Motion control method of differential module vehicle and differential module vehicle

Abstract

The invention relates to a motion control method of a differential module vehicle and the differential module vehicle, and belongs to the technical field of motion control, the differential module vehicle is provided with a chassis, the chassis is provided with a directional wheel and a differential module, the differential module comprises two wheels, and the two wheels are arranged on the chassis. The motion control method comprises the following steps that the target driving speed of each wheel and the rotating angle of a differential module are obtained; and driving the corresponding wheel to rotate according to the target driving speed of each wheel and the rotating angle of the differential module. The differential module comprising the two wheels is used as a power system of the differential module vehicle, and the rotating speed of each wheel is independently changed to form the speed difference of the wheels in the same group so as to change the driving direction of the differential module, so that the driving direction of the differential module vehicle is changed; therefore, the running speed and the running direction of the differential module vehicle can be controlled only by independently controlling the rotating speed of each wheel.

Description

Technical Field

[0001] The present invention relates to the field of motion control technology, and in particular to a motion control method of a differential module vehicle and a differential module vehicle. Background Art

[0002] Usually, the vehicle uses an ordinary steering wheel, which is driven by two motors, namely a steering motor and a rotating motor. This results in high vehicle cost and high height, which cannot meet the needs of narrow space operations. Therefore, it is necessary to develop a low-cost, low-chassis vehicle. Summary of the invention

[0003] In order to solve the defects of the prior art, the present invention provides a motion control method of a differential module vehicle and a differential module vehicle.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions: In a first aspect, an embodiment of the present invention provides a motion control method for a differential module vehicle, wherein the differential module vehicle has a chassis, the chassis is equipped with directional wheels and a differential module, the differential module includes two wheels, and the motion control method includes the following steps: Obtain the target driving speed of each wheel and the rotation angle of the differential module; The corresponding wheels are driven to rotate according to the target driving speed of each wheel and the rotation angle of the differential module.

[0005] In some embodiments, obtaining the target driving speed of each wheel includes: Receive driving instructions, including a target driving speed and a target driving angular velocity of the differential module vehicle; Obtaining a target travel curvature radius of each wheel based on a target travel speed and a target travel angular velocity of the differential module vehicle; The target driving speed of each wheel is obtained based on the target driving curvature radius of each wheel and the target driving angular velocity of the differential module vehicle.

[0006] In some embodiments, obtaining the target driving curvature radius of each wheel based on the target driving speed and target driving angular velocity of the differential module vehicle includes: Obtaining a target travel curvature radius of the differential module vehicle based on a target travel speed and a target travel angular velocity of the differential module vehicle; The target running curvature radius of each wheel is calculated based on the target running curvature radius of the differential module vehicle.

[0007] In some embodiments, obtaining the rotation angle of the differential module includes: Receive driving instructions, including a target driving speed and a target driving angular velocity of the differential module vehicle; Obtaining a target driving angle of the differential module based on a target driving speed and a target driving angular velocity of the differential module vehicle; The current driving angle of the differential module is acquired, and the rotation angle of the differential module is obtained in combination with the target driving angle of the differential module.

[0008] In some embodiments, there are two directional wheels.

[0009] In a second aspect, an embodiment of the present invention provides a differential module vehicle, comprising: A chassis, wherein the chassis is equipped with a directional wheel and a differential module, wherein the differential module includes two wheels; A data acquisition module, used to obtain the target driving speed of each wheel and the rotation angle of the differential module; The wheel drive module is used to drive the corresponding wheel to rotate according to the target driving speed of each wheel and the rotation angle of the differential module.

[0010] In some embodiments, the differential module vehicle further includes: A driving instruction receiving module is used to receive a driving instruction, including a target driving speed and a target driving angular velocity of the differential module vehicle; A wheel target driving speed generating module, used for obtaining a target driving curvature radius of each wheel based on the target driving speed and target driving angular velocity of the differential module vehicle; The target driving speed of each wheel is obtained based on the target driving curvature radius of each wheel and the target driving angular velocity of the differential module vehicle.

[0011] In some embodiments, obtaining the target driving curvature radius of each wheel based on the target driving speed and target driving angular velocity of the differential module vehicle includes: Obtaining a target travel curvature radius of the differential module vehicle based on a target travel speed and a target travel angular velocity of the differential module vehicle; The target running curvature radius of each wheel is calculated based on the target running curvature radius of the differential module vehicle.

[0012] In some embodiments, the differential module vehicle further includes: A differential module rotation angle generation module, used to obtain a target driving angle of the differential module based on a target driving speed and a target driving angular velocity of the differential module vehicle; The current driving angle of the differential module is acquired, and the rotation angle of the differential module is obtained in combination with the target driving angle of the differential module.

[0013] In some embodiments, there are two directional wheels.

[0014] The present invention provides a motion control method for a differential module vehicle and a differential module vehicle. Compared with the prior art, the present invention has the following technical effects: using a differential module including two wheels as a power system of the differential module vehicle, forming a speed difference of wheels in the same group by independently changing the rotation speed of each wheel to change the driving direction of the differential module, thereby changing the driving direction of the differential module vehicle, and then controlling the driving speed and direction of the differential module vehicle only by independently controlling the rotation speed of each wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description only involve some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 This is a flow chart of a motion control method for a differential module vehicle according to an embodiment of the present invention; Figure 2 A flow chart of a method for obtaining a target driving speed for each wheel; Figure 3 A flow chart of a method for obtaining the rotation angle of a differential module; Figure 4 It is a structural schematic diagram of a differential module vehicle; Figure 5 This is a bottom view of the differential module car; Figure 6 It is a schematic diagram of the structure of another differential module vehicle. DETAILED DESCRIPTION

[0017] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, other solutions obtained by ordinary technicians in this field without creative work should belong to the protection scope of the present invention.

[0018] Example 1 Figure 5 A bottom view of the differential module vehicle is shown, Figure 5It can be seen that the differential module vehicle has a chassis 3, and the chassis 3 is equipped with a differential module 1 and a directional wheel 2. The differential module 1 includes two wheels 1a and 1b, and each wheel is preferably driven to rotate independently of each other. The speed difference is formed by making the two wheels 1a and 1b of the differential module rotate at different speeds to change the direction of the differential module, thereby changing the driving direction of the differential module vehicle.

[0019] Figure 1 The flowchart of the motion control method of a differential module vehicle according to an embodiment of the present invention is shown. Figure 1 It can be seen that the motion control method of the differential module vehicle includes the following steps: S12: Obtain the target driving speed of each wheel and the rotation angle of the differential module.

[0020] The target driving speed of each wheel can be directly input by the user or the intelligent driving program, preferably, Figure 2 As shown, the step of obtaining the target driving speed of each wheel includes the following steps: S121, receiving a driving instruction, including a target driving speed and a target driving angular velocity of the differential module vehicle.

[0021] like Figure 5 As shown, preferably the chassis 3 is a rectangle, and the two directional wheels 2 are provided, so that the connection line of the two directional wheels 2 is parallel to the wide side of the chassis 3, and forms an isosceles triangle with the connection line of the differential module 1. At this time, the driving equivalent point of the differential module vehicle is located at the center of the connection line of the two directional wheels 2. Therefore, the coordinate system is established with this point 0 as the coordinate origin. According to the known relative position of the directional wheel 2 and the differential module 1, the center coordinate of the differential module 1 can be obtained. The chassis 3 can also be other shapes, and the differential module 1 and the directional wheel 2 can also be in other relative position relationships, which will be relatively complicated when calculated.

[0022] S122: Obtain a target driving curvature radius of each wheel based on the target driving speed and target driving angular velocity of the differential module vehicle.

[0023] like Figure 5 As shown, the target driving curvature radius R of the differential module vehicle is preferably obtained based on the target driving speed and target driving angular velocity of the differential module vehicle; The target running curvature radius of each wheel is calculated based on the target running curvature radius R of the differential module vehicle.

[0024] Since the curvature motion center of the differential module vehicle is on the line connecting the two directional wheels 2, the target running curvature radius R of the differential module vehicle, therefore the coordinates of the curvature motion center of the differential module vehicle can be obtained.

[0025] According to the above-mentioned center coordinates of the differential module 1 and the coordinates of the curvature motion center of the differential module vehicle, the target running curvature radius R1 of the differential module 1 can be calculated, and then the target running curvature radius R1 of the differential module 1 is added or subtracted by half r of the distance between the two wheels 1a and 1b in the differential module 1 to obtain the target running curvature radius of each wheel 1a and 1b in the differential module 1, such as R1a and R1b.

[0026] S123, obtaining a target driving speed of each wheel based on the target driving curvature radius of each wheel and the target driving angular velocity of the differential module vehicle.

[0027] During the driving process, the relative position of the differential module car and the wheels is fixed, and the differential module car moves around the same point with each wheel at every moment. Therefore, the target driving angular velocity of the differential module car is equal to the target driving angular velocity of each wheel 1a, 1b. Therefore, the target driving speed of each wheel 1a, 1b can be obtained by multiplying the target driving curvature radius R1a, R1b of each wheel 1a, 1b by the target driving angular velocity of each wheel 1a, 1b.

[0028] The rotation angle of the differential module can be directly input by the user or the intelligent driving program, preferably, Figure 3 As shown, the step of obtaining the rotation angle of the differential module includes the following steps: S125, receiving a driving instruction, including a target driving speed and a target driving angular velocity of the differential module vehicle.

[0029] S126: Obtain a target driving angle of the differential module based on the target driving speed and target driving angular velocity of the differential module vehicle.

[0030] Obtaining a target driving curvature radius R of the differential module vehicle based on a target driving speed and a target driving angular velocity of the differential module vehicle; The target running curvature radius of each wheel is calculated based on the target running curvature radius R of the differential module vehicle.

[0031] Since the curvature motion center of the differential module vehicle is on the line connecting the two directional wheels 2, the target running curvature radius R of the differential module vehicle, therefore the coordinates of the curvature motion center of the differential module vehicle can be obtained.

[0032] According to the above-mentioned center coordinates of the differential module 1 and the coordinates of the curvature motion center of the differential module vehicle, the target driving curvature radius R1 of the differential module 1 can be calculated, and then the target driving curvature radius R1 of the differential module 1 is added or subtracted by half r of the distance between the two wheels 1a and 1b in the differential module 1, so as to obtain the target driving curvature radius of each wheel 1a and 1b in the differential module 1, such as R1a and R1b. During the driving process of the differential module vehicle, the relative position of the driving equivalent point of the differential module vehicle and the differential module is fixed, and the differential module vehicle and the differential module move around the same point, so the target driving angle of the differential module is perpendicular to the line connecting the center of the differential module and the curvature motion center of the differential module vehicle and points to the driving direction of the differential module vehicle.

[0033] S127, acquiring a current driving angle of the differential module, and obtaining a rotation angle of the differential module in combination with a target driving angle of the differential module.

[0034] Preferably, the current driving angle of the differential module is acquired through an angle encoder, and the rotation angle of the differential module is calculated based on the current driving angle of the differential module and the target driving angle.

[0035] S14: driving the corresponding wheel to rotate according to the target driving speed of each wheel and the rotation angle of the differential module.

[0036] The relative positions of the differential module and its two wheels are fixed, so the target driving angle of the differential module is equal to the target driving angle of the two wheels corresponding to it. Therefore, according to the rotation angle of the differential module, the two wheels corresponding to it are driven to rotate to form a corresponding speed difference, so that the differential module is adjusted to the corresponding target driving angle state. At the same time, the wheels are driven to rotate according to the target driving speed of each wheel, for example, using a motor to drive the wheels to rotate.

[0037] This embodiment uses a differential module including two wheels as the power system of the differential module vehicle. By independently changing the rotation speed of each wheel, a speed difference of the wheels in the same group is formed to change the driving direction of the differential module, thereby changing the driving direction of the differential module vehicle. Furthermore, the driving speed and direction of the differential module vehicle can be controlled only by independently controlling the rotation speed of each wheel.

[0038] Example 2 Figure 4 A schematic diagram of the structure of a differential module vehicle is shown. Figure 4 It can be seen that the differential module vehicle includes a chassis 3, a data acquisition module 4 and a wheel drive module 5; Figure 5 A bottom view of the differential module vehicle is shown, Figure 5It can be seen that the differential module vehicle has a chassis 3, and the chassis 3 is equipped with a differential module 1 and a directional wheel 2. The differential module 1 includes two wheels 1a and 1b, and each wheel is preferably driven to rotate independently of each other. The speed difference is formed by making the two wheels 1a and 1b of the differential module rotate at different speeds to change the direction of the differential module, thereby changing the driving direction of the differential module vehicle, that is, the driving speed and direction of the differential module vehicle can be controlled only by controlling the rotation speed of each wheel independently of each other.

[0039] The data acquisition module 4 is used to acquire the target driving speed of each wheel and the rotation angle of the differential module.

[0040] The target driving speed of each wheel and the rotation angle of the differential module can be directly input by the user or the intelligent driving program.

[0041] The wheel driving module 5 is used to drive the corresponding wheel to rotate according to the target driving speed of each wheel and the rotation angle of the differential module.

[0042] The relative positions of the differential module 1 and its two wheels 1a, 1b are fixed, so the target driving angle of the differential module 1 is equal to the target driving angle of its corresponding two wheels 1a, 1b. Therefore, according to the rotation angle of the differential module 1, the corresponding two wheels 1a, 1b are driven to rotate to form a corresponding speed difference, so that the differential module 1 is adjusted to the corresponding target driving angle state. At the same time, the wheels are driven to rotate according to the target driving speed of each wheel, for example, using a motor to drive the wheels to rotate.

[0043] This embodiment uses a differential module including two wheels as the power system of the differential module vehicle. By independently changing the rotation speed of each wheel, a speed difference of the wheels in the same group is formed to change the driving direction of the differential module, thereby changing the driving direction of the differential module vehicle. Furthermore, the driving speed and direction of the differential module vehicle can be controlled only by independently controlling the rotation speed of each wheel.

[0044] In this embodiment, a differential module including two wheels is installed on the chassis to make the chassis lower, and serves as the power system of the differential module vehicle, so that the differential module vehicle can operate in a narrow space. The driving direction and speed of the differential module vehicle can be changed only by controlling the rotation speed of the wheels without using a steering motor, thereby having a lower manufacturing cost.

[0045] Figure 6 FIG. 2 shows a schematic diagram of the structure of another differential module vehicle. Figure 6 It can be seen that the differential module vehicle also includes: The driving instruction receiving module 6 is used to receive the driving instruction, including the target driving speed and target driving angular velocity of the differential module vehicle.

[0046] like Figure 5 As shown, preferably the chassis 3 is a rectangle, and the two directional wheels 2 are provided, so that the connection line of the two directional wheels 2 is parallel to the wide side of the chassis 3, and forms an isosceles triangle with the connection line of the differential module 1. At this time, the driving equivalent point of the differential module vehicle is located at the center of the connection line of the two directional wheels 2. Therefore, the coordinate system is established with this point 0 as the coordinate origin. According to the known relative position of the directional wheel 2 and the differential module 1, the center coordinate of the differential module 1 can be obtained. The chassis 3 can also be other shapes, and the differential module 1 and the directional wheel 2 can also be in other relative position relationships, which will be relatively complicated when calculated.

[0047] The wheel target driving speed generating module 7 is used to obtain the target driving curvature radius of each wheel based on the target driving speed and target driving angular velocity of the differential module vehicle; The target driving speed of each wheel is obtained based on the target driving curvature radius of each wheel and the target driving angular velocity of the differential module vehicle.

[0048] like Figure 5 As shown, the target driving curvature radius R of the differential module vehicle is preferably obtained based on the target driving speed and target driving angular velocity of the differential module vehicle; The target running curvature radius of each wheel is calculated based on the target running curvature radius R of the differential module vehicle.

[0049] Since the curvature motion center of the differential module vehicle is on the line connecting the two directional wheels 2, the target running curvature radius R of the differential module vehicle, therefore the coordinates of the curvature motion center of the differential module vehicle can be obtained.

[0050] According to the above-mentioned center coordinates of the differential module 1 and the coordinates of the curvature motion center of the differential module vehicle, the target running curvature radius R1 of the differential module 1 can be calculated, and then the target running curvature radius R1 of the differential module 1 is added or subtracted by half r of the distance between the two wheels 1a and 1b in the differential module 1 to obtain the target running curvature radius of each wheel 1a and 1b in the differential module 1, such as R1a and R1b.

[0051] During the driving process, the relative position of the differential module car and the wheels is fixed, and the differential module car moves around the same point with each wheel at every moment. Therefore, the target driving angular velocity of the differential module car is equal to the target driving angular velocity of each wheel 1a, 1b. Therefore, the target driving speed of each wheel 1a, 1b can be obtained by multiplying the target driving curvature radius R1a, R1b of each wheel 1a, 1b by the target driving angular velocity of each wheel 1a, 1b.

[0052] In another embodiment, the differential module vehicle further comprises: The differential module rotation angle generation module 8 is used to obtain the target driving angle of the differential module based on the target driving speed and target driving angular velocity of the differential module vehicle; obtain the current driving angle of the differential module, and obtain the rotation angle of the differential module in combination with the target driving angle of the differential module.

[0053] Obtaining a target driving curvature radius R of the differential module vehicle based on a target driving speed and a target driving angular velocity of the differential module vehicle; The target running curvature radius of each wheel is calculated based on the target running curvature radius R of the differential module vehicle.

[0054] Since the curvature motion center of the differential module vehicle is on the line connecting the two directional wheels 2, the target running curvature radius R of the differential module vehicle, therefore the coordinates of the curvature motion center of the differential module vehicle can be obtained.

[0055] According to the above-mentioned center coordinates of the differential module 1 and the coordinates of the curvature motion center of the differential module vehicle, the target driving curvature radius R1 of the differential module 1 can be calculated, and then the target driving curvature radius R1 of the differential module 1 is added or subtracted by half r of the distance between the two wheels 1a and 1b in the differential module 1, so as to obtain the target driving curvature radius of each wheel 1a and 1b in the differential module 1, such as R1a and R1b. During the driving process of the differential module vehicle, the relative position of the driving equivalent point of the differential module vehicle and the differential module is fixed, and the differential module vehicle and the differential module move around the same point, so the target driving angle of the differential module is perpendicular to the line connecting the center of the differential module and the curvature motion center of the differential module vehicle and points to the driving direction of the differential module vehicle.

[0056] The current driving angle of the differential module is acquired, and the rotation angle of the differential module is obtained in combination with the target driving angle of the differential module.

[0057] Preferably, the current driving angle of the differential module is acquired through an angle encoder, and the rotation angle of the differential module is calculated based on the current driving angle of the differential module and the target driving angle.

[0058] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A motion control method for a differential module vehicle, wherein the differential module vehicle has a chassis, the chassis is equipped with a directional wheel and a differential module, the differential module includes two wheels, and is characterized in that: The motion control method comprises the following steps: Obtain the target driving speed of each wheel and the rotation angle of the differential module; The corresponding wheels are driven to rotate according to the target driving speed of each wheel and the rotation angle of the differential module.

2. The motion control method of the differential module vehicle according to claim 1, characterized in that: The obtaining of the target driving speed of each wheel comprises: Receive driving instructions, including a target driving speed and a target driving angular velocity of the differential module vehicle; Obtaining a target travel curvature radius of each wheel based on a target travel speed and a target travel angular velocity of the differential module vehicle; The target driving speed of each wheel is obtained based on the target driving curvature radius of each wheel and the target driving angular velocity of the differential module vehicle.

3. The motion control method of the differential module vehicle according to claim 2, characterized in that: The method of obtaining the target driving curvature radius of each wheel based on the target driving speed and target driving angular velocity of the differential module vehicle includes: Obtaining a target travel curvature radius of the differential module vehicle based on a target travel speed and a target travel angular velocity of the differential module vehicle; The target running curvature radius of each wheel is calculated based on the target running curvature radius of the differential module vehicle.

4. The motion control method of the differential module vehicle according to claim 1, characterized in that: The obtaining of the rotation angle of the differential module comprises: Receive driving instructions, including a target driving speed and a target driving angular velocity of the differential module vehicle; Obtaining a target driving angle of the differential module based on a target driving speed and a target driving angular velocity of the differential module vehicle; The current driving angle of the differential module is acquired, and the rotation angle of the differential module is obtained in combination with the target driving angle of the differential module.

5. The motion control method of the differential module vehicle according to any one of claims 1 to 4, characterized in that: The number of the directional wheels is 2.

6. A differential module vehicle, characterized in that: include: A chassis, wherein the chassis is equipped with a directional wheel and a differential module, wherein the differential module includes two wheels; A data acquisition module, used to obtain the target driving speed of each wheel and the rotation angle of the differential module; The wheel drive module is used to drive the corresponding wheel to rotate according to the target driving speed of each wheel and the rotation angle of the differential module.

7. The differential module vehicle according to claim 6, characterized in that: Also includes: A driving instruction receiving module is used to receive a driving instruction, including a target driving speed and a target driving angular velocity of the differential module vehicle; A wheel target driving speed generating module, used for obtaining a target driving curvature radius of each wheel based on the target driving speed and target driving angular velocity of the differential module vehicle; The target driving speed of each wheel is obtained based on the target driving curvature radius of each wheel and the target driving angular velocity of the differential module vehicle.

8. The differential module vehicle according to claim 7, characterized in that: The method of obtaining the target driving curvature radius of each wheel based on the target driving speed and target driving angular velocity of the differential module vehicle includes: Obtaining a target travel curvature radius of the differential module vehicle based on a target travel speed and a target travel angular velocity of the differential module vehicle; The target running curvature radius of each wheel is calculated based on the target running curvature radius of the differential module vehicle.

9. The differential module vehicle according to claim 7, characterized in that: Also includes: A differential module rotation angle generation module, used to obtain a target driving angle of the differential module based on a target driving speed and a target driving angular velocity of the differential module vehicle; The current driving angle of the differential module is acquired, and the rotation angle of the differential module is obtained in combination with the target driving angle of the differential module.

10. The differential module vehicle according to any one of claims 6 to 9, characterized in that: The number of the directional wheels is 2.

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