vehicle body 1 is in a horizontal state;

[0086] When the pitch angle collected by the attitude sensor on each track module 3 is 0 and the roll angle is not 0; or: when the pitch angles collected by the attitude sensors on each track module 3 are equal and not 0; or: when the pitch angles collected by the attitude sensors on each track module 3 are equal, not 0 and the roll angle is not 0, it is determined that the deep-sea walking device is driving on a slope.

[0087] When the pitch angle of at least one track is not equal to the pitch angle of the other track, it is determined that the deep-sea walking device is walking on an irregular seabed terrain.

[0088] In the terrain identification process, the judgment order of the pitch angle and the roll angle is as follows:

[0089]

[0090]

[0091] First, determine whether the pitch angles are equal;

[0092] Judging whether the pitch angle is 0 under the premise of equal pitch angle;

[0093] Judging whether the roll angle is 0 under the premise of 0 pitch angle, and if the roll angle is 0, no compensation is needed, and if the roll angle is not 0, the suspension length control system is enabled to compensate the pitch angle;

[0094] Judging whether the roll angle is 0 under the premise of non-0 pitch angle, and if the roll angle is 0, the suspension length control system is enabled to compensate the pitch angle, and if the roll angle is not 0, the suspension length control system is enabled to compensate the pitch angle and the roll angle;

[0095] If the pitch angles are not equal, when a single pitch angle is not 0, it is determined that the single track encounters an obstacle, and the suspension pressure control system is enabled to compensate;

[0096] When two pitch angles are not 0, it is determined that the double tracks encounter an obstacle, and the suspension pressure control system is enabled to compensate;

[0097] When more than two pitch angles are not 0, it is determined that the vehicle runs on a special-shaped terrain, and the suspension pressure control system is enabled to compensate.

[0098] The roll angles measured by the attitude sensors on each track module 3 are averaged to obtain the terrain roll angle.

[0099] A vehicle body attitude control method of a deep-sea walking device, comprising the following steps:

[0100] When the deep-sea walking device runs on a flat ground, no compensation is needed;

[0101] When the deep-sea walking device runs on a slope, the suspension length control system is enabled to compensate the pitch angle and the roll angle;

[0102] When the deep-sea walking device runs on a special-shaped seabed terrain, the suspension pressure control system is enabled to control the oil chamber pressure of each suspension cylinder 201, so that the support forces output by the suspension cylinders 201 remain equal, and the vehicle body 1 tends to be horizontal.

[0103] As shown in FIG. 1, in combination with the angle marks of the front and rear tracks and the left and right tracks, the suspension length control algorithm is as follows: Figure 4 Figure 6 Figure 7

[0104] Let the extension amounts of the left front, right front, left rear and right rear suspension cylinders 201 be L1, L2, L3 and L4 respectively, let the distance between the left and right tracks be B, and let the distance between the front and rear track centers be H. The extension amount calculation methods of the suspension cylinders 201 are as follows:

[0105] ​​​When the track posture sensor measures the pitch angle β, the 50% extension position of the suspension oil cylinder 201 is taken as the zero point, and the shortening value of the left front L1 and right front L2 suspension oil cylinders 201 is made equal to the extension value of the left rear L3 and right rear L4 suspension oil cylinders 201, i.e.:

[0106] L3 = -L1 (1)

[0107] L4 = -L2 (2)

[0108] The length calculation method of each oil cylinder is:

[0109] L3 - L1 = H tan β (3)

[0110] L4 - L2 = H tan β (4)

[0111] Therefore, the extension and retraction amount of each suspension oil cylinder 201 is:

[0112]

[0113]

[0114]

[0115]

[0116] When the track posture sensor measures the roll angle α, the 50% extension position of the suspension oil cylinder 201 is taken as the zero point, and the shortening value of the left front L1 and left rear L3 suspension oil cylinders 201 is made equal to the extension value of the right front L2 and right rear L4 suspension oil cylinders 201, i.e.:

[0117] L2 = -L1 (9)

[0118] L4 = -L3 (10)

[0119] The length calculation method of each oil cylinder is:

[0120] L2 - L1 = B tan α (11)

[0121] L4 - L3 = B tan α (12)

[0122] Therefore, the extension and retraction amount of each suspension oil cylinder 201 is:

[0123]

[0124]

[0125]

[0126]

[0127] When the posture sensor located on the track measures the roll angle as α and the pitch angle as β, on the basis of mode (1) and mode (2), the extension length of each suspension oil cylinder 201 is:

[0128]

[0129]

[0130]

[0131]

[0132] As shown in Figure 5 , in combination with the angle identification of Figure 6 and Figure 7 , the suspension pressure control algorithm is as follows:

[0133] Let the pressures of the left front, right front, left rear and right rear suspension oil cylinders 201 be P1, P2, P3 and P4 respectively, and the extension amount of each suspension oil cylinder 201 is calculated by the following method:

[0134]

[0135] The specific structure and working principle of the present application are as follows:

[0136] Taking a mining vehicle as an example, in an embodiment of the present application, the vehicle body 1 of the mining vehicle is provided with four track modules 3, each track module 3 corresponds to a set of suspension mechanisms 2, the suspension mechanism 2 includes a suspension oil cylinder 201 hinged to the vehicle body 1, the output end of the suspension oil cylinder 201 extends out of the vehicle body 1 and is hinged with a four-bar linkage mechanism 202. Two planes in the vertical direction of the four-bar linkage mechanism 202 are respectively used to be connected with the vehicle body 1 and the track module 3, wherein the relative rotation connection between the four-bar linkage mechanism 202 and the track module 3 is achieved by using a hinge shaft 203. When the piston rod of the suspension oil cylinder 201 extends or retracts, the four connecting rods of the four-bar linkage mechanism 202 move relatively, thereby driving the corresponding adjustment movement of the track module 3, so that the vehicle body 1 can be kept as horizontal as possible during driving.

[0137] When the seabed terrain has ups and downs, each track module can adaptively respond according to the terrain characteristics, because the track module can rotate around the hinge shaft; when the mining vehicle is inclined, the terrain recognition system composed of the posture sensors located on the four tracks and the inertial navigation system installed on the vehicle body can comprehensively calculate that the mining vehicle is in flat ground driving, slope driving or irregular ground driving. Then, according to the terrain condition, a control strategy is selected, that is, a suspension pressure control system or a suspension length control system is used to keep the vehicle body of the mining vehicle horizontal.

[0138] The specific operation steps are as follows:

[0139] First, collect the posture information of the four tracks and the pressure values in the four suspension oil chambers.

[0140] Measure the posture angle of each track with four posture sensors installed on the tracks and measure the pressure value of each suspension oil cylinder in real time with four pressure sensors installed on the suspension oil cylinders.

[0141] Second, identify the current terrain according to the posture information of the four tracks.

[0142] The terrain identification system identifies that the mining vehicle is currently walking on flat ground, on a slope, or on an irregular terrain according to the posture sensors of the four track modules.

[0143] When the pitch angle and roll angle collected by the four track posture sensors are both 0, the vehicle body is in a horizontal state and no posture compensation is needed.

[0144] When the pitch angle collected by the four track posture sensors is 0 and the roll angle is not 0, or when the pitch angles collected by the four track posture sensors are equal and not 0, or when the pitch angles collected by the four track posture sensors are equal and not 0 and the roll angle is also not 0, it indicates that the mining vehicle is driving on a slope, and the controller activates the suspension length control system to compensate for the pitch angle and roll angle.

[0145] When the pitch angle of one or more tracks is not equal to the pitch angles of the other tracks, it is determined that the walking device is driving on an irregular road surface environment, and at this time it is not possible to accurately measure the height and size of the obstacle with the posture sensor. The controller activates the suspension pressure control system to control the oil chamber pressure of each suspension oil cylinder, so that the support force output by each suspension oil cylinder remains equal, thereby indirectly making the vehicle body tend to a horizontal posture.

[0146] Third, the controller matches the corresponding control algorithm according to the identified terrain

[0147] When the pitch angles of the four tracks are equal, it indicates that the seabed terrain is relatively regular, and the controller can accurately calculate the extension length of each track suspension oil cylinder, thereby making the vehicle body in a horizontal posture.

[0148] When the pitch angle of one or more tracks is not equal to the pitch angles of the other tracks, the terrain environment is usually complex, and it is difficult to accurately calculate the length that each oil cylinder should extend through the algorithm. The control target is to make each suspension track module contact the seabed, i.e., to make the oil chamber pressure value of each track suspension oil cylinder equal through the controller, thereby indirectly making the vehicle body tend to a horizontal posture.

[0149] The above description is an explanation of the invention, not a limitation of the invention. The scope of the invention is defined in the claims, and any modifications within the scope of the invention can be made.

Claims

1. A method for controlling the posture of a vehicle body of a deep-sea walking device, the deep-sea walking device comprising a vehicle body (1) provided with an electronic cabin and an inertial navigation system at the top of the vehicle body (1), characterized in that: The vehicle body (1) is provided with a suspension mechanism (2) extending from the vehicle body (1), and a track module (3) is hingedly connected to the end of the suspension mechanism (2) extending from the vehicle body (1), The suspension mechanism (2) comprises: A suspension oil cylinder (201) is hingedly connected to the vehicle body (1), A four-bar linkage mechanism (202) is hingedly connected to the piston rod of the suspension oil cylinder (201), and two parallel surfaces of the four-bar linkage mechanism (202) are respectively hingedly connected to the vehicle body (1) and the track module (3); the track module (3) rotates around the hinged point, The vehicle body posture control method of the deep-sea walking device comprises the following steps: When the deep-sea walking device walks on the flat ground, the posture does not need to be compensated; When the deep-sea walking device walks on the slope, the suspension length control system is enabled to compensate the pitch angle and the roll angle; When the deep-sea walking device walks on the special-shaped seabed terrain, the suspension pressure control system is enabled to control the oil chamber pressure of each suspension oil cylinder (201), so that the support forces output by the suspension oil cylinders (201) are kept equal, and the vehicle body (1) tends to be in a horizontal state, The suspension length control algorithm is as follows: Let the extension and retraction amounts of the left front, right front, left rear and right rear suspension oil cylinders (201) be respectively: , , , , let the distance between the left and right tracks be B, and the center distance between the front and rear tracks be H; the extension and retraction amounts of each suspension oil cylinder (201) are calculated respectively as follows: When the track posture sensor measures the pitch angle β, the 50% extension position of the suspension oil cylinder (201) is taken as the zero point, and the left front , right front suspension oil cylinder (201) shortening value is equal to the left rear , right rear suspension oil cylinder (201) elongation value, that is: （1） （2） The length calculation method of each oil cylinder is as follows: （3） （4） The extension and retraction amount of each suspension oil cylinder (201) is as follows: （5） （6） （7） （8） When the track posture sensor measures the roll angle as α, the left front , left rear suspension oil cylinder (201) is extended by 50% of the position as zero point, and the left front , right rear suspension oil cylinder (201) is shortened by the value of the extension, that is: （9） （10） The length calculation method of each oil cylinder is as follows: （11） （12） The extension and retraction amount of each suspension oil cylinder (201) is as follows: （13） （14） （15） （16） When the posture sensor located on the track measures the roll angle as α and the pitch angle as β, on the basis of the mode (1) and the mode (2), the extension length of each suspension oil cylinder (201) is as follows: （17） （18） （19） （20）。

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