Control method of omnidirectional vehicle and omnidirectional vehicle
By using a differential module as a power system in an omnidirectional vehicle, the rotation speed of each wheel is independently controlled, and the existing omnidirectional vehicle costs are solved, the demand for operation in a narrow space is achieved, and manufacturing costs are reduced.
Patent Information
- Application Number
- CN202510308599.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-17
- Publication Date
- 2025-05-13
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
The existing omnidirectional vehicles use ordinary steering wheels, which lead to high costs and high height of the vehicle, which cannot meet the needs of narrow space operations.
At least two differential modules are used as the power system of the omnidirectional vehicle. Each differential module includes two wheels. By independently controlling the rotation speed of each wheel, the speed difference of the same set of wheels is formed to change the driving direction of the differential module and thereby change the driving direction of the omnidirectional vehicle.
By independently controlling the rotation speed of each wheel, the driving speed and direction of the omnidirectional vehicle is controlled, the manufacturing cost is reduced, and the needs of narrow space operations are adapted.
Smart Images
Figure CN119975532A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of control technology, and in particular to a control method of an omnidirectional vehicle and the omnidirectional vehicle. Background Art
[0002] Usually, an omnidirectional vehicle uses an ordinary steering wheel, which is driven by two motors, namely a steering motor and a rotating motor. As a result, the omnidirectional vehicle has a high cost and a high height, which cannot meet the needs of narrow space operations. Therefore, it is necessary to develop a low-cost, low-chassis omnidirectional vehicle. Summary of the invention
[0003] In order to solve the defects of the prior art, the present invention provides a control method of an omnidirectional vehicle and an omnidirectional 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 control method for an omnidirectional vehicle, wherein the omnidirectional vehicle has a chassis, and the chassis is equipped with at least two differential modules, each of which includes two wheels. The control method includes the following steps: Get the movement speed of each wheel and the rotation angle of each differential module; The corresponding wheels are driven to rotate according to the movement speed of each wheel and the rotation angle of each differential module.
[0005] In some embodiments, obtaining the movement speed of each wheel includes: Receive driving instructions, including the driving speed of the omnidirectional vehicle in the X-axis direction, the driving speed of the omnidirectional vehicle in the Y-axis direction, and the driving angular velocity of the omnidirectional vehicle, wherein the X-axis and the Y-axis are perpendicularly intersected in the horizontal plane; Based on the omnidirectional vehicle driving angular velocity, the omnidirectional vehicle driving speeds in the X-axis direction and the Y-axis direction, the motion curvature radius of each wheel is obtained; The movement speed of each wheel is obtained based on the movement curvature radius of each wheel and the driving angular speed of the omnidirectional vehicle.
[0006] In some embodiments, obtaining the curvature radius of each wheel based on the omnidirectional vehicle driving angular velocity and the driving speeds of the omnidirectional vehicle in the X-axis direction and the Y-axis direction comprises: Obtaining the actual driving speed of the omnidirectional vehicle based on the driving speeds of the omnidirectional vehicle in the X-axis direction and the Y-axis direction; The motion curvature radius of each wheel is obtained based on the actual driving speed of the omnidirectional vehicle and the driving angular velocity of the omnidirectional vehicle.
[0007] In some embodiments, obtaining the rotation angle of each differential module includes: Receive driving instructions, including the driving speed of the omnidirectional vehicle in the X-axis direction, the driving speed of the omnidirectional vehicle in the Y-axis direction, and the driving angular velocity of the omnidirectional vehicle, wherein the X-axis and the Y-axis are perpendicularly intersected in the horizontal plane; Based on the omnidirectional vehicle driving angular velocity, the omnidirectional vehicle driving speeds in the X-axis direction and the Y-axis direction, a target driving angle of each differential module is obtained; The current driving angle of each differential module is obtained, and the rotation angle of each differential module is obtained in combination with the target driving angle of each differential module.
[0008] In some embodiments, obtaining the curvature radius of each wheel based on the actual driving speed and the driving angular velocity of the omnidirectional vehicle comprises: Obtaining a curvature radius of the omnidirectional vehicle based on the actual driving speed of the omnidirectional vehicle and the driving angular velocity of the omnidirectional vehicle; The motion curvature radius of each wheel is calculated based on the motion curvature radius of the omnidirectional vehicle.
[0009] In a second aspect, an embodiment of the present invention provides an omnidirectional vehicle, comprising: A chassis, wherein at least two differential modules are installed on the chassis, and each differential module includes two wheels; A data acquisition module, used to acquire the movement speed of each wheel and the rotation angle of each differential module; The wheel drive module is used to drive the corresponding wheel to rotate according to the movement speed of each wheel and the rotation angle of each differential module.
[0010] In some embodiments, the omnidirectional vehicle further comprises: A driving instruction receiving module is used to receive driving instructions, including the driving speed of the omnidirectional vehicle in the X-axis direction, the driving speed of the omnidirectional vehicle in the Y-axis direction, and the driving angular velocity of the omnidirectional vehicle, wherein the X-axis and the Y-axis are orthogonal to each other in the horizontal plane; A wheel movement speed generating module, used for obtaining the movement curvature radius of each wheel based on the omnidirectional vehicle driving angular velocity, the omnidirectional vehicle driving speeds in the X-axis direction and the Y-axis direction; The movement speed of each wheel is obtained based on the movement curvature radius of each wheel and the driving angular speed of the omnidirectional vehicle.
[0011] In some embodiments, the omnidirectional vehicle further comprises: A differential module rotation angle generation module, used for obtaining a target driving angle of each differential module based on the driving angular velocity of the omnidirectional vehicle and the driving speeds of the omnidirectional vehicle in the X-axis direction and the Y-axis direction; The current driving angle of each differential module is obtained, and the rotation angle of each differential module is obtained in combination with the target driving angle of each differential module.
[0012] In some embodiments, obtaining the curvature radius of each wheel based on the omnidirectional vehicle driving angular velocity and the driving speeds of the omnidirectional vehicle in the X-axis direction and the Y-axis direction comprises: Obtaining the actual driving speed of the omnidirectional vehicle based on the driving speeds of the omnidirectional vehicle in the X-axis direction and the Y-axis direction; The motion curvature radius of each wheel is obtained based on the actual driving speed of the omnidirectional vehicle and the driving angular velocity of the omnidirectional vehicle.
[0013] In some embodiments, obtaining the curvature radius of each wheel based on the actual driving speed and the driving angular velocity of the omnidirectional vehicle comprises: Obtaining a curvature radius of the omnidirectional vehicle based on the actual driving speed of the omnidirectional vehicle and the driving angular velocity of the omnidirectional vehicle; The motion curvature radius of each wheel is calculated based on the motion curvature radius of the omnidirectional vehicle.
[0014] The present invention provides a control method for an omnidirectional vehicle and an omnidirectional vehicle. Compared with the prior art, the present invention has the following technical effects: a differential module including two wheels is used as a power system of the omnidirectional vehicle, and a speed difference of wheels in the same group is formed by changing the rotation speed of each wheel independently to change the driving direction of the differential module, thereby changing the driving direction of the omnidirectional vehicle, and further, the driving speed and direction of the omnidirectional vehicle can be controlled only by controlling the rotation speed of each wheel independently. 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 control method for an omnidirectional vehicle according to an embodiment of the present invention; Figure 2 A flow chart of a method for obtaining the movement speed of each wheel; Figure 3 A flow chart of a method for obtaining the rotation angle of each differential module; Figure 4 It is a structural schematic diagram of an omnidirectional vehicle; Figure 5 This is a bottom view of the omnidirectional vehicle; Figure 6 It is a schematic diagram of the structure of another omnidirectional 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 shows a bottom view of the omnidirectional vehicle, Figure 5 It can be seen that the omnidirectional vehicle has a chassis 3, and the chassis 3 is equipped with at least two differential modules 1 and 2, each of which includes two wheels, for example, the differential module 1 includes wheels 1a and 1b, and the differential module 2 includes wheels 2a and 2b. Preferably, each wheel is driven to rotate independently of each other, and a speed difference is formed by making the two wheels of the same group of each differential module rotate at different speeds to change the direction of the differential module, thereby changing the driving direction of the omnidirectional vehicle.
[0019] Figure 1 FIG. 1 shows a flow chart of a control method for an omnidirectional vehicle according to an embodiment of the present invention. Figure 1 It can be seen that the control method of the omnidirectional vehicle includes the following steps: S12, obtaining the movement speed of each wheel and the rotation angle of each differential module.
[0020] The movement speed of each wheel can be directly input by a user or an intelligent driving program. Preferably, obtaining the movement speed of each wheel includes the following steps: S121, receiving driving instructions, including the driving speed V of the omnidirectional vehicle in the X-axis direction x , the omnidirectional vehicle speed V in the Y-axis direction y and the angular velocity w of the omnidirectional vehicle, where the X-axis and the Y-axis are perpendicular to each other in the horizontal plane.
[0021] like Figure 5 As shown, the chassis 3 is preferably rectangular, with the long side of the rectangle as the X-axis, which is also the front-rear direction of the omnidirectional vehicle, and the wide side as the Y-axis, which is also the left-right direction of the omnidirectional vehicle.
[0022] S122: Based on the omnidirectional vehicle driving angular velocity w, the omnidirectional vehicle driving velocities V in the X-axis direction and the Y-axis direction x、 V y , get the motion curvature radius of each wheel.
[0023] Based on the driving speed V of the omnidirectional vehicle in the X-axis direction x and the omnidirectional vehicle speed V in the Y-axis direction y, the actual driving speed V of the omnidirectional vehicle is calculated by using the Pythagorean theorem. Based on the driving speed V of the omnidirectional vehicle in the X-axis direction x and the omnidirectional vehicle speed V in the Y-axis direction y , calculate the actual driving angle of the omnidirectional vehicle (θ=arctan(V y / V x )).
[0024] The motion curvature radius of each wheel is obtained based on the actual driving speed V of the omnidirectional vehicle and the driving angular speed w of the omnidirectional vehicle.
[0025] Preferably, the curvature radius of the omnidirectional vehicle is obtained based on the actual driving speed V of the omnidirectional vehicle and the driving angular velocity of the omnidirectional vehicle; the center of the arc of the omnidirectional vehicle is calculated according to the actual driving angle of the omnidirectional vehicle and the curvature radius of the omnidirectional vehicle. Since the center position of each differential module and the omnidirectional vehicle is fixed, the distance between the two is known. On this basis, the curvature radius R1 and R2 of each differential module are calculated based on the curvature radius of the omnidirectional vehicle. Since the positions of the two wheels of each differential module are fixed, the curvature radius of each wheel, such as R1a, R1b, R2a, and R2b, can be obtained by adding or subtracting half of the distance between the corresponding two wheels from the curvature radius R1 and R2 of each differential module.
[0026] S123, obtaining the movement speed of each wheel based on the movement curvature radius of each wheel and the driving angular speed of the omnidirectional vehicle.
[0027] When the omnidirectional vehicle is moving, the relative position between the omnidirectional vehicle and the wheels is fixed, and the omnidirectional vehicle moves around the same center of a circle with each wheel at every moment. Therefore, the angular velocity of the omnidirectional vehicle is equal to the angular velocity of each wheel. Therefore, the movement speed of each wheel can be obtained by multiplying the movement curvature radius R1a, R1b, R2a, and R2b of each wheel by the angular velocity of each wheel.
[0028] The rotation angle of each differential module can be directly input by a user or an intelligent driving program. Preferably, obtaining the rotation angle of each differential module includes the following steps: S125, receiving driving instructions, including the driving speed Vx of the omnidirectional vehicle in the X-axis direction, the driving speed V y and the angular velocity w of the omnidirectional vehicle, where the X-axis and the Y-axis are perpendicular to each other in the horizontal plane.
[0029] like Figure 5 As shown, the chassis 3 is preferably rectangular, with the long side of the rectangle as the X-axis, which is also the front-rear direction of the omnidirectional vehicle, and the wide side as the Y-axis, which is also the left-right direction of the omnidirectional vehicle.
[0030] S126: Based on the omnidirectional vehicle driving angular velocity w, the omnidirectional vehicle driving velocities V in the X-axis direction and the Y-axis direction x、 Vy, get the target driving angle of each differential module.
[0031] Based on the driving speed V of the omnidirectional vehicle in the X-axis direction x and the omnidirectional vehicle speed V in the Y-axis direction y , the actual driving speed V of the omnidirectional vehicle is calculated by using the Pythagorean theorem. Based on the driving speed V of the omnidirectional vehicle in the X-axis direction x and the omnidirectional vehicle speed V in the Y-axis direction y , calculate the actual driving angle of the omnidirectional vehicle (θ=arctan(V y / V x )).
[0032] The curvature radius of the omnidirectional vehicle is obtained based on the actual driving speed V and the angular speed w of the omnidirectional vehicle; the center of the arc of the omnidirectional vehicle is calculated based on the actual driving angle of the omnidirectional vehicle and the curvature radius of the omnidirectional vehicle. During the driving process of the omnidirectional vehicle, the relative position of the center of the omnidirectional vehicle and each differential module is fixed, and the omnidirectional vehicle and each differential module move around the same center of the circle. Therefore, the target driving angle of each differential module is perpendicular to the line connecting each differential module and the center of the circle and points to the driving direction of the omnidirectional vehicle. Therefore, based on the center of the arc of the omnidirectional vehicle, the position of each differential module and the actual driving angle of the omnidirectional vehicle, the target driving angle of each differential module is calculated.
[0033] S127, obtaining the current driving angle of each differential module, and obtaining the rotation angle of each differential module in combination with the target driving angle of each differential module.
[0034] Preferably, the current driving angle of each differential module is acquired through an angle encoder, and the rotation angle of each differential module is calculated based on the current driving angle of each differential module and the target driving angle.
[0035] S14, driving the corresponding wheel to rotate according to the movement speed of each wheel and the rotation angle of each differential module.
[0036] The relative position of each differential module and its two wheels is fixed, so the target driving angle of each differential module is equal to the target driving angle of its corresponding two wheels. Therefore, according to the rotation angle of each differential module, the corresponding two wheels are driven to rotate so that each differential module is adjusted to the corresponding target driving angle state. At the same time, the wheels are driven to rotate according to the movement 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 omnidirectional 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 omnidirectional vehicle. Furthermore, the driving speed and direction of the omnidirectional vehicle can be controlled only by independently controlling the rotation speed of each wheel.
[0038] Example 2 Figure 4 FIG. 1 shows a schematic diagram of the structure of an omnidirectional vehicle. Figure 4 It can be seen that the omnidirectional vehicle includes a chassis 3, a data acquisition module 4 and a wheel driving module 5; Figure 5 shows a bottom view of the omnidirectional vehicle, Figure 5 It can be seen that the chassis 3 is equipped with at least two differential modules 1 and 2, each of which includes two wheels, for example, the differential module 1 includes wheels 1a and 1b, and the differential module 2 includes wheels 2a and 2b. Preferably, each wheel is driven to rotate in an independent manner, and a speed difference is formed by making the two wheels of the same group of each differential module rotate at different speeds to change the direction of the differential module, thereby changing the driving direction of the omnidirectional vehicle, and then controlling the driving speed and direction of the omnidirectional vehicle only by independently controlling the rotation speed of each wheel.
[0039] The data acquisition module 4 is used to acquire the movement speed of each wheel and the rotation angle of each differential module.
[0040] The movement speed of each wheel and the rotation angle of each 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 movement speed of each wheel and the rotation angle of each differential module.
[0042] The relative position of each differential module and its two wheels is fixed, so the target driving angle of each differential module is equal to the target driving angle of its corresponding two wheels. Therefore, according to the rotation angle of each differential module, the corresponding two wheels are driven to rotate so that each differential module is adjusted to the corresponding target driving angle state. At the same time, the wheels are driven to rotate according to the movement 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 omnidirectional 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 omnidirectional vehicle. Furthermore, the driving speed and direction of the omnidirectional 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 omnidirectional vehicle, so that the omnidirectional vehicle can operate in a narrow space. The driving direction and speed of the omnidirectional vehicle can be changed simply 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 another omnidirectional vehicle. Figure 6 It can be seen that the omnidirectional vehicle also includes: The driving instruction receiving module 6 is used to receive the driving instruction, including the driving speed V of the omnidirectional vehicle in the X-axis direction. x , the omnidirectional vehicle speed V in the Y-axis direction y and the angular velocity w of the omnidirectional vehicle, where the X-axis and the Y-axis intersect orthogonally in the horizontal plane; like Figure 5 As shown, the chassis 3 is preferably rectangular, with the long side of the rectangle as the X-axis, which is also the front-rear direction of the omnidirectional vehicle, and the wide side as the Y-axis, which is also the left-right direction of the omnidirectional vehicle.
[0046] The wheel movement speed generating module 7 is used to generate the omnidirectional vehicle driving speed V in the X-axis direction and the Y-axis direction based on the omnidirectional vehicle driving angular speed w. x、 V y , the curvature radius of each wheel is obtained; and the speed of each wheel is obtained based on the curvature radius of each wheel and the angular velocity w of the omnidirectional vehicle.
[0047] Based on the driving speed V of the omnidirectional vehicle in the X-axis direction x and the omnidirectional vehicle speed V in the Y-axis direction y , the actual driving speed V of the omnidirectional vehicle is calculated by using the Pythagorean theorem. Based on the driving speed V of the omnidirectional vehicle in the X-axis direction x and the omnidirectional vehicle speed V in the Y-axis direction y , calculate the actual driving angle of the omnidirectional vehicle (θ=arctan(V y / V x )).
[0048] The motion curvature radius of each wheel is obtained based on the actual driving speed V of the omnidirectional vehicle and the driving angular speed w of the omnidirectional vehicle.
[0049] Preferably, the curvature radius of the omnidirectional vehicle is obtained based on the actual driving speed V of the omnidirectional vehicle and the driving angular velocity of the omnidirectional vehicle; the center of the arc of the omnidirectional vehicle is calculated according to the actual driving angle of the omnidirectional vehicle and the curvature radius of the omnidirectional vehicle. Since the center position of each differential module and the omnidirectional vehicle is fixed, the distance between the two is known. On this basis, the curvature radius R1 and R2 of each differential module are calculated based on the curvature radius of the omnidirectional vehicle. Since the positions of the two wheels of each differential module are fixed, the curvature radius of each wheel, such as R1a, R1b, R2a, and R2b, can be obtained by adding or subtracting half of the distance between the corresponding two wheels from the curvature radius R1 and R2 of each differential module.
[0050] When the omnidirectional vehicle is moving, the relative position between the omnidirectional vehicle and the wheels is fixed, and the omnidirectional vehicle moves around the same center of a circle with each wheel at every moment. Therefore, the angular velocity of the omnidirectional vehicle is equal to the angular velocity of each wheel. Therefore, the movement speed of each wheel can be obtained by multiplying the movement curvature radius R1a, R1b, R2a, and R2b of each wheel by the angular velocity of each wheel.
[0051] In another embodiment, the omnidirectional vehicle further comprises: The differential module rotation angle generation module 8 obtains the target driving angle of each differential module based on the omnidirectional vehicle driving angular velocity w, the omnidirectional vehicle driving speeds Vx and Vy in the X-axis direction and the Y-axis direction; obtains the current driving angle of each differential module, and obtains the rotation angle of each differential module in combination with the target driving angle of each differential module.
[0052] Based on the omnidirectional vehicle driving speed Vx in the X-axis direction and the omnidirectional vehicle driving speed Vy in the Y-axis direction, the actual driving speed V of the omnidirectional vehicle is calculated using the Pythagorean theorem. x and the omnidirectional vehicle speed V in the Y-axis direction y , calculate the actual driving angle of the omnidirectional vehicle (θ=arctan(V y / V x )).
[0053] The curvature radius of the omnidirectional vehicle is obtained based on the actual driving speed V and the angular speed w of the omnidirectional vehicle; the center of the arc of the omnidirectional vehicle is calculated based on the actual driving angle of the omnidirectional vehicle and the curvature radius of the omnidirectional vehicle. During the driving process of the omnidirectional vehicle, the relative position of the center of the omnidirectional vehicle and each differential module is fixed, and the omnidirectional vehicle and each differential module move around the same center of the circle. Therefore, the target driving angle of each differential module is perpendicular to the line connecting each differential module and the center of the circle and points to the driving direction of the omnidirectional vehicle. Therefore, based on the center of the arc of the omnidirectional vehicle, the position of each differential module and the actual driving angle of the omnidirectional vehicle, the target driving angle of each differential module is calculated.
[0054] The current driving angle of each differential module is obtained, and the rotation angle of each differential module is obtained in combination with the target driving angle of each differential module.
[0055] Preferably, the current driving angle of each differential module is acquired through an angle encoder, and the rotation angle of each differential module is calculated based on the current driving angle of each differential module and the target driving angle.
[0056] 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 control method for an omnidirectional vehicle, wherein the omnidirectional vehicle has a chassis, wherein the chassis is equipped with at least two differential modules, each of which includes two wheels, wherein: The control method comprises the following steps: Get the movement speed of each wheel and the rotation angle of each differential module; The corresponding wheels are driven to rotate according to the movement speed of each wheel and the rotation angle of each differential module.
2. The control method of the omnidirectional vehicle according to claim 1, characterized in that: The obtaining of the movement speed of each wheel comprises: Receive driving instructions, including the driving speed of the omnidirectional vehicle in the X-axis direction, the driving speed of the omnidirectional vehicle in the Y-axis direction, and the driving angular velocity of the omnidirectional vehicle, wherein the X-axis and the Y-axis are perpendicularly intersected in the horizontal plane; Based on the omnidirectional vehicle driving angular velocity, the omnidirectional vehicle driving speeds in the X-axis direction and the Y-axis direction, the motion curvature radius of each wheel is obtained; The movement speed of each wheel is obtained based on the movement curvature radius of each wheel and the driving angular speed of the omnidirectional vehicle.
3. The control method of the omnidirectional vehicle according to claim 2, characterized in that: The motion curvature radius of each wheel obtained based on the omnidirectional vehicle driving angular velocity, the driving speed of the omnidirectional vehicle in the X-axis direction and the Y-axis direction comprises: Obtaining the actual driving speed of the omnidirectional vehicle based on the driving speeds of the omnidirectional vehicle in the X-axis direction and the Y-axis direction; The motion curvature radius of each wheel is obtained based on the actual driving speed of the omnidirectional vehicle and the driving angular velocity of the omnidirectional vehicle.
4. The control method of the omnidirectional vehicle according to claim 1, characterized in that: The obtaining of the rotation angle of each differential module comprises: Receive driving instructions, including the driving speed of the omnidirectional vehicle in the X-axis direction, the driving speed of the omnidirectional vehicle in the Y-axis direction, and the driving angular velocity of the omnidirectional vehicle, wherein the X-axis and the Y-axis are perpendicularly intersected in the horizontal plane; Based on the omnidirectional vehicle driving angular velocity, the omnidirectional vehicle driving speeds in the X-axis direction and the Y-axis direction, a target driving angle of each differential module is obtained; The current driving angle of each differential module is obtained, and the rotation angle of each differential module is obtained in combination with the target driving angle of each differential module.
5. The control method of the omnidirectional vehicle according to claim 3, characterized in that: The step of obtaining the curvature radius of each wheel based on the actual driving speed of the omnidirectional vehicle and the driving angular velocity of the omnidirectional vehicle comprises: Obtaining a curvature radius of the omnidirectional vehicle based on the actual driving speed of the omnidirectional vehicle and the driving angular velocity of the omnidirectional vehicle; The motion curvature radius of each wheel is calculated based on the motion curvature radius of the omnidirectional vehicle.
6. An omnidirectional vehicle, characterized in that: include: A chassis, wherein at least two differential modules are installed on the chassis, and each differential module includes two wheels; A data acquisition module, used to acquire the movement speed of each wheel and the rotation angle of each differential module; The wheel drive module is used to drive the corresponding wheel to rotate according to the movement speed of each wheel and the rotation angle of each differential module.
7. The omnidirectional vehicle according to claim 6, characterized in that: Also includes: A driving instruction receiving module is used to receive driving instructions, including the driving speed of the omnidirectional vehicle in the X-axis direction, the driving speed of the omnidirectional vehicle in the Y-axis direction, and the driving angular velocity of the omnidirectional vehicle, wherein the X-axis and the Y-axis are orthogonal to each other in the horizontal plane; A wheel movement speed generating module, used for obtaining the movement curvature radius of each wheel based on the omnidirectional vehicle driving angular velocity, the omnidirectional vehicle driving speeds in the X-axis direction and the Y-axis direction; The movement speed of each wheel is obtained based on the movement curvature radius of each wheel and the driving angular speed of the omnidirectional vehicle.
8. The omnidirectional vehicle according to claim 7, characterized in that: Also includes: A differential module rotation angle generation module, used for obtaining a target driving angle of each differential module based on the driving angular velocity of the omnidirectional vehicle and the driving speeds of the omnidirectional vehicle in the X-axis direction and the Y-axis direction; The current driving angle of each differential module is obtained, and the rotation angle of each differential module is obtained in combination with the target driving angle of each differential module.
9. The omnidirectional vehicle according to claim 7, characterized in that: The motion curvature radius of each wheel obtained based on the omnidirectional vehicle driving angular velocity, the driving speed of the omnidirectional vehicle in the X-axis direction and the Y-axis direction comprises: Obtaining the actual driving speed of the omnidirectional vehicle based on the driving speeds of the omnidirectional vehicle in the X-axis direction and the Y-axis direction; The motion curvature radius of each wheel is obtained based on the actual driving speed of the omnidirectional vehicle and the driving angular velocity of the omnidirectional vehicle.
10. The omnidirectional vehicle according to claim 9, characterized in that: The step of obtaining the curvature radius of each wheel based on the actual driving speed of the omnidirectional vehicle and the driving angular velocity of the omnidirectional vehicle comprises: Obtaining a curvature radius of the omnidirectional vehicle based on the actual driving speed of the omnidirectional vehicle and the driving angular velocity of the omnidirectional vehicle; The motion curvature radius of each wheel is calculated based on the motion curvature radius of the omnidirectional vehicle.