A method and device for determining the center of gravity of a tracked vehicle and a tracked vehicle
By controlling the rotation and differential motion of the tracked vehicle, the position coordinates of the positioning antenna are obtained, and the center of gravity of the tracked vehicle is calculated. This solves the problem of complex calculation in the prior art and realizes fast and accurate center of gravity coordinate calculation.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HUNAN SANY INTELLIGENT CONTROL EQUIP
- Filing Date
- 2021-08-27
- Publication Date
- 2026-06-23
AI Technical Summary
In existing technologies, the process of calculating the center of gravity coordinates of tracked vehicles is complex and slow.
By controlling the tracked vehicle to rotate around the center of rotation, multiple position coordinates of the positioning antenna are obtained, the relative positional relationship between the positioning antenna and the center of rotation is calculated, and the position coordinates of the center of rotation and the center of gravity are calculated by the differential rotation motion of the tracked vehicle in place or the movement of one side of the track.
The calculation process for the center of gravity coordinates has been simplified, and the calculation speed has been improved.
Smart Images
Figure CN115931220B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of engineering machinery technology, specifically to a method, device, and tracked vehicle for determining the center of gravity position of a tracked vehicle. Background Technology
[0002] Tracked vehicles are vehicles that use tracked running gear instead of wheels. Tracked vehicles can include cranes, dynamic compaction machines, excavators, pile drivers, etc. Generally, during the operation of tracked vehicles, workers need to determine the vehicle's center of gravity position so that adjustments can be made to the vehicle's configuration to improve its stability during construction.
[0003] In existing technologies, the center of gravity coordinates of tracked vehicles are generally calculated by physically modeling the tracked vehicles. This modeling method is relatively complex and the calculation of the center of gravity coordinates is slow. Summary of the Invention
[0004] To address the aforementioned technical problems, this application is proposed. Embodiments of this application provide a method, apparatus, and tracked vehicle for determining the center of gravity position of a tracked vehicle, effectively solving the problem of the complex process of calculating the center of gravity coordinates.
[0005] According to one aspect of this application, a method for determining the center of gravity position of a tracked vehicle is provided, applied to a tracked vehicle including a base, tracks, and a vehicle body. The tracks are movably connected to the base, and the vehicle body is rotatably connected to the base. The method includes: controlling the vehicle body to rotate around a rotation center and acquiring multiple position coordinates of a positioning antenna; wherein the positioning antenna is mounted on the vehicle body and rotates around the rotation center following the vehicle body; the rotation center is the intersection of the rotation axis of the vehicle body and the upper surface of the base; calculating the relative positional relationship between the positioning antenna and the rotation center based on the multiple position coordinates of the positioning antenna; controlling the tracked vehicle to perform differential rotational motion in place or controlling the movement of one side of the tracked vehicle's tracks, and calculating multiple actual position coordinates of the rotation center based on the multiple position coordinates of the positioning antenna and the relative positional relationship between the positioning antenna and the rotation center; and calculating the position coordinates of the center of gravity of the tracked vehicle based on the multiple actual position coordinates of the rotation center. In one embodiment, calculating the relative positional relationship between the positioning antenna and the rotation center based on multiple position coordinates of the positioning antenna includes:
[0006] The reference position coordinates of the rotation center are calculated based on multiple position coordinates of the positioning antenna; and
[0007] In one embodiment, calculating the reference position coordinates of the rotation center based on multiple position coordinates of the positioning antenna includes:
[0008] The center coordinates of the arcs corresponding to the multiple position coordinates of the positioning antenna are calculated based on the multiple position coordinates of the positioning antenna; wherein, the center coordinates are used as the reference position coordinates of the rotation center.
[0009] In one embodiment, calculating the center coordinates of the arc corresponding to the multiple position coordinates of the positioning antenna based on the multiple position coordinates of the positioning antenna includes:
[0010] The circular motion trajectory of the positioning antenna is generated based on multiple position coordinates of the positioning antenna; and
[0011] In one embodiment, the track includes a first track and a second track distributed on opposite sides of the base, and controlling the differential rotation of the tracked vehicle in place or controlling the movement of one side of the tracked vehicle includes:
[0012] In one embodiment, calculating the coordinates of the center of gravity of the tracked vehicle based on multiple actual position coordinates of the center of rotation includes:
[0013] Generate the circular motion trajectory of the center of rotation based on multiple actual position coordinates of the center of rotation; and
[0014] In one embodiment, calculating the position coordinates of the center of gravity based on the circular arc trajectory of the center of rotation includes:
[0015] The straight-line distance between the center of gravity and the center of rotation is calculated based on the circular arc motion trajectory of the center of rotation.
[0016] The deflection angle of the line connecting the center of gravity and the center of rotation relative to the central axis of the tracked vehicle is calculated based on the circular arc trajectory of the center of rotation; wherein, the central axis of the tracked vehicle represents a straight line passing through the center of rotation and parallel to the forward direction of the tracked vehicle; and
[0017] In one embodiment, calculating the deflection angle of the line connecting the center of gravity and the center of rotation relative to the central axis of the tracked vehicle based on the circular arc motion trajectory of the center of rotation includes:
[0018] Obtain a target axis that forms a preset angle with the central axis, and make the starting point of the arc motion trajectory from the intersection of the target axis and the central axis to the center of rotation equal to the straight-line distance between the center of gravity and the center of rotation;
[0019] The shortest distance from the end point of the circular arc trajectory of the rotation center to the target axis is calculated; and
[0020] In one embodiment, before controlling the vehicle body to rotate about the rotation center, the method further includes:
[0021] Obtain the initial position coordinates of the positioning antenna; and
[0022] In one embodiment, controlling the tracked vehicle to rotate in place at a differential speed or controlling the movement of one side of the tracked vehicle, and calculating multiple actual position coordinates of the rotation center based on the position coordinates of the positioning antenna and the relative positional relationship between the positioning antenna and the rotation center, includes:
[0023] According to another aspect of this application, a device for determining the center of gravity position of a tracked vehicle is provided, applied to a tracked vehicle, the tracked vehicle including a base, tracks, and a body, the tracks being movably connected to the base, and the body being rotatably connected to the base. The device for determining the center of gravity position of the tracked vehicle includes: a first acquisition module, used to control the body to rotate around a rotation center and acquire multiple position coordinates of a positioning antenna; wherein the positioning antenna is mounted on the body and is used to follow the body's rotation around the rotation center; the rotation center is the axis of rotation of the body intersecting the center of rotation. The intersection of the upper surface of the base; a first calculation module, used to calculate the relative positional relationship between the positioning antenna and the rotation center based on multiple position coordinates of the positioning antenna; a second calculation module, used to control the differential rotational motion of the tracked vehicle in place or control the movement of one side of the tracked vehicle, and calculate multiple actual position coordinates of the rotation center based on the position coordinates of the positioning antenna and the relative positional relationship between the positioning antenna and the rotation center; and a third calculation module, used to calculate the position coordinates of the center of gravity of the tracked vehicle based on multiple actual position coordinates of the rotation center.
[0024] According to another aspect of this application, a tracked vehicle is provided, comprising: a base;
[0025] Tracks, movably connected to the base; vehicle body, rotatably connected to the base; positioning antenna, mounted on the vehicle body; and
[0026] A controller, disposed on the base or the vehicle body, is used to perform the method for determining the center of gravity position of the tracked vehicle as described above.
[0027] The method, apparatus, and tracked vehicle for determining the center of gravity position of a tracked vehicle provided in this application obtain multiple position coordinates of the positioning antenna by controlling the vehicle body rotation, obtain the relative position relationship between the positioning antenna and the rotation center by using the multiple position coordinates of the positioning antenna, obtain multiple actual position coordinates of the rotation center by controlling the tracked vehicle to perform differential rotation motion in place or single-side track motion, and then calculate the position coordinates of the center of gravity by using the multiple actual coordinates of the rotation center. This eliminates the physical modeling process, effectively simplifies the process of calculating the center of gravity position coordinates, and improves the speed of calculating the center of gravity position coordinates. Attached Figure Description
[0028] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.
[0029] Figure 1 A schematic flowchart illustrating a method for determining the center of gravity position of a tracked vehicle, provided as an exemplary embodiment of this application.
[0030] Figure 2 This is a schematic flowchart illustrating the process of calculating the relative positional relationship between the positioning antenna and the rotation center, provided as an exemplary embodiment of this application.
[0031] Figure 3 A flowchart illustrating a method for determining the center of gravity position of a tracked vehicle, provided as another exemplary embodiment of this application.
[0032] Figure 4 This is a flowchart illustrating how the center coordinates of an arc corresponding to multiple position coordinates of a positioning antenna are calculated based on multiple position coordinates of the positioning antenna, as provided in an exemplary embodiment of this application.
[0033] Figure 5 A flowchart illustrating a method for determining the center of gravity position of a tracked vehicle, provided as another exemplary embodiment of this application.
[0034] Figure 6 A flowchart illustrating a method for determining the center of gravity position of a tracked vehicle, provided as another exemplary embodiment of this application.
[0035] Figure 7 This is a flowchart illustrating the process of calculating the position coordinates of the center of gravity based on multiple actual position coordinates of the center of rotation, as provided in an exemplary embodiment of this application.
[0036] Figure 8A schematic diagram of the motion trajectories of the first track, the second track, and the rotation center during a stationary differential rotation process provided in an exemplary embodiment of this application.
[0037] Figure 9 This is a flowchart illustrating the process of calculating the position coordinates of the center of gravity based on the circular motion trajectory of the center of rotation, as provided in an exemplary embodiment of this application.
[0038] Figure 10 This is a schematic diagram of the circular motion trajectory of the center of rotation when the center of gravity is located in front of the center of rotation, as provided in an exemplary embodiment of this application.
[0039] Figure 11 This is a schematic diagram of the circular motion trajectory of the center of rotation when the center of gravity is located behind the center of rotation, as provided in an exemplary embodiment of this application.
[0040] Figure 12 This is a flowchart illustrating the process of calculating the deflection angle of the line connecting the center of gravity and the center of rotation relative to the central axis of the tracked vehicle based on the circular motion trajectory of the center of rotation, as provided in an exemplary embodiment of this application.
[0041] Figure 13 A geometric diagram showing the calculated deflection angle provided for an exemplary embodiment of this application.
[0042] Figure 14 A flowchart illustrating a method for determining the center of gravity position of a tracked vehicle, provided as another exemplary embodiment of this application.
[0043] Figure 15 A preset relationship diagram between the positioning antenna and the rotation center provided for an exemplary embodiment of this application.
[0044] Figure 16 A flowchart illustrating a method for determining the center of gravity position of a tracked vehicle, provided as another exemplary embodiment of this application.
[0045] Figure 17 A schematic diagram of the structure of a tracked vehicle center of gravity position measuring device provided for an exemplary embodiment of this application.
[0046] Figure 18 A schematic diagram of the structure of a tracked vehicle center of gravity position measuring device provided as another exemplary embodiment of this application.
[0047] Figure 19 This is a schematic diagram of the structure of a tracked vehicle provided for an exemplary embodiment of this application.
[0048] Figure 20 This is a schematic diagram of the controller provided as an exemplary embodiment of this application. Detailed Implementation
[0049] Hereinafter, exemplary embodiments according to this application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein.
[0050] Figure 1 This is a schematic flowchart illustrating a method for determining the center of gravity position of a tracked vehicle, provided as an exemplary embodiment of this application. Figure 1 As shown, this method for determining the center of gravity of a tracked vehicle can be used to quickly obtain its coordinates, allowing workers to adjust the vehicle's attitude based on these coordinates and thus better maintain its stability. Generally, a tracked vehicle includes a base, tracks, and a chassis. The chassis is rotatably connected to the base, allowing it to rotate relative to the base to work in different directions. The tracks are movably connected to the base, and when activated, they can move the base and chassis to different work positions. Please refer to... Figure 1 The method for determining the center of gravity position of the tracked vehicle includes the following steps:
[0051] S110: Controls the vehicle body to rotate around the rotation center and obtains multiple position coordinates of the positioning antenna.
[0052] The positioning antenna can receive positioning signals and send positioning data to the controller, which can then obtain the position coordinates of the positioning antenna.
[0053] Since the positioning antenna is mounted on the vehicle body, it rotates around the rotation center as the vehicle body rotates. Thus, during this rotation, the controller can acquire multiple positioning data points of the antenna, thereby determining multiple position coordinates of the antenna.
[0054] In tracked vehicles, the vehicle body typically rotates relative to the base around a rotation axis, allowing the vehicle body to be operated in different directions. The aforementioned center of rotation can be understood as the intersection of the rotation axis and the upper surface of the base.
[0055] S120: The relative positional relationship between the positioning antenna and the rotation center is calculated based on the multiple positional coordinates of the positioning antenna.
[0056] The relative positional relationship between the positioning antenna and the rotation center can be understood as a functional relationship between the position coordinates of the positioning antenna and the position coordinates of the rotation center. Given the position coordinates of the positioning antenna, the corresponding position coordinates of the rotation center can be calculated.
[0057] S130: Controls the differential rotation of the tracked vehicle in place or controls the movement of one side of the tracked vehicle, and calculates multiple actual position coordinates of the rotation center based on multiple position coordinates of the positioning antenna and the relative position relationship between the positioning antenna and the rotation center.
[0058] During the stationary differential rotation or single-track movement of a tracked vehicle, the entire vehicle rotates around its center of gravity. Therefore, both the positioning antenna and the rotation center rotate around the vehicle's center of gravity during this process. As the positioning antenna and rotation center rotate, their positions continuously change. Based on the coordinates of the positioning antenna and its relative position to the rotation center, multiple actual position coordinates of the rotation center can be calculated.
[0059] S140: The position coordinates of the center of gravity are calculated based on multiple actual position coordinates of the center of rotation.
[0060] There is a specific geometric relationship between the multiple actual position coordinates of the center of rotation and the position coordinates of the center of gravity. The position coordinates of the center of gravity can be calculated based on the multiple actual position coordinates of the center of rotation and the geometric relationship between the multiple actual position coordinates of the center of rotation and the position coordinates of the center of gravity. The specific process will be described in detail later.
[0061] This embodiment provides a method for determining the center of gravity position of a tracked vehicle. This method obtains multiple position coordinates of a positioning antenna by controlling the vehicle's rotation. The relative positional relationship between the positioning antenna and the center of rotation is then determined using these coordinates. Finally, multiple actual position coordinates of the center of rotation are obtained by controlling the tracked vehicle to perform differential rotation in place or single-track movement. The center of gravity position coordinates are then derived from these actual position coordinates. This method eliminates the need for physical modeling, effectively simplifying the calculation of the center of gravity coordinates and increasing the speed of the calculation.
[0062] Figure 2 This is a schematic flowchart illustrating the calculation of the relative positional relationship between the positioning antenna and the rotation center, provided as an exemplary embodiment of this application. Figure 2 As shown, step S120 may include:
[0063] S121: The reference position coordinates of the rotation center are calculated based on the multiple position coordinates of the positioning antenna.
[0064] During the vehicle's rotation, the coordinates of multiple positions of the positioning antenna can be connected to form an arc. The reference coordinates of the rotation center are the coordinates of the center of the arc. Given that the trajectory of the arc is known, the corresponding center coordinates can be calculated.
[0065] S122: The relative positional relationship between the positioning antenna and the rotation center is calculated based on the multiple positional coordinates of the positioning antenna and the reference positional coordinates of the rotation center.
[0066] After obtaining the reference coordinates of the rotation center, an arc is formed based on the multiple position coordinates of the positioning antenna. The functional relationship between the positioning antenna and the rotation center, i.e., the relative positional relationship between the positioning antenna and the rotation center, can be calculated.
[0067] Figure 3 A flowchart illustrating a method for determining the center of gravity position of a tracked vehicle, provided as another exemplary embodiment of this application. Figure 3 As shown, step S121 may include:
[0068] S1211: Calculate the center coordinates of the arc corresponding to the multiple position coordinates of the positioning antenna based on the multiple position coordinates of the positioning antenna; where the center coordinates are used as the reference position coordinates of the rotation center.
[0069] The center coordinates of the corresponding arc can be calculated using a curve fitting algorithm based on the multiple position coordinates of the positioning antenna. In this algorithm, the arc trajectory can be generated first based on the multiple position coordinates of the positioning antenna, and then the corresponding center coordinates can be calculated based on the arc trajectory; alternatively, the step of generating the arc trajectory can be skipped, and the center coordinates can be calculated directly.
[0070] Figure 4 This is a flowchart illustrating an exemplary embodiment of the present application, showing how to calculate the center coordinates of an arc corresponding to multiple position coordinates of a positioning antenna based on multiple position coordinates of the positioning antenna. For example... Figure 4 As shown, step S1211 above may include:
[0071] S12111: Generate the circular motion trajectory of the positioning antenna based on multiple position coordinates of the positioning antenna.
[0072] The positioning antennas follow the vehicle body and move in a circle around the rotation center. When the coordinates of multiple positioning antennas are connected in sequence, they will form an arc motion trajectory with the rotation center as the center.
[0073] S12112: Calculate the center coordinates of the circular motion trajectory of the positioning antenna based on the circular motion trajectory of the positioning antenna, and use the center coordinates as the reference position coordinates of the rotation center.
[0074] Specifically, curve fitting algorithms can be used to find the coordinates of the center of the circular arc trajectory of the positioning antenna, and these coordinates can then be used as the actual position coordinates of the rotation center. Optionally, curve fitting methods such as least squares fitting, algebraic fitting, and Taubin's algorithm can be used.
[0075] It should be noted that steps S12111 and S12112 can be repeated multiple times to obtain multiple reference position coordinates of the rotation center. Then, the average value of the multiple reference position coordinates of the rotation center is calculated to reduce the deviation of the reference position coordinates of the rotation center caused by accidental factors, thereby effectively correcting the actual position coordinates of the rotation center.
[0076] Figure 5 This is a flowchart illustrating a method for determining the center of gravity position of a tracked vehicle, provided as another exemplary embodiment of this application. Generally, the track includes a first track and a second track distributed on opposite sides of a base. Please refer to... Figure 1 and Figure 5 In step S130, controlling the tracked vehicle to rotate at different speeds in place can be understood as controlling the first and second tracks to have the same speed but opposite directions. This allows the tracked vehicle as a whole to rotate around its center of gravity. Figure 5 As shown, step S130 can be adjusted accordingly:
[0077] The first and second tracks are controlled to have the same speed and opposite directions. The actual coordinates of the rotation center are calculated based on the multiple position coordinates of the positioning antenna and the relative position relationship between the positioning antenna and the rotation center.
[0078] Figure 6 A flowchart illustrating a method for determining the center of gravity position of a tracked vehicle, provided as another exemplary embodiment of this application. Please refer to... Figure 1 and Figure 6 Step S130, controlling the movement of one side of the tracked vehicle's track, can be understood as controlling the movement of either the first or second track. This also allows the tracked vehicle to rotate around its center of gravity as a whole. Figure 6 As shown, step S130 can be adjusted accordingly:
[0079] Control the movement of the first or second track, and calculate the multiple actual position coordinates of the rotation center based on the multiple position coordinates of the positioning antenna and the relative position relationship between the positioning antenna and the rotation center.
[0080] It should be noted that the stationary differential rotation and the single-sided track movement cannot be performed simultaneously. The stationary differential rotation or the single-sided track movement can be performed separately.
[0081] In practical use, the differential rotation motion of the tracked vehicle in place is generally chosen to achieve the overall rotation of the tracked vehicle around the center of gravity. This is because the radius of rotation of differential rotation motion in place is smaller than that of single-sided track motion, making it easier to calculate the position coordinates of the rotation center and the center of gravity.
[0082] Figure 7This is a flowchart illustrating the process of calculating the position coordinates of the center of gravity based on multiple actual position coordinates of the center of rotation, as provided in an exemplary embodiment of this application. Step S140 may include:
[0083] S141: Generate the circular motion trajectory of the rotation center based on multiple actual position coordinates of the rotation center.
[0084] Figure 8 This is a schematic diagram illustrating the motion trajectories of the first track, the second track, and the center of rotation during a stationary differential rotation process, provided as an exemplary embodiment of this application. Figure 8 As shown, during the differential rotation in place, the center of rotation moves in a circle around the center of gravity. Therefore, after calculating the coordinates of multiple actual positions of the center of rotation, connecting these coordinates can generate the circular trajectory of the center of rotation.
[0085] S142: The coordinates of the center of gravity are calculated based on the circular arc trajectory of the center of rotation.
[0086] Similarly, using the aforementioned curve fitting method, the coordinates of the center of gravity can be calculated based on the circular arc trajectory of the center of rotation.
[0087] Specifically, Figure 9 This is a flowchart illustrating the process of calculating the position coordinates of the center of gravity based on the circular arc trajectory of the center of rotation, as provided in an exemplary embodiment of this application. Figure 9 As shown, step S142 may include the following steps:
[0088] S1421: The straight-line distance between the center of gravity and the center of rotation is calculated based on the circular arc trajectory of the center of rotation.
[0089] Based on the aforementioned curve fitting algorithm, the length of the radius corresponding to the circular motion trajectory of the center of rotation can be calculated, which is the straight-line distance between the center of gravity and the center of rotation.
[0090] S1422: Obtain the relative positional relationship between the center of gravity and the center of rotation based on the circular motion trajectory of the center of rotation.
[0091] Specifically, the relative positional relationship between the center of gravity and the center of rotation can be understood as their front-to-back position on the tracked vehicle. Generally, during the normal travel of a tracked vehicle, the direction in which the vehicle travels is considered forward, and vice versa. Therefore, the relative positional relationship between the center of gravity and the center of rotation can be either with the center of gravity in front of the center of rotation or with the center of gravity behind the center of rotation.
[0092] For example: Figure 10 This is a schematic diagram illustrating the arc-shaped trajectory of the center of rotation when the center of gravity is located in front of the center of rotation, as provided in an exemplary embodiment of the application. Figure 10As shown, during differential rotation in place, the center of rotation revolves around the center of gravity. If the arc trajectory of the center of rotation is concave, it can be determined that the center of gravity is located in front of the center of rotation. Figure 10 In a Cartesian coordinate system, the arc motion trajectory of the center of rotation is concave towards the horizontal axis, which can be understood as the arc motion trajectory of the center of rotation being concave.
[0093] For example: Figure 11 This is a schematic diagram illustrating the arc trajectory of the center of rotation when the center of gravity is located behind the center of rotation, as provided in an exemplary embodiment of this application. Figure 11 As shown, during differential rotation in place, the center of rotation revolves around the center of gravity. If the arc trajectory of the center of rotation is convex upwards, it can be determined that the center of gravity is located behind the center of rotation. Figure 11 In a rectangular coordinate system, the arc motion trajectory of the center of rotation is concave in the direction away from the horizontal axis, which can be understood as the arc motion trajectory of the center of rotation being convex upward.
[0094] It is worth noting that in practical applications, a display device can be set up in front of the operator to show the generated arc trajectory of the center of rotation. The operator can then use this to determine the relative position between the center of gravity and the center of rotation, and input commands to control the corresponding device for the next step. Alternatively, the program settings can be configured to correspond the two scenarios of the arc trajectory being convex (upward) and concave (downward) to the positive or negative curvature of the arc trajectory. For example, the program can be preset so that a positive curvature corresponds to a convex arc trajectory, and a negative curvature corresponds to a concave arc trajectory. This allows the device to quickly determine the relative position between the center of gravity and the center of rotation after generating the arc trajectory, enabling subsequent operations.
[0095] like Figure 9 As shown, step S142 may also include the following steps:
[0096] S1423: The deflection angle of the line connecting the center of gravity and the center of rotation relative to the central axis of the tracked vehicle is calculated based on the circular arc motion trajectory of the center of rotation.
[0097] The centerline of a tracked vehicle can be understood as a straight line passing through the center of rotation and parallel to the vehicle's forward direction. After generating the circular motion trajectory of the center of rotation, the aforementioned deflection angle can be calculated using the geometric relationship between the circular motion trajectory of the center of rotation, the center of gravity, and the centerline.
[0098] S1424: The position coordinates of the center of gravity are calculated based on the straight distance, deflection angle, and the actual position coordinates of the rotation center before differential rotation or single-sided track movement.
[0099] After determining the straight-line distance between the center of gravity and the center of rotation, as well as the actual position coordinates of the center of rotation before differential rotation or before movement of one side of the track, step S1423 is used to determine the deflection angle of the line connecting the center of gravity and the center of rotation relative to the central axis of the tracked vehicle. This allows us to obtain the position coordinates of the center of gravity.
[0100] Figure 12 This is a flowchart illustrating the process of calculating the deflection angle of the line connecting the center of gravity and the center of rotation relative to the central axis of the tracked vehicle based on the circular motion trajectory of the center of rotation, as provided in an exemplary embodiment of this application.
[0101] like Figure 12 As shown, the aforementioned step S1423 may include:
[0102] S14231: Obtain the target axis that forms a preset angle with the central axis, and make the starting distance of the arc motion trajectory from the intersection of the target axis and the central axis to the center of rotation equal to the straight distance between the center of gravity and the center of rotation.
[0103] The starting point of the circular motion trajectory of the aforementioned slewing center can be understood as the coordinate point of the slewing center's location before differential rotation in place or single-sided track movement.
[0104] The preset angle between the target axis and the center axis can be any angle, and the specific angle is set according to the actual situation. Generally, for the convenience of subsequent calculations, the preset angle between the target axis and the center axis is 90°, and the target axis and the center axis are perpendicular to each other.
[0105] S14232: Calculate the shortest distance from the end point of the circular arc trajectory of the rotation center to the target axis.
[0106] The endpoint of the circular motion trajectory of the aforementioned slewing center can be understood as the coordinate point of the slewing center's location after it has rotated around the center of gravity by a certain angle following differential rotation in place or single-sided track movement.
[0107] In the ideal state where the center of gravity does not deviate from the central axis (i.e., the center of gravity is on the central axis), after differential rotation at the aforementioned preset angle, the center of rotation will eventually be on the target axis, meaning the endpoint of the arc trajectory of the center of rotation is on the target axis. However, due to the uneven mass of the tracked vehicle on both sides of the central axis, the center of gravity may deviate from the central axis. Consequently, after differential rotation at the center of rotation, there will be a distance between the location of the center of rotation and the target axis, meaning the endpoint of the arc trajectory of the center of rotation does not coincide with the target axis. The shortest distance in step S14232 can be understood as the straight-line distance from the intersection of a perpendicular line drawn from the endpoint of the arc trajectory of the center of rotation to the endpoint of the arc trajectory of the center of rotation, perpendicular to the target axis.
[0108] S14233: The deflection angle is calculated based on the straight-line distance and the shortest distance.
[0109] After generating the circular arc trajectory of the center of rotation, the shortest distance between the endpoint of the circular arc trajectory and the target axis can also be measured. Based on the straight-line distance between the center of gravity and the center of rotation, the shortest distance from the endpoint of the circular arc trajectory to the target axis, and the corresponding geometric relationships, the aforementioned deflection angle can be calculated.
[0110] Figure 13 A geometric diagram showing the calculated deflection angle provided for an exemplary embodiment of this application. Please refer to... Figure 13 The following example illustrates the calculation process for the aforementioned deflection angle, assuming the center of gravity is located in front of the center of rotation and to the right of the central axis, with a preset angle of 90°. Figure 13 As shown:
[0111] Based on geometric relationships, the following equation can be obtained:
[0112]
[0113] Eliminating L, we get the following formula:
[0114]
[0115] Using the double-angle formula, we can obtain:
[0116]
[0117] make Since θ is generally small, C can be considered to be less than 1.
[0118] Substituting x and C, we get:
[0119]
[0120] By expanding and rearranging terms, and then squaring both sides, we can obtain:
[0121] 2x 4 -(2C+1)x 2 +C 2 =0
[0122] Let y = x 2 ∈[0, 1],
[0123] 2y 2 -(2C+1)y+C 2 =0.
[0124] Since y is generally not greater than 0.5, therefore:
[0125] make
[0126] Finally, substituting back to θ, we get...
[0127]
[0128] Thus, the relationship between θ, R, and d can be obtained, where θ represents the deflection angle to be calculated, R represents the straight-line distance between the center of gravity and the center of rotation, i.e., the radius corresponding to the arc trajectory of the center of rotation, and d represents the shortest distance from the end point of the arc trajectory of the center of rotation to the target axis. Additionally, L in the above geometric relationship is an intermediate quantity introduced for ease of calculation; specifically, it represents the straight-line distance from the intersection of the angle bisector of the angle between the line connecting the starting point of the arc trajectory of the center of rotation and the actual center of gravity position and the central axis, and the target axis, to the actual center of gravity position.
[0129] It is worth noting that, ideally, if the tracked vehicle performs differential rotation in place for a long time and the rotation angle is large, a relatively accurate trajectory of the center of rotation can be obtained. Therefore, based on the trajectory of the center of rotation, a relatively accurate coordinate of the center of gravity, i.e., the position coordinate of the center of gravity, can be directly obtained through a curve fitting algorithm. However, in practical applications, considering that tracked vehicles cannot perform differential rotation in place for a long time, and the actual angle of differential rotation is small, the accuracy of the arc trajectory of the center of rotation obtained in this way is low. Therefore, it is considered to first roughly calculate the aforementioned R value based on the arc trajectory of the center of rotation, i.e., to perform step 1421 first. After step S1423 is completed, the relationship between R and θ can be obtained, and the angle θ can be calculated. In actual operation, the differential rotation in place can be repeated multiple times, and steps S1421, S1422, and S1423 can also be repeated multiple times to obtain multiple R values and gradually correct the value of the deflection angle θ.
[0130] Additionally, it should be understood that if the center of gravity is located behind the center of rotation, Figure 12 The corresponding geometric relationship will change accordingly. Therefore, after step S1422 is executed, the device obtains the relative positional relationship between the center of gravity and the center of rotation, and can perform calculations on the corresponding geometric relationship to calculate the corresponding deflection angle value.
[0131] It should be understood that step S1422 can quickly determine the relative positional relationship between the center of gravity and the center of rotation, shortening the time required to calculate the coordinates of the center of gravity. In one embodiment, step S1422 can be omitted; that is, after executing step S1421, step S1423 can be executed directly. Even after omitting step S1422, executing steps S1421, S1423, and S1424 will still yield the coordinates of the center of gravity.
[0132] Figure 14 A flowchart illustrating a method for determining the center of gravity position of a tracked vehicle, provided as another exemplary embodiment of this application. Figure 14 As shown, prior to step S110, the method for determining the center of gravity position of the tracked vehicle further includes:
[0133] S150: Obtain the initial position coordinates of the positioning antenna.
[0134] Before step S110, the tracked vehicle is stationary. The positioning antenna receives the positioning signal and sends the positioning data to the controller, which can then obtain the initial position coordinates of the positioning antenna.
[0135] S160: Obtain the initial position coordinates of the rotation center based on the initial position coordinates of the positioning antenna and the preset positional relationship between the positioning antenna and the rotation center.
[0136] Generally, the preset positional relationship between the positioning antenna and the rotation center can be obtained from the engineering drawings of the tracked vehicle. Once the coordinates of the positioning antenna are determined, the initial position coordinates of the rotation center can be calculated based on the preset positional relationship between the positioning antenna and the rotation center in the engineering drawings. These initial position coordinates of the rotation center can be used as a reference for the subsequent calculation of the actual position coordinates of the rotation center.
[0137] For example: Figure 15 A preset relationship diagram between the positioning antenna and the rotation center provided for an exemplary embodiment of this application. (See reference...) Figure 15 The preset relationship diagram shown allows for the rapid calculation of the initial position coordinates of the rotation center based on the distances between the positioning antenna and the rotation center along the horizontal and vertical axes, provided that the initial position coordinates of the positioning antenna are obtained.
[0138] Specifically, after step S130, the method for determining the center of gravity position of the tracked vehicle further includes:
[0139] S170: Compare each actual position coordinate of the rotation center with the initial position coordinate of the rotation center to retain or discard the actual position coordinates of the rotation center.
[0140] After differential rotation in place, multiple actual position coordinates of the rotation center can be calculated. Each actual position coordinate of the rotation center is compared with the initial coordinates of the rotation center obtained in step S160. If the error between the actual position coordinates and the initial position coordinates of the rotation center is within a preset range, the actual position coordinates of that rotation center can be retained for calculating the subsequent center of gravity position coordinates. If the error between the actual position coordinates and the initial position coordinates of the rotation center exceeds a preset range, the corresponding actual position coordinates of the rotation center are discarded to improve the accuracy of the subsequent center of gravity position coordinate calculation.
[0141] It should be noted that the aforementioned preset range can be set according to the actual situation. For example, the preset range can be 0-1cm, 0-2cm, 0-3cm, etc.
[0142] Figure 16 A flowchart illustrating a method for determining the center of gravity position of a tracked vehicle, provided as another exemplary embodiment of this application. Figure 16 As shown, step S130 may include:
[0143] S131: Control the tracked vehicle to perform multiple differential rotation movements in place or multiple single-side track movements, and calculate multiple actual position coordinates of the rotation center during the multiple movements based on the position coordinates of the positioning antenna and the relative position relationship between the positioning antenna and the rotation center.
[0144] The tracked vehicle can be controlled to perform only multiple differential rotations in place. Alternatively, it can be controlled to perform only multiple single-track movements. Or, it can perform a certain number of differential rotations in place, followed by a certain number of single-track movements.
[0145] In practical applications, during each stationary differential rotation or single-track movement of a tracked vehicle, multiple actual position coordinates of the rotation center can be obtained. These multiple actual position coordinates of the rotation center can be used to calculate the position coordinates of the tracked vehicle's center of gravity.
[0146] Correspondingly, step S140 may include:
[0147] S143: The coordinates of the center of gravity of the tracked vehicle are calculated based on the actual coordinates of the rotation center during multiple movements.
[0148] The multiple actual position coordinates of the center of rotation obtained after each turning motion can be used to calculate the position coordinates of the center of gravity. After multiple turns, multiple position coordinates of the center of gravity can be obtained.
[0149] S144: Calculate the target position coordinates of the center of gravity of the tracked vehicle based on multiple position coordinates of the center of gravity of the tracked vehicle.
[0150] The final target position coordinates can be obtained by averaging the multiple position coordinates of the center of gravity. This can reduce the error of the center of gravity position coordinates obtained in a single movement and improve the accuracy of the center of gravity position coordinates.
[0151] Figure 17 This is a schematic diagram of the structure of a device for measuring the center of gravity position of a tracked vehicle, provided as an exemplary embodiment of this application. Figure 17 As shown, the tracked vehicle center of gravity position measuring device 20 includes: a first acquisition module 21, used to control the vehicle body to rotate around the rotation center and acquire multiple position coordinates of the positioning antenna; wherein, the positioning antenna is mounted on the vehicle body and is used to follow the vehicle body to rotate around the rotation center; the rotation center is the intersection of the rotation axis of the vehicle body and the upper surface of the base; a first calculation module 22, used to calculate the relative position relationship between the positioning antenna and the rotation center based on the multiple position coordinates of the positioning antenna; a second calculation module 23, used to control the tracked vehicle to rotate in place at a differential speed or control the movement of one side of the tracked vehicle, and calculate multiple actual position coordinates of the rotation center based on the position coordinates of the positioning antenna and the relative position relationship between the positioning antenna and the rotation center; and a third calculation module 24, used to calculate the position coordinates of the tracked vehicle's center of gravity based on the multiple actual position coordinates of the rotation center.
[0152] The tracked vehicle center of gravity position measuring device 20 obtains multiple position coordinates of the positioning antenna by controlling the vehicle body rotation through the first acquisition module 21, calculates the relative position relationship between the positioning antenna and the rotation center through the first calculation module 22 based on the multiple position coordinates of the positioning antenna, obtains multiple actual position coordinates of the rotation center by controlling the tracked vehicle to perform differential rotation motion in place or single-side track motion through the second calculation module 23, and then calculates the position coordinates of the tracked vehicle's center of gravity based on the multiple actual position coordinates of the rotation center. The entire calculation process omits the physical modeling process, effectively simplifies the process of calculating the center of gravity position coordinates, and improves the speed of calculating the center of gravity position coordinates.
[0153] Figure 18 A schematic diagram of the structure of a device for measuring the center of gravity position of a tracked vehicle, provided as another exemplary embodiment of this application. (See diagram below.) Figure 18As shown, in one embodiment, the first calculation module 22 may include a fourth calculation module 221, which is used to calculate the reference position coordinates of the rotation center based on multiple position coordinates of the positioning antenna; and a fifth calculation module 222, which is used to calculate the relative position relationship between the positioning antenna and the rotation center based on the multiple position coordinates of the positioning antenna and the reference position coordinates of the rotation center.
[0154] like Figure 18 As shown, in one embodiment, the fourth calculation module 221 can also be used to calculate the center coordinates of the arc corresponding to the multiple position coordinates of the positioning antenna based on the multiple position coordinates of the positioning antenna; wherein, the center coordinates are used as the reference position coordinates of the rotation center.
[0155] like Figure 18 As shown, in one embodiment, the track includes a first track and a second track distributed on opposite sides of the base; the second calculation module 23 may include a first control module 231 for controlling the first track and the second track to have the same running speed and to run in opposite directions.
[0156] like Figure 18 As shown, in one embodiment, the track includes a first track and a second track distributed on opposite sides of the base; the second calculation module 23 may also include a second control module 232 for controlling the movement of the first track or the second track.
[0157] like Figure 18 As shown, in one embodiment, the third calculation module 24 may include a generation module 241, which is used to generate the circular arc motion trajectory of the center of rotation based on multiple actual position coordinates of the center of rotation; and a sixth calculation module 242, which is used to calculate the position coordinates of the center of gravity based on the circular arc motion trajectory of the center of rotation.
[0158] like Figure 18 As shown, in one embodiment, the sixth calculation module 242 may include a seventh calculation module 2421, used to calculate the straight-line distance between the center of gravity and the center of rotation based on the arc motion trajectory of the center of rotation; an eighth calculation module 2422, used to calculate the deflection angle of the line connecting the center of gravity and the center of rotation relative to the central axis of the tracked vehicle based on the arc motion trajectory of the center of rotation; wherein, the central axis of the tracked vehicle represents a straight line passing through the center of rotation and parallel to the forward direction of the tracked vehicle; and a ninth calculation module 2423, used to calculate the position coordinates of the center of gravity based on the straight-line distance, the deflection angle, and the actual position coordinates of the center of rotation before differential rotation or before movement of one side of the track.
[0159] like Figure 18As shown, in one embodiment, the eighth calculation module 2422 may include a second acquisition module 24221, used to acquire a target axis that forms a preset angle with the central axis, and to make the distance from the intersection of the target axis and the central axis to the starting point of the arc motion trajectory of the rotation center equal to the straight-line distance between the center of gravity and the rotation center; the tenth calculation module 24222, used to calculate the shortest distance from the end point of the arc motion trajectory of the rotation center to the target axis; and the eleventh calculation module 24223, used to calculate the deflection angle based on the straight-line distance and the shortest distance.
[0160] like Figure 18 As shown, in one embodiment, the second calculation module 23 may further include a twelfth calculation module 233, used to control the tracked vehicle to perform multiple differential rotation movements in place or multiple single-sided track movements, and to calculate multiple actual position coordinates of the rotation center during the multiple movements based on the position coordinates of the positioning antenna and the relative position relationship between the positioning antenna and the rotation center; correspondingly, the third calculation module 24 may include a thirteenth calculation module 243, used to calculate multiple position coordinates of the center of gravity of the tracked vehicle based on the multiple actual position coordinates of the rotation center during the multiple movements; and a fourteenth calculation module 244, used to calculate the target position coordinates of the center of gravity of the tracked vehicle based on the multiple position coordinates of the center of gravity of the tracked vehicle.
[0161] Figure 19 This is a schematic diagram of the structure of a tracked vehicle provided for an exemplary embodiment of this application. Figure 19 As shown, the tracked vehicle 30 includes a base 31; tracks 32 movably connected to the base, which can move the base to different work positions after the tracks are in operation; a vehicle body 33 rotatably connected to the base, which can rotate to different directions to carry out construction work in different directions during the rotation of the vehicle body relative to the base; a positioning antenna 34 mounted on the vehicle body, which can follow the rotation of the vehicle body relative to the base; and a controller 35, which can be set on the base or the vehicle body, and can execute the aforementioned method for determining the center of gravity position of the tracked vehicle to calculate the center of gravity coordinates of the tracked vehicle.
[0162] Below, for reference Figure 20 The controller 35 according to an embodiment of this application is described below. The controller may be either or both of a first device and a second device, or a standalone device independent of them, which may communicate with the first device and the second device to receive acquired input signals from them.
[0163] Figure 20 A block diagram of a controller according to an embodiment of this application is shown.
[0164] like Figure 20 As shown, the controller 35 includes one or more processors 11 and memory 12.
[0165] The processor 11 may be a central processing unit (CPU) or other form of processing unit with data processing and / or instruction execution capabilities, and may control other components in the controller 35 to perform desired functions.
[0166] The memory 12 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may execute the program instructions to implement the methods for determining the center of gravity position of the tracked vehicle according to the various embodiments of this application described above, and / or other desired functions. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage medium.
[0167] In one example, controller 35 may also include input device 13 and output device 14, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).
[0168] When the controller is a standalone device, the input device 13 can be a communication network connector for receiving the acquired input signals from the first device and the second device.
[0169] In addition, the input device 13 may also include, for example, a keyboard, a mouse, etc.
[0170] The output device 14 can output various information to the outside, including determined distance information, direction information, etc. The output device 14 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.
[0171] Of course, for the sake of simplicity, Figure 20 Only some of the components of the controller 35 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the controller 35 may include any other suitable components depending on the specific application.
[0172] The computer program product can be written in any combination of one or more programming languages to perform the operations of the embodiments of this application. The programming languages include object-oriented programming languages such as Java and C++, as well as conventional procedural programming languages such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.
[0173] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.
[0174] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.
Claims
1. A method for determining the center of gravity position of a tracked vehicle, applied to a tracked vehicle, the tracked vehicle comprising a base, tracks, and a body, the tracks being movably connected to the base, and the body being rotatably connected to the base, characterized in that, The method includes: The vehicle body is controlled to rotate around the rotation center, and multiple position coordinates of the positioning antenna are obtained; wherein, the positioning antenna is mounted on the vehicle body and rotates around the rotation center along with the vehicle body; the rotation center is the intersection of the rotation axis of the vehicle body and the upper surface of the base; The relative positional relationship between the positioning antenna and the rotation center is calculated based on multiple position coordinates of the positioning antenna. The tracked vehicle is controlled to rotate in place at a differential speed or to move one side of its track. Multiple actual coordinates of the rotation center are calculated based on multiple position coordinates of the positioning antenna and the relative positional relationship between the positioning antenna and the rotation center. During the tracked vehicle's differential rotation in place or movement of one side of its track, both the positioning antenna and the rotation center rotate around the center of gravity of the tracked vehicle. The coordinates of the center of gravity of the tracked vehicle are calculated based on multiple actual position coordinates of the slewing center.
2. The method according to claim 1, characterized in that, The calculation of the relative positional relationship between the positioning antenna and the rotation center based on multiple position coordinates of the positioning antenna includes: The reference position coordinates of the rotation center are calculated based on multiple position coordinates of the positioning antenna; and The relative positional relationship between the positioning antenna and the rotation center is calculated based on the multiple position coordinates of the positioning antenna and the reference position coordinates of the rotation center.
3. The method according to claim 2, characterized in that, The calculation of the reference position coordinates of the rotation center based on multiple position coordinates of the positioning antenna includes: The center coordinates of the arcs corresponding to the multiple position coordinates of the positioning antenna are calculated based on the multiple position coordinates of the positioning antenna; wherein, the center coordinates are used as the reference position coordinates of the rotation center.
4. The method according to claim 1, characterized in that, The track includes a first track and a second track distributed on opposite sides of the base. Controlling the differential rotation of the tracked vehicle in place or controlling the movement of one side of the track of the tracked vehicle includes: The first track and the second track are controlled to have the same running speed and run in opposite directions; or Control the movement of the first track or the second track.
5. The method according to claim 1, characterized in that, The calculation of the center of gravity coordinates of the tracked vehicle based on multiple actual position coordinates of the center of rotation includes: Generate the circular motion trajectory of the center of rotation based on multiple actual position coordinates of the center of rotation; and The position coordinates of the center of gravity are calculated based on the circular arc trajectory of the center of rotation.
6. The method according to claim 5, characterized in that, The calculation of the position coordinates of the center of gravity based on the circular motion trajectory of the center of rotation includes: The straight-line distance between the center of gravity and the center of rotation is calculated based on the circular arc motion trajectory of the center of rotation. The deflection angle of the line connecting the center of gravity and the center of rotation relative to the central axis of the tracked vehicle is calculated based on the circular arc trajectory of the center of rotation; wherein, the central axis of the tracked vehicle represents a straight line passing through the center of rotation and parallel to the forward direction of the tracked vehicle; and The position coordinates of the center of gravity are calculated based on the straight-line distance, the deflection angle, and the actual position coordinates of the rotation center before differential rotation or single-sided track movement.
7. The method according to claim 6, characterized in that, The calculation of the deflection angle of the line connecting the center of gravity and the center of rotation relative to the central axis of the tracked vehicle, based on the circular arc trajectory of the center of rotation, includes: Obtain a target axis that forms a preset angle with the central axis, and make the starting point of the arc motion trajectory from the intersection of the target axis and the central axis to the center of rotation equal to the straight-line distance between the center of gravity and the center of rotation; The shortest distance from the end point of the circular arc trajectory of the rotation center to the target axis is calculated; and The deflection angle is calculated based on the straight-line distance and the shortest distance.
8. The method according to any one of claims 1-7, characterized in that, The control of the tracked vehicle's differential rotation in place or the control of one side of the tracked vehicle's track movement, and the calculation of multiple actual position coordinates of the rotation center based on the position coordinates of the positioning antenna and the relative positional relationship between the positioning antenna and the rotation center, include: The tracked vehicle is controlled to perform multiple differential rotation movements in place or multiple single-side track movements, and multiple actual position coordinates of the rotation center during the multiple movements are calculated based on the position coordinates of the positioning antenna and the relative position relationship between the positioning antenna and the rotation center. The calculation of the center of gravity coordinates of the tracked vehicle based on multiple actual position coordinates of the center of rotation includes: The coordinates of the center of gravity of the tracked vehicle are calculated based on the actual coordinates of the rotation center during multiple movements; and The target position coordinates of the center of gravity of the tracked vehicle are calculated based on multiple position coordinates of the center of gravity of the tracked vehicle.
9. A device for determining the center of gravity position of a tracked vehicle, applied to a tracked vehicle, the tracked vehicle comprising a base, tracks, and a body, the tracks being movably connected to the base, and the body being rotatably connected to the base, characterized in that... The device for determining the center of gravity position of the tracked vehicle includes: The first acquisition module is used to control the vehicle body to rotate around the rotation center and acquire multiple position coordinates of the positioning antenna; wherein, the positioning antenna is mounted on the vehicle body and rotates around the rotation center along with the vehicle body; the rotation center is the intersection of the rotation axis of the vehicle body and the upper surface of the base; The first calculation module is used to calculate the relative positional relationship between the positioning antenna and the rotation center based on multiple position coordinates of the positioning antenna. The second calculation module is used to control the differential rotation of the tracked vehicle in place or to control the movement of one side of the tracked vehicle's track, and to calculate multiple actual position coordinates of the rotation center based on the position coordinates of the positioning antenna and the relative positional relationship between the positioning antenna and the rotation center; wherein, during the differential rotation of the tracked vehicle in place or the movement of one side of the track, both the positioning antenna and the rotation center rotate around the center of gravity of the tracked vehicle; and The third calculation module is used to calculate the position coordinates of the center of gravity of the tracked vehicle based on multiple actual position coordinates of the slewing center.
10. A tracked vehicle, characterized in that, include: Base; Tracks are movably connected to the base; The vehicle body is rotatably connected to the base; A positioning antenna is mounted on the vehicle body; as well as A controller, disposed on the base or the vehicle body, is used to perform the method for determining the center of gravity position of the tracked vehicle as described in any one of claims 1-8.