A coordinated control system for a vehicle roll-over self-righting mechanism

Abstract

The application discloses a kind of coordination control systems for vehicle rollover automatic righting mechanism, including: sensor module, drive module, infrared module, sensor module includes force sensor, laser ranging sensor, FPGA signal processor, first CAN communication circuit, drive module includes IN logic input circuit, DC motor control circuit, MCU control circuit and second CAN communication circuit, infrared module includes NEC communication circuit and infrared emitter.NEC communication circuit is used to receive the infrared signal sent by infrared emitter, and its corresponding key code value is decoded into corresponding digital signal;IN logic input circuit is connected with MCU control circuit IO output port, IO port high-low level controls IN logic circuit level, so that the coordinated action of motor output port in drive module drives four electric push rods.

Description

TECHNICAL FIELD

[0001] The application provides a support electric push rod coordinated control system for a 90° or 180° rollover automatic righting mechanism of a vehicle. BACKGROUND

[0002] In the related art, for the existing device for automatically righting a vehicle after the vehicle is rolled over by 90° or 180° during driving, a coordinated control system for the support electric push rod of the righting device is proposed. Although the invention patent with the authorized publication number CN116356730A "A 360° rollover cone barrel righting device" also rightens the cone barrel through the device such as the electric push rod, there is no coordinated control system for the electric push rod and the control method for different situations, which may have the defects of unstable movement or poor righting position precision. The invention patent with the authorized publication number CN108578181A "A four-legged assisted rehabilitation robot" proposes to use four electric push rods to support the entire rehabilitation robot, but there is no coordinated control method proposed in the application. SUMMARY

[0003] In view of the above problems, a coordinated control system for the support electric push rod of the righting device is provided, which can independently control and coordinately control the four electric push rod feet, make the push rod perform semi-autonomous action through sensor signal input, and can control the action of the four electric push rods through the infrared remote controller, so that the righting device has high movement precision and good control characteristics and is suitable for various complex terrain positions.

[0004] The technical scheme adopted by the application is as follows:

[0005] A coordinated control system for a vehicle rollover automatic righting mechanism, comprising: a driving module, an infrared module and a sensor module.

[0006] The sensor module comprises a pressure sensor, an infrared distance measuring sensor, an FPGA signal processor, and a first CAN communication circuit; the driving module comprises an IN logic input circuit, a direct current motor control circuit, an MCU control circuit, and a second CAN communication circuit; and the infrared module comprises a NEC communication circuit and an infrared emitter. The sensor module signal processor converts the digital signals generated by the sensors into required digital signals. One end of the first CAN communication circuit is connected to the FPGA signal processor, and the other end is connected to the second CAN communication circuit, so that the processed digital signals are transmitted to the second CAN communication circuit through the CAN protocol. The second CAN communication circuit is connected to the MCU control circuit, and the transmitted digital signals are converted into the digital signals required by the MCU circuit. The NEC communication circuit is used for receiving the infrared signals emitted by the infrared emitter, and decoding the corresponding key code values into corresponding digital signals. The IN logic input circuit is connected to the IO output port of the MCU control circuit, and the high and low levels of the IO port control the level of the IN logic circuit, so that the motor output port of the driving module drives the coordinated action of the four electric push rods.

[0007] When the vehicle is 90° or 180° overturned, the overall vehicle overturning posture needs to be detected, so that the righting is performed through the corresponding strategy. The vehicle applied in the application is provided with infrared distance measuring sensors on each surface of the four corners that may contact the ground after overturning, and pressure sensors are installed on the bottoms of the four supporting push rods supporting the vehicle. The supporting push rod control circuit is independent of the sensor module. When the control strategy is determined, the computer controls the push rod circuit through communication or manual operation of the infrared remote control. When the vehicle is overturned, the values of the pressure sensors and the infrared distance measuring sensors are transmitted to the host computer through the communication protocol, and the data fusion is performed in combination with the values of the sensors, so that the corresponding control strategy is obtained. When the control strategy is determined, the computer controls the action of the overall supporting push rod circuit, and simultaneously pays attention to the changes of the sensor data in the host computer. When the sensor data deviates greatly from the ideal value, the operator can manually interrupt the computer self-righting process through the infrared remote control. After the vehicle body posture is adjusted, the action control of the supporting push rod circuit through the corresponding control strategy can be continued.

[0008] When receiving the sensor data of the rollover ground, the overall attitude of the vehicle at this time is judged by the size of the data value. The data value of the infrared ranging sensor on the four corners of the ground will reflect the relative height of the four corners of the vehicle at this time. First, the specific data value is used to judge the situation of the vehicle with several corners touching the ground. After determining the number of corners touching the ground, the height of the non-touching corner and the situation of the supporting object at this time are judged by the infrared ranging sensor data. After obtaining the height of the four corners of the ground and the supporting object, the vehicle rollover attitude can be divided into three types: one corner touching the ground, two corners touching the ground, and no corner touching the ground. Among them, the one corner touching the ground attitude is divided into two different situations according to the position of the supporting object; the two corners touching the ground attitude is divided into four situations according to the position of the supporting object and the condition of the supporting object; the no corner touching the ground attitude is divided into two situations according to the position of the supporting object, and the detailed control strategy of the eight different situations has different detailed control processes. After the overall attitude of the vehicle body is determined, the corresponding righting strategy is controlled according to the instance. The ultimate goal is to adjust the vehicle to a relatively horizontal state to make the vehicle rely on its own weight and eccentric principle to realize autonomous righting, so it is necessary to rely on the height of the four corners of the ground to coordinate the control of single-rod action, double-rod simultaneous action, three-rod simultaneous action, and four-rod simultaneous action of the four supporting push rods. Under different control strategies, the coordinated control of the push rod ensures that the four corners of the vehicle realize the same height in the order of low to high, and finally realizes the stable autonomous righting process under the premise of ensuring that the vehicle rises to the highest place.

[0009] The sensor module includes a chip of model EP4CE10.

[0010] The MCU control circuit includes a chip of model STC89C52RC.

[0011] The IN logic circuit includes a chip of model L298N.

[0012] The driving module further includes an AC-DC constant voltage circuit connected with the driving module power supply port to supply power for the four linear IC units.

[0013] The beneficial effects of the present application are:

[0014] The present application not only realizes the semi-autonomous righting of the vehicle after overturning in complex terrain, but also automatically adjusts the vehicle attitude after righting through remote control, so that the vehicle can run more smoothly. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 The control system structure flow chart of the present application.

[0016] Figure 2 The schematic diagram of the vehicle rollover situation one.

[0017] Figure 3 A schematic view of vehicle rollover case two.

[0018] Figure 4 A schematic view of vehicle rollover case three.

[0019] Figure 5 A schematic view of vehicle rollover case four.

[0020] Figure 6 A schematic view of vehicle rollover case five.

[0021] Figure 7 A schematic view of vehicle rollover case six.

[0022] Figure 8 A schematic view of vehicle rollover case seven.

[0023] Figure 9 A schematic view of vehicle rollover case eight. DETAILED DESCRIPTION

[0024] The following will be combined with the attached Figure 1 and the attached Figures 2 to 9 , the specific process of the electric push rod coordination control involved in the present application is described, the following description is only about the control system of the device, and the corresponding righting mechanism has been patented.

[0025] Figure 1 is a flow chart drawn according to the specific implementation process of the control system.

[0026] As Figure 1 shown, when the vehicle is in the process of motion, the sensor module detects the vehicle state through the monitoring interface. One end of the first CAN communication circuit is connected with the FPGA signal processor; the other end of the first CAN communication circuit is connected with the second CAN communication circuit, and the signal processed by the CAN communication protocol is transmitted to the second CAN communication circuit; the second CAN communication circuit is connected with the MCU control circuit, and the transmitted signal is converted into the corresponding digital signal of the single-chip microcomputer and stored in the register; the IO port is connected with the IN logic input port, the LED unit and the nixie tube unit, and the high and low level of the IO port controls the high and low level of the motor drive port, the LED lighting combination and the digital display of the nixie tube; the NEC communication circuit is connected with the MCU control circuit, and the key code value of the infrared emitter is converted into the corresponding digital signal.

[0027] The 90° and 180° possible rollover cases are similar to the corresponding righting strategies.

[0028] As Figure 2As shown, the case of the four corners of the vehicle is the first possible case, and the ideal righting strategy corresponding to the four support push rods is as follows: due to the action of the support, the attitude of the vehicle at this time, 1 corner is the contact ground angle; 2 corner is slightly higher than 1 corner, followed by 3 corner slightly higher, and 4 corner is the highest. The vehicle attitude shown in the figure is perceived by the pressure sensor placed on the four support push rods and the infrared distance sensor at the four corners of the vehicle. Each of the four legs automatically contacts the ground, and the four legs stop moving when the pressure sensor placed on the four legs shows a significant value. The pressure sensor data should not be too large, and too large data will cause the vehicle attitude to deviate significantly. After keeping the vehicle stable, control the 1 support push rod to rise alone, due to the action of the support, the height of 2 and 4 corners changes significantly, stop when 1 and 2 corners are at the same height, observe the height changes of 3 and 4 corners through the sensor interface, keep stable, slowly raise 1 and 2 support push rods at the same time, 1 and 2 corners are at the same height as 3 corner, stop moving, keep the vehicle stable, and observe the vehicle attitude at this time, finally raise 1, 2 and 3 support push rods at the same time, the remaining three corners are at the same height as 4 corner, stop moving, and observe the vehicle attitude through the sensor interface. If the heights of the four corners are relatively consistent, the four support push rods are moved at the same time to make the vehicle reach the highest point through the principle of center of gravity shift to make the vehicle self-righting; if the heights of the four corners are deviated, the four support push rods can be adjusted individually through the infrared remote controller to keep the vehicle in a horizontal state.

[0029] As shown in Figure 3 As shown, the case of the four corners of the vehicle is the second possible case, and the ideal righting strategy corresponding to the four support push rods is as follows: when the support is on the left side of the 4 corner of the vehicle, the 2 and 3 corners change in relative height, and the 1 and 4 corners remain unchanged. The sequence of the vehicle support push rod action is similar to that of case one, and the four support push rods are extended in turn, and when the force sensor attached to the support push rod shows a significant data, it indicates that the support push rod contacts the ground. Slowly raise the 1 push rod, and when the infrared distance sensor data placed at the 1 and 3 corners of the vehicle are similar, it proves that the height of the 1 corner is similar to that of the 3 corner. Due to the action of the support, the heights of the 2 and 4 corners will not change significantly. When the heights of the 1 and 3 corners are similar, the 1 and 3 support push rods are moved at the same time to make the heights of the 1 and 3 corners similar to that of the 2 corner. When the heights of the 1, 2 and 3 corners are similar, the 1, 2 and 3 support push rods are moved at the same time to make the heights of the 1, 2, 3 and 4 corners similar. At this time, the vehicle is in a roughly horizontal attitude, and according to the data value of the infrared distance sensor, the four support push rods can be adjusted slightly to make the overall attitude of the vehicle closer to the horizontal, and the four legs are moved at the same time to make the vehicle automatically right.

[0030] As shown in Figure 4As shown, the four corners of the vehicle are in case three, and the ideal righting strategy of the four support push rods is as follows: as shown, unlike cases one and two, the support position is in the middle of the raised part, making the vehicle present a case of 1, 3 two-corner contact with the ground, and a case of 2, 4 two corners with similar height. First, make each of the four support push rods act individually to make it contact the ground, and then slowly raise 1, 3 support push rods to the same height as 2, 4 two corners, and due to the action of the support and the ground-contacting support push rod, the height of 2, 4 corners will not change significantly. After the vehicle is stable, adjust each support push rod through the infrared distance sensor parameters to make the four corners have similar heights, and finally make the four support push rods act simultaneously to make the vehicle rise to the highest position. Due to the center of gravity offset, the vehicle will automatically roll over to realize righting.

[0031] As shown, Figure 5 As shown, the four corners of the vehicle are in case four, and the ideal righting strategy of the four support push rods is as follows: unlike case three, the vehicle bottom support changes from the front half to the left half, resulting in a vehicle posture of Figure 1 , 2 Two corners are raised, and 3, 4 two corners are in contact with the ground. The infrared distance sensor placed at 1, 2 corners has obvious data. Each of the four support push rods acts to make the force sensor have obvious data, so that the four support push rods contact the ground. After the vehicle is stable, raise 3, 4 support push rods simultaneously to make 3, 4 two corners the same height as 1, 2 two corners, and due to the action of the support and the ground-contacting support push rod, the height of 1, 2 two corners will not change significantly. After stabilization, the four corners can be roughly at the same height according to the infrared distance sensor values through infrared remote control fine tuning, and finally the four support push rods act simultaneously to rise to the highest position. Due to the center of gravity offset, the vehicle will automatically roll over to realize righting.

[0032] As shown, Figure 6As shown, unlike cases three and four where the two supports are of the same type, in this case, half of the vehicle is supported on a small flat surface, and corners 3 and 4 are tilted onto a slight slope, with corners 3 and 4 raised and corners 1 and 2 touching the ground. Because the support is a relatively low slope, the raised heights of corners 3 and 4 are similar. The straightening strategy is as follows: Each of the four support rods extends individually until the force sensor registers a significant reading and then stops. After stabilization, due to the effect of the small inclined plane, the heights of corners 3 and 4 should be similar. Simultaneously, support rods 1 and 2 are activated to bring corners 1 and 2 to the same height as corners 3 and 4. If there is a large deviation in the vehicle's angles, support rods 1 and 2 are finely adjusted via infrared remote control, and support rods 3 and 4 are activated to bring them back into contact with the ground. Then, all four support rods can be finely adjusted to make the vehicle more level. After stabilization, all four support rods are activated simultaneously to slowly raise the vehicle. Since the vehicle's center of gravity is in the lower half of the vehicle, during the self-straightening process at the highest point, the front of the vehicle will move in the opposite direction of the inclined plane, but the front will not touch the inclined plane. After reaching the highest point, the vehicle can achieve self-straightening due to the center of gravity.

[0033] like Figure 7 As shown, unlike scenario five, the small ramp is located at corners 2 and 4, resulting in a vehicle posture where corners 1 and 3 are touching the ground, while corners 2 and 4 are raised. Due to the slight incline, the raised heights of corners 2 and 4 are similar. The straightening strategy is as follows: Since corners 2 and 4 are on a slight ramp, first, individually activate support rods 2 and 4, making their compliant legs parallel to the ramp and the rods parallel to the vehicle surface. Stop activating once the compliant legs are stably supporting the ramp. After stabilization, individually activate support rods 1 and 3, making them touch the ground and stopping. Simultaneously, activate support rods 1 and 3 to make corners 1 and 3 the same height as corners 2 and 4. After stabilization, simultaneously activate all four legs to raise the vehicle to its highest position. The vehicle will automatically straighten due to the center of gravity. Because the ramp is designed with a slight incline and the smooth foot and push rod travel are designed to prevent the vehicle from scraping against the ground when rotating, and the push rod always moves in a direction parallel to the vehicle surface, the front of the vehicle will not scrape against the small ramp when the vehicle is automatically uprighted and rotating, and the ramp will not block the vehicle, preventing the vehicle from fully returning to its normal state.

[0034] like Figure 8As shown, unlike the case of five, six two car angle contact, two car angle up, at this time the vehicle overall rollover on a small slope, the vehicle overall presents a half-suspended state, the vehicle right half side rollover on a small slope, 2, 4 two angle contact slope, 1, 3 two angle in the air, at this time equivalent to four car angle are up state. Righting strategy as follows: first alone action 1, 3 support push rod, make 1, 3 support push rod stable contact ground, then simultaneously lift 1, 3 support push rod, make 1, 3 two angle and 2, 4 two angle same height, if each car angle position appears deviation, can carry out subtle adjustment. Stable, alone action 2, 4 support push rod, make 2, 4 support push rod stable contact slope. Because at this time the vehicle presents horizontal posture and has compliant foot, small slope, 2, 4 support push rod after supporting ground and slope angle is small, support force is more stable. Simultaneous action four support push rod rises to the highest place, because of the center of gravity is lower, the vehicle will rotate counterclockwise as shown in the figure, the vehicle will not be due to slope stuck, and the slope angle is small, support push rod has enough margin to make the vehicle can smoothly return to normal posture.

[0035] As Figure 9 shown, this case is different from case seven, at this time the vehicle side overturns on the slope, the vehicle front side is placed on a small slope, 2, 4 two angle contact slope, 1, 2 two angle up without contact ground, presents four angle up posture. Righting strategy as follows: alone action 2, 4 support push rod, make two compliant foot support on the slope, because the slope is a small slope, then 2, 4 two angle up height is more the same. Stable alone action 1, 3 support push rod, make 1, 3 two angle support ground. Because 2, 4 two angle is adjusted to the same height, then 1, 3 two angle height is roughly the same, simultaneous action 1, 3 support push rod makes 1, 3 two angle and 2, 4 two angle same height, stable after subtle adjustment. Simultaneous action four support push rod, make the vehicle rise to the highest place, the vehicle automatically righting, and has enough margin, the vehicle will not have a larger collision with the slope.

[0036] Specifically, when the vehicle is detected to be 90° or 180° rollover, the corresponding digital quantity will control the high and low level of the single-chip microcomputer IO port, the IO port is connected to the IN logic input port of the driving module to control the high and low level of the motor driving port, so that the four electric push rod supports push rods act simultaneously, when the action reaches a certain position, due to the physical principle that the supporting shaft is deviated from the center of gravity, the whole vehicle will automatically deflect, and stop at the balance position after returning to normal. After the vehicle stops rotating, the single electric push rod support push rod can be adjusted slightly through the infrared emitter, so that the specific attitude of the vehicle is relatively stable. After the infrared remote controller emits an infrared signal, the infrared module converts the corresponding key code value into a corresponding digital signal through the NEC communication circuit, the corresponding digital signal controls the output level of the IO port through the MCU control circuit, and the LED lamp combination corresponding to the IO port level is lit at the same time, and the nixie tube will also display the corresponding digital number corresponding to the key code value; the IO port is connected to the IN logic input circuit, and the corresponding high and low level is input into the circuit, the high and low level of the eight motor driving ports drives the different actions of the four motors, and the four motors produce simultaneous action stop, each action stop different motion through different IO port output level, so as to slightly adjust the attitude of the vehicle after returning to normal, and make the subsequent movement more stable.

Claims

1. A coordination control system for an automatic vehicle rollover righting mechanism, characterized in that, include: Driver module, infrared module, and sensor module; The drive module includes an IN logic input circuit, a DC motor control circuit, an MCU control circuit, and a second CAN communication circuit. The infrared module includes an NEC communication circuit and an infrared transmitter; The sensor module includes a pressure sensor, an infrared ranging sensor, an FPGA signal processor, and a first CAN communication circuit; infrared ranging sensors are installed at the four corners of each surface of the vehicle that comes into contact with the ground after it rolls over, and pressure sensors are installed at the bottom of the four support push rods supporting the vehicle. The FPGA signal processor converts the digital signals received by the sensor into the required digital signals. One end of the first CAN communication circuit is connected to the FPGA processor, and the other end is connected to the second CAN communication circuit, transmitting the digital signal processed by the FPGA signal processor to the second CAN communication circuit through the CAN protocol. The second CAN communication circuit is connected to the MCU control circuit, and converts the digital signals sent by the FPGA signal processor into the digital signals required by the MCU control circuit. The NEC communication circuit is used to receive infrared signals emitted by the infrared transmitter and decode the corresponding key code value into a corresponding digital signal. The IN logic input circuit is connected to the IO output port of the MCU control circuit, and the high and low levels of the IO port control the level of the IN logic circuit; the IN logic input circuit is connected to the DC motor control circuit and is used to coordinate the control of the vehicle rollover automatic righting mechanism. When a vehicle rolls over at 90° or 180°, the overall post-rollover posture is detected, and a corresponding strategy is employed to right it. The support push rod control circuit is independent of the sensor module. Once the control strategy is determined, the computer controls the push rod circuit via communication or manual infrared remote control. When the vehicle rolls over, the values ​​from the pressure sensor and the infrared ranging sensor are transmitted to the host computer via a communication protocol. The data is fused by combining the various sensor values ​​to derive the corresponding control strategy. Once the control strategy is determined, the computer controls the overall support push rod circuit while monitoring changes in sensor data in the host computer. If the sensor data deviates significantly from the ideal value, the computer's autonomous righting process is interrupted via infrared remote control. After adjusting the vehicle's posture, the computer continues to control the support push rod circuit using the corresponding control strategy. After receiving sensor data indicating that the vehicle has rolled over and touched the ground, the overall posture of the vehicle is determined by the magnitude of the data value. The data values ​​of the infrared ranging sensors at the four corners of the vehicle that touched the ground will reflect the relative height of the four corners. First, the specific data values ​​are used to determine how many corners of the rolled-over vehicle touched the ground. After determining the number of corners that touched the ground, the height of the non-touching corners and the condition of the road support are determined by the data from each infrared ranging sensor. After obtaining the elevation of the four corners of the vehicle and the condition of the supports, the vehicle's rollover posture is divided into three types: one corner touching the ground, two corners touching the ground, and no corner touching the ground. The posture with one corner touching the ground is further divided into two different cases depending on the position of the supports; the posture with two corners touching the ground is divided into four cases depending on the position and condition of the supports; and the posture with no corner touching the ground is divided into two cases depending on the position of the supports. The detailed control strategies for these eight different cases have different detailed control processes. Once the overall vehicle posture is determined, circuit control is performed according to the corresponding righting strategy for the example. Coordinated control of the four support push rods is achieved by controlling the elevation of the four corners of the vehicle at the ground using single-rod, double-rod, triple-rod, and four-rod simultaneous actions. Under different control strategies, the coordinated control of the push rods ensures that the four corners of the vehicle reach the same height in an ascending order, enabling the vehicle to achieve a stable and autonomous righting process while ensuring it reaches its highest point.

2. The coordination control system for an automatic vehicle rollover righting mechanism according to claim 1, characterized in that, The sensor module detects different initial attitudes of the vehicle, and each initial attitude has its corresponding ideal straightening strategy.

3. A coordination control system for an automatic vehicle rollover righting mechanism according to claim 1, characterized in that, The FPGA signal processor includes a chip with the model number EP4CE10.

4. A coordination control system for an automatic vehicle rollover righting mechanism according to claim 1, characterized in that, The MCU control circuit includes a chip of model STC89C52RC.

5. A coordination control system for an automatic vehicle rollover righting mechanism according to claim 1, characterized in that, The IN logic circuit includes a chip with model number L298N.

6. A coordination control system for an automatic vehicle rollover righting mechanism according to claim 1, characterized in that, The drive module also includes an AC-DC constant voltage circuit, which is connected to the power supply port of the drive module to supply power to the four linear IC units.

Images