A motion control method of a differential module vehicle and a differential module vehicle
By using the differential module vehicle in the patent to independently control the rotational speed of each wheel, the high cost and height of existing vehicles are solved, and low-cost control in confined spaces is achieved.
Patent Information
- Application Number
- CN202510308468.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-17
- Publication Date
- 2025-12-30
- Estimated Expiration
- 2045-03-17
AI Technical Summary
Existing vehicles use conventional steering wheels, resulting in high costs and an excessively high overall vehicle height, which cannot meet the requirements for operating in confined spaces.
The motion control method of the differential module vehicle uses the differential module of the two wheels as the power system to independently control the rotation speed of each wheel to change the driving direction and speed.
It achieves low-cost, low-chassis vehicle control, enabling operation in confined spaces, and changing driving direction and speed simply by controlling the rotation speed of the wheels.
Smart Images
Figure CN119975531B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of motion control technology, and in particular to a motion control method for a differential module vehicle and a differential module vehicle. Background Technology
[0002] Vehicles typically use conventional steering wheels, which are driven by two motors: a steering motor and a rotation motor. This results in high vehicle costs and a relatively high overall height, making it unsuitable for operations in confined spaces. Therefore, it is necessary to develop a vehicle with low cost and a low chassis. Summary of the Invention
[0003] To address the shortcomings of existing technologies, this invention provides a motion control method for a differential module vehicle and a differential module vehicle.
[0004] To solve the above technical problems, the present invention adopts the following technical solution:
[0005] In a first aspect, embodiments of the present invention provide a motion control method for a differential module vehicle, the differential module vehicle having a chassis, the chassis being equipped with directional wheels and a differential module, the differential module including two wheels, and the motion control method comprising the following steps:
[0006] Obtain the target driving speed of each wheel and the rotation angle of the differential module;
[0007] Drive the corresponding wheel to rotate according to the target driving speed of each wheel and the rotation angle of the differential module.
[0008] In some embodiments, obtaining the target driving speed for each wheel includes:
[0009] Receive driving commands, including the target driving speed and target angular velocity of the differential module vehicle;
[0010] The target radius of curvature of each wheel is obtained based on the target driving speed and target driving angular velocity of the differential module vehicle.
[0011] The target driving speed of each wheel is obtained based on the target driving radius of curvature of each wheel and the target driving angular velocity of the differential module vehicle.
[0012] In some embodiments, obtaining the target radius of curvature of each wheel based on the target driving speed and target angular velocity of the differential module vehicle includes:
[0013] The target radius of curvature of the differential module vehicle is obtained based on the target driving speed and target driving angular velocity of the differential module vehicle.
[0014] The target radius of curvature for each wheel is calculated based on the target radius of curvature of the differential module vehicle.
[0015] In some embodiments, obtaining the rotation angle of the differential module includes:
[0016] Receive driving commands, including the target driving speed and target angular velocity of the differential module vehicle;
[0017] The target driving angle of the differential module is obtained based on the target driving speed and target driving angular velocity of the differential module vehicle.
[0018] The current driving angle of the differential module is obtained, and the rotation angle of the differential module is obtained by combining the target driving angle of the differential module.
[0019] In some embodiments, there are two directional wheels.
[0020] Secondly, embodiments of the present invention provide a differential module vehicle, comprising:
[0021] A chassis, wherein the chassis is equipped with directional wheels and a differential module, the differential module comprising two wheels;
[0022] The data acquisition module is used to acquire the target driving speed of each wheel and the rotation angle of the differential module;
[0023] 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.
[0024] In some embodiments, the differential module vehicle further includes:
[0025] The driving command receiving module is used to receive driving commands, including the target driving speed and target driving angular velocity of the differential module vehicle;
[0026] The wheel target driving speed generation module 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.
[0027] The target driving speed of each wheel is obtained based on the target driving radius of curvature of each wheel and the target driving angular velocity of the differential module vehicle.
[0028] In some embodiments, obtaining the target radius of curvature of each wheel based on the target driving speed and target angular velocity of the differential module vehicle includes:
[0029] The target radius of curvature of the differential module vehicle is obtained based on the target driving speed and target driving angular velocity of the differential module vehicle.
[0030] The target radius of curvature for each wheel is calculated based on the target radius of curvature of the differential module vehicle.
[0031] In some embodiments, the differential module vehicle further includes:
[0032] A differential module rotation angle generation module 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.
[0033] The current driving angle of the differential module is obtained, and the rotation angle of the differential module is obtained by combining the target driving angle of the differential module.
[0034] In some embodiments, there are two directional wheels.
[0035] The present invention provides a motion control method and a differential module vehicle. Compared with the prior art, the technical effects achieved by the present invention include: using a differential module including two wheels as the power system of the differential module vehicle, changing the speed difference of the 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 thus controlling the driving speed and direction of the differential module vehicle simply by independently controlling the rotation speed of each wheel. Attached Figure Description
[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below only involve some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0037] Figure 1 This is a flowchart of a motion control method for a differential module vehicle according to an embodiment of the present invention;
[0038] Figure 2 Flowchart of the method for obtaining the target speed of each wheel;
[0039] Figure 3 Flowchart of the method for obtaining the rotation angle of the differential module;
[0040] Figure 4 This is a structural schematic diagram of a differential module vehicle;
[0041] Figure 5 A bottom view of the differential module vehicle;
[0042] Figure 6 This is a structural schematic diagram of another type of differential module vehicle. Detailed Implementation
[0043] To enable those skilled in the art to better understand the solutions of the present invention, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, other solutions obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.
[0044] Example 1
[0045] Figure 5 The image shows a bottom view of the differential module vehicle, by... Figure 5 It is known 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. Preferably, each wheel is driven to rotate independently. By making the two wheels 1a and 1b of the differential module rotate at different speeds to form a speed difference, the direction of the differential module is changed, thereby changing the driving direction of the differential module vehicle.
[0046] Figure 1 A flowchart illustrating a motion control method for 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:
[0047] S12. Obtain the target driving speed of each wheel and the rotation angle of the differential module.
[0048] The target speed for each wheel can be directly input by the user or intelligent driving program, preferably, such as... Figure 2 As shown, obtaining the target driving speed for each wheel includes the following steps:
[0049] S121. Receive driving instructions, including the target driving speed and target driving angular velocity of the differential module vehicle.
[0050] like Figure 5 As shown, preferably, the chassis 3 is rectangular, and there are two directional wheels 2, with the line connecting the two directional wheels 2 parallel to the wide side of the chassis 3, forming an isosceles triangle with the line connecting the directional wheels 2 and the differential module 1. In this case, the equivalent driving point of the differential module vehicle is located at the center of the line connecting the two directional wheels 2. Therefore, a coordinate system is established with this point O as the origin. Based on the known relative positions of the directional wheels 2 and the differential module 1, the center coordinates of the differential module 1 can be obtained. The chassis 3 can also be of other shapes, and the relative positions of the differential module 1 and the directional wheels 2 can also be different, making the calculation more complex.
[0051] S122. Based on the target driving speed and target driving angular velocity of the differential module vehicle, obtain the target driving curvature radius of each wheel.
[0052] like Figure 5 As shown, preferably, the target driving radius of curvature R of the differential module vehicle is obtained based on the target driving speed and target driving angular velocity of the differential module vehicle;
[0053] The target radius of curvature of each wheel is calculated based on the target curvature radius R of the differential module vehicle.
[0054] Since the center of curvature of the differential module vehicle lies on the line connecting the two directional wheels 2, and the target driving curvature radius R of the differential module vehicle is given, the coordinates of the center of curvature of the differential module vehicle can be obtained.
[0055] Based on the center coordinates of differential module 1 and the coordinates of the curvature motion center of differential module vehicle, the target driving curvature radius R1 of differential module 1 can be calculated. Then, by adding or subtracting half the distance r between two wheels 1a and 1b in differential module 1 from the target driving curvature radius R1 of differential module 1, the target driving curvature radius of each wheel 1a and 1b in differential module 1 can be obtained, for example, R1a and R1b.
[0056] S123. 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.
[0057] During the driving process, the relative position of the differential module vehicle and the wheels is fixed, and it moves around the same point with each wheel at every moment. Therefore, the target driving angular velocity of the differential module vehicle is equal to the target driving angular velocity of each wheel 1a and 1b. So, the target driving speed of each wheel 1a and 1b can be obtained by multiplying the target driving curvature radius R1a and R1b of each wheel 1a and 1b by the target driving angular velocity of each wheel 1a and 1b.
[0058] The rotation angle of the differential module can be directly input by the user or intelligent driving program, preferably, such as Figure 3 As shown, obtaining the rotation angle of the differential module includes the following steps:
[0059] S125, Receive driving instructions, including the target driving speed and target driving angular velocity of the differential module vehicle.
[0060] S126. The target driving angle of the differential module is obtained based on the target driving speed and target driving angular velocity of the differential module vehicle.
[0061] The target radius of curvature R of the differential module vehicle is obtained based on the target driving speed and target driving angular velocity of the differential module vehicle.
[0062] The target radius of curvature of each wheel is calculated based on the target curvature radius R of the differential module vehicle.
[0063] Since the center of curvature of the differential module vehicle lies on the line connecting the two directional wheels 2, and the target driving curvature radius R of the differential module vehicle is given, the coordinates of the center of curvature of the differential module vehicle can be obtained.
[0064] Based on the center coordinates of differential module 1 and the coordinates of the curvature motion center of the differential module vehicle, the target driving curvature radius R1 of differential module 1 can be calculated. Then, by adding or subtracting half the distance r between two wheels 1a and 1b in differential module 1 from the target driving curvature radius R1, the target driving curvature radius of each wheel 1a and 1b in differential module 1 can be obtained, for example, R1a and R1b. During the driving process, the relative position of the driving equivalent point of the differential module vehicle and the differential module is fixed. The differential module vehicle and the differential module move around the same point. Therefore, 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 in the driving direction of the differential module vehicle.
[0065] S127. Obtain the current driving angle of the differential module, and combine it with the target driving angle of the differential module to obtain the rotation angle of the differential module.
[0066] Preferably, the current driving angle of the differential module is obtained by an angle encoder, and the rotation angle of the differential module is calculated based on the current driving angle and the target driving angle.
[0067] S14. Drive the corresponding wheel to rotate according to the target driving speed of each wheel and the rotation angle of the differential module.
[0068] The relative position of the differential module and its two wheels is fixed. Therefore, the target driving angle of the differential module is equal to the target driving angle of its two corresponding wheels. So, based on the rotation angle of the differential module, the two corresponding wheels 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, by using a motor to drive the wheels to rotate.
[0069] This embodiment uses a differential module with two wheels as the power system of the differential module vehicle. By independently changing the rotational speed of each wheel to create a speed difference between the wheels in the same group, the driving direction of the differential module is changed, thereby changing the driving direction of the differential module vehicle. Thus, the driving speed and direction of the differential module vehicle can be controlled simply by independently controlling the rotational speed of each wheel.
[0070] Example 2
[0071] Figure 4 A schematic diagram of a differential module vehicle is shown, consisting of... 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;
[0072] Figure 5 The image shows a bottom view of the differential module vehicle, by... Figure 5 It is known that the differential module vehicle has a chassis 3, on which a differential module 1 and a directional wheel 2 are mounted. The differential module 1 includes two wheels 1a and 1b. Preferably, each wheel is driven to rotate independently. By making the two wheels 1a and 1b of the differential module rotate at different speeds to form a speed difference, the direction of the differential module is changed, 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 simply by controlling the rotation speed of each wheel independently.
[0073] The data acquisition module 4 is used to acquire the target driving speed of each wheel and the rotation angle of the differential module.
[0074] The target speed of each wheel and the rotation angle of the differential module can be directly input by the user or intelligent driving program.
[0075] The wheel drive 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.
[0076] The relative positions of the differential module 1 and its two wheels 1a and 1b are fixed. Therefore, the target driving angle of the differential module 1 is equal to the target driving angle of its two corresponding wheels 1a and 1b. So, according to the rotation angle of the differential module 1, the corresponding two wheels 1a and 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, by using a motor to drive the wheels to rotate.
[0077] This embodiment uses a differential module with two wheels as the power system of the differential module vehicle. By independently changing the rotational speed of each wheel to create a speed difference between the wheels in the same group, the driving direction of the differential module is changed, thereby changing the driving direction of the differential module vehicle. Thus, the driving speed and direction of the differential module vehicle can be controlled simply by independently controlling the rotational speed of each wheel.
[0078] This embodiment mounts a differential module, including two wheels, on the chassis, making the chassis lower and serving as the power system for the differential module vehicle. This allows the differential module vehicle to operate in confined spaces, and the driving direction and speed of the differential module vehicle can be changed simply by controlling the rotation speed of the wheels, without the need for a steering motor, thus resulting in lower manufacturing costs.
[0079] Figure 6 A schematic diagram of another differential module vehicle is shown. Figure 6 It can be seen that the differential module vehicle also includes:
[0080] The driving command receiving module 6 is used to receive driving commands, including the target driving speed and target driving angular velocity of the differential module vehicle.
[0081] like Figure 5 As shown, preferably, the chassis 3 is rectangular, and there are two directional wheels 2, with the line connecting the two directional wheels 2 parallel to the wide side of the chassis 3, forming an isosceles triangle with the line connecting the directional wheels 2 and the differential module 1. In this case, the equivalent driving point of the differential module vehicle is located at the center of the line connecting the two directional wheels 2. Therefore, a coordinate system is established with this point O as the origin. Based on the known relative positions of the directional wheels 2 and the differential module 1, the center coordinates of the differential module 1 can be obtained. The chassis 3 can also be of other shapes, and the relative positions of the differential module 1 and the directional wheels 2 can also be different, making the calculation more complex.
[0082] The wheel target driving speed generation 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.
[0083] The target driving speed of each wheel is obtained based on the target driving radius of curvature of each wheel and the target driving angular velocity of the differential module vehicle.
[0084] like Figure 5 As shown, preferably, the target driving radius of curvature R of the differential module vehicle is obtained based on the target driving speed and target driving angular velocity of the differential module vehicle;
[0085] The target radius of curvature of each wheel is calculated based on the target curvature radius R of the differential module vehicle.
[0086] Since the center of curvature of the differential module vehicle lies on the line connecting the two directional wheels 2, and the target driving curvature radius R of the differential module vehicle is given, the coordinates of the center of curvature of the differential module vehicle can be obtained.
[0087] Based on the center coordinates of differential module 1 and the coordinates of the curvature motion center of differential module vehicle, the target driving curvature radius R1 of differential module 1 can be calculated. Then, by adding or subtracting half the distance r between two wheels 1a and 1b in differential module 1 from the target driving curvature radius R1 of differential module 1, the target driving curvature radius of each wheel 1a and 1b in differential module 1 can be obtained, for example, R1a and R1b.
[0088] During the driving process, the relative position of the differential module vehicle and the wheels is fixed, and it moves around the same point with each wheel at every moment. Therefore, the target driving angular velocity of the differential module vehicle is equal to the target driving angular velocity of each wheel 1a and 1b. So, the target driving speed of each wheel 1a and 1b can be obtained by multiplying the target driving curvature radius R1a and R1b of each wheel 1a and 1b by the target driving angular velocity of each wheel 1a and 1b.
[0089] In another embodiment, the differential module vehicle further includes:
[0090] 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 combine it with the target driving angle of the differential module to obtain the rotation angle of the differential module.
[0091] The target radius of curvature R of the differential module vehicle is obtained based on the target driving speed and target driving angular velocity of the differential module vehicle.
[0092] The target radius of curvature of each wheel is calculated based on the target curvature radius R of the differential module vehicle.
[0093] Since the center of curvature of the differential module vehicle lies on the line connecting the two directional wheels 2, and the target driving curvature radius R of the differential module vehicle is given, the coordinates of the center of curvature of the differential module vehicle can be obtained.
[0094] Based on the center coordinates of differential module 1 and the coordinates of the curvature motion center of the differential module vehicle, the target driving curvature radius R1 of differential module 1 can be calculated. Then, by adding or subtracting half the distance r between two wheels 1a and 1b in differential module 1 from the target driving curvature radius R1, the target driving curvature radius of each wheel 1a and 1b in differential module 1 can be obtained, for example, R1a and R1b. During the driving process, the relative position of the driving equivalent point of the differential module vehicle and the differential module is fixed. The differential module vehicle and the differential module move around the same point. Therefore, 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 in the driving direction of the differential module vehicle.
[0095] The current driving angle of the differential module is obtained, and the rotation angle of the differential module is obtained by combining the target driving angle of the differential module.
[0096] Preferably, the current driving angle of the differential module is obtained by an angle encoder, and the rotation angle of the differential module is calculated based on the current driving angle and the target driving angle.
[0097] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.
Claims
1. A method for controlling motion of a differential module vehicle, the differential module vehicle having a chassis, the chassis being mounted with a directional wheel and a differential module, the differential module comprising two wheels, the method comprising: driving each wheel to rotate independently, and changing a direction of the differential module by making a speed difference between the two wheels of the differential module, so as to change a driving direction of the differential module vehicle; and the method comprising: obtaining a target driving speed of each wheel and a rotation angle of the differential module; and driving each wheel to rotate according to the target driving speed of each wheel and the rotation angle of the differential module. The method for controlling motion of the differential module vehicle comprises: receiving a driving instruction, the driving instruction comprising a target driving speed and a target driving angular speed of the differential module vehicle; obtaining a target driving curvature radius of each wheel based on the target driving speed and the target driving angular speed of the differential module vehicle; calculating a target driving curvature radius of the differential module based on a center coordinate of the differential module and a coordinate of a curvature motion center of the differential module vehicle; obtaining a target driving curvature radius of each wheel by adding or subtracting half of a distance between the two wheels of the differential module to the target driving curvature radius of the differential module; and obtaining a target driving speed of each wheel based on the target driving curvature radius of each wheel and the target driving angular speed of the differential module vehicle. The method for controlling motion of the differential module vehicle comprises: obtaining a target driving speed of each wheel and a rotation angle of the differential module; and driving each wheel to rotate according to the target driving speed of each wheel and the rotation angle of the differential module. The method for controlling motion of the differential module vehicle comprises: receiving a driving instruction, the driving instruction comprising a target driving speed and a target driving angular speed of the differential module vehicle; obtaining a target driving angle of the differential module based on the target driving speed and the target driving angular speed of the differential module vehicle; obtaining a current driving angle of the differential module, and obtaining the rotation angle of the differential module by combining the target driving angle of the differential module. The differential module vehicle comprises: the chassis, the chassis being mounted with the directional wheel and the differential module, the differential module comprising the two wheels; a data obtaining module, configured to obtain the target driving speed of each wheel and the rotation angle of the differential module; a wheel driving module, configured to drive each wheel to rotate according to the target driving speed of each wheel and the rotation angle of the differential module; a driving instruction receiving module, configured to receive the driving instruction, the driving instruction comprising the target driving speed and the target driving angular speed of the differential module vehicle. 4.A differential module vehicle, the differential module vehicle comprising: the differential module vehicle driving each wheel to rotate independently, and changing a direction of the differential module by making a speed difference between the two wheels of the differential module, so as to change a driving direction of the differential module vehicle; and the differential module vehicle comprising: the chassis, the chassis being mounted with the directional wheel and the differential module, the differential module comprising the two wheels; a data obtaining module, configured to obtain the target driving speed of each wheel and the rotation angle of the differential module; a wheel driving module, configured to drive each wheel to rotate according to the target driving speed of each wheel and the rotation angle of the differential module; a driving instruction receiving module, configured to receive the driving instruction, the driving instruction comprising the target driving speed and the target driving angular speed of the differential module vehicle. 2. The motion control method of a differential module vehicle according to claim 1, wherein, 3. The method of claim 1 or 2, wherein the method further comprises: The wheel target running speed generation module is configured to obtain a target running curvature radius of each wheel based on a target running speed and a target running angular velocity of the differential module vehicle; The target running curvature radius of the differential module is calculated based on the center coordinates of the differential module and the coordinates of the curvature motion center of the differential module vehicle, and then the target running curvature radius of each wheel in the differential module is obtained by adding or subtracting half of the distance between the two wheels in the differential module from the target running curvature radius of the differential module; The target running speed of each wheel is obtained based on the target running curvature radius of each wheel and the target running angular velocity of the differential module vehicle; The target running curvature radius of each wheel is obtained based on the target running speed and the target running angular velocity of the differential module vehicle, which includes: The target running curvature radius of the differential module vehicle is obtained based on the target running speed and the target running 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.
5. The differential module vehicle of claim 4, wherein, Further comprising: The differential module rotation angle generation module is configured to obtain a target running angle of the differential module based on the target running speed and the target running angular velocity of the differential module vehicle; The current running angle of the differential module is obtained, and the rotation angle of the differential module is obtained by combining the target running angle of the differential module.
6. The differential module vehicle according to any one of claims 4-5, characterized in that, The directional wheel is provided with two.
Citation Information
Patent Citations
Omnidirectional operation control method for multi-differential unit chassis
CN118363378A