Distributed driving and steering mechanism of movable positioning platform and control method of distributed driving and steering mechanism

Abstract

The invention provides a distributed driving and steering mechanism of a movable positioning platform and a control method of the distributed driving and steering mechanism. The mechanism comprises a distributed driving module, a sensing positioning module, a motion control module and a man-machine interaction module. The distributed driving module is used for realizing movement control of the movable positioning platform; the sensing and positioning module is used for sensing the surrounding environment information of the platform and realizing high-precision positioning; the motion control module is used for controlling the platform to move according to the target task; the man-machine interaction module is used for completing information interaction between a user and the platform; according to the invention, through the modular design and the dynamic adjustment strategy, the operation stability, the obstacle avoidance capability and the task adaptability of the movable positioning platform in a complex environment are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent mobile platforms, and in particular to a distributed driving and steering mechanism of a movable positioning platform and a control method thereof. Background Art

[0002] With the development of automation technology and intelligent equipment, mobile positioning platforms have been widely used in logistics, industrial manufacturing, and service robots. Existing mobile platforms usually adopt centralized drive or simple mechanical steering structure. Although they can meet the needs of some application scenarios, they often have problems such as poor running stability, limited obstacle avoidance ability, and low efficiency of path planning execution in complex environments. Especially in dynamic loads and changing environments, traditional mechanical steering or fixed parameter control methods are difficult to adapt to diversified task requirements, further limiting the application scenarios and operation efficiency of mobile platforms. In recent years, distributed drive and multi-wheel independent control technology have gradually become an important direction for improving the performance of mobile platforms. Through independent drive and steering control, each wheel group can respond to path planning and task requirements more flexibly. However, how to fully consider the impact of environmental information and load distribution on the motion characteristics of mobile platforms during operation and achieve precise dynamic steering control is still one of the key difficulties in the current technological development.

[0003] According to the relevant published technical solutions, the technology with publication number CN115848164A proposes a distributed drive high-performance six-wheel steering commercial vehicle intelligent chassis system and control method. The system includes a frame, a suspension system, a drive and braking system, a steering system and an information perception and control system. The solution maximizes the controllable freedom of each wheel during driving, controls the steering angle and driving force of each wheel respectively, so that the three-axle commercial vehicle has redundancy and coupling of the input vector of the overdrive and braking system; integrates advanced perception and state sensing equipment into the multi-wheel steering and multi-wheel drive chassis control architecture to form a complete high-performance intelligent chassis system, and improves the ability of multi-axle heavy-duty commercial vehicles to cope with extreme working conditions during driving; the underlying control quantity optimization solution proposed based on the distributed six-wheel steering chassis has an ideal tire force distribution mechanism to improve the stability of the vehicle body; at the same time, the multi-motor distributed drive structure has a better energy distribution mode, improves the efficiency of the drive motor and reduces energy consumption; but the solution only independently controls the steering angle and driving force of the wheel, and does not dynamically adjust it in combination with real-time environmental information and load distribution, and cannot accurately optimize the steering process in a complex environment. Summary of the invention

[0004] The purpose of the present invention is to address the existing deficiencies and propose a distributed driving and steering mechanism of a movable positioning platform and a control method thereof.

[0005] The present invention adopts the following technical solution:

[0006] A distributed drive and steering mechanism for a movable positioning platform, the mechanism comprising a distributed drive module, a perception and positioning module, a motion control module and a human-computer interaction module; the distributed drive module is used to realize the movement control of the movable positioning platform; the perception and positioning module is used to perceive the environment information around the platform and realize high-precision positioning; the motion control module is used to control the movement of the platform according to a target task; the human-computer interaction module is used to complete the information interaction between the user and the platform.

[0007] The distributed drive module includes a wheel group unit, a motor drive unit and a motor control unit; the wheel group unit includes wheel groups arranged at the four corners of the movable positioning platform, and each wheel group is an omnidirectional wheel; the motor drive unit includes an independent drive motor equipped for each wheel group, which is used to provide a power source for the wheel group; the motor control unit is used to receive control instructions from the motion control module, and adjust the drive motor according to the control instructions to achieve control of the platform movement.

[0008] The perception and positioning module includes an environment perception unit, a load perception unit and a positioning unit; the environment perception unit is used to perceive the surrounding environment information of the platform during movement; the load perception unit is used to perceive the load distribution information of the platform in real time; the positioning unit is used to complete the positioning of the platform position and posture during the movement of the platform.

[0009] Furthermore, the motion control module includes a path planning unit and a collaborative control unit; the path planning unit is used to plan the platform's moving path according to the target task; the collaborative control unit is used to adjust and control the turning speed of the movable platform during the turning process of the moving path in combination with the information provided by the perception and positioning module.

[0010] Furthermore, the human-computer interaction module includes a user input unit and a feedback unit; the user input unit is used to receive target task information provided by the user; and the feedback unit is used to adjust the operating parameters of the platform in combination with the historical operating information of the platform.

[0011] A control method for a distributed drive and steering mechanism of a movable positioning platform, the method comprising the following steps:

[0012] S11: Obtain target task information provided by the user;

[0013] S12: planning the movement path of the platform in combination with the target task information provided by the user and the specific application scenario;

[0014] S13: the platform moves along the planned moving path, and collects the surrounding environment information of the platform and the load distribution information of the platform in real time during the movement;

[0015] S14: During the turning movement of the platform, the turning speed of the platform is dynamically adjusted by independently controlling each wheel group.

[0016] Furthermore, the step S13 also includes obtaining obstacle information during the movement of the platform in combination with the platform's surrounding environment information, and calculating the distance between the platform and the obstacle in combination with the platform's own position information and the obstacle information.

[0017] Furthermore, in the step S13, it also includes calculating the center of gravity position information of the platform in combination with the load distribution information of the platform.

[0018] Furthermore, in step S14, the steering speed of each wheel group is dynamically adjusted by combining the distance between the platform and the obstacle and the load distribution information borne by the platform, thereby ensuring the smooth and efficient operation of the platform in a complex environment.

[0019] Furthermore, the adjustment of the steering speed of each wheel set is completed in the following manner:

[0020] S141: During the movement of the platform, the distance between the platform and obstacles in the environment and the position information of the center of gravity of the platform itself are obtained in real time;

[0021] S142: Calculate dynamic speed adjustment factor:

[0022]

[0023] Among them, α(d) is the dynamic speed adjustment factor set according to the distance d between the platform and the obstacle, which represents the adjustment ratio of the platform turning speed; α min is the preset minimum value of the speed adjustment factor; α max is the preset maximum value of the speed adjustment factor; d min is the preset minimum distance threshold, d max is the preset maximum distance threshold; f(d) is the adjustment function of the speed adjustment factor;

[0024] S143: Calculate the comprehensive steering speed of each wheel group:

[0025] v i =α(d)·β·v target +ω·r i ;

[0026] Among them, v i is the comprehensive steering speed of the i-th wheel group, that is, the actual driving speed of each wheel group; β is the load adjustment factor of the platform, which is adjusted and obtained according to the platform load distribution information; v target is the standard operating speed of the platform; ω is the angular velocity of the platform turning, r iis the rotation radius of the i-th wheel group relative to the steering center; ω and r i The path curvature of the platform turning in the planned moving path and the geometric distribution of the platform wheel set are obtained in advance through kinematic model calculation.

[0027] The beneficial effects achieved by the present invention are:

[0028] This solution achieves precise driving of each wheel set through independent motor control of distributed drive modules, and combined with omnidirectional wheel design, enables the platform to flexibly respond to complex paths and task requirements, effectively reducing the complexity of traditional mechanical steering structures; through the perception and positioning module, the surrounding environment information and platform load distribution information of the platform are dynamically obtained during movement, and the steering speed is dynamically adjusted in combination with the surrounding environment information and platform load distribution information, thereby ensuring the smooth operation of the platform when the load is unbalanced or dynamically changing, effectively avoiding posture deviation or abnormal operation, and significantly improving the platform's obstacle avoidance capability and operating efficiency, so that the platform has excellent stability, obstacle avoidance capability and task adaptability in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The present invention can be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily drawn to scale, but the emphasis is placed on illustrating the principles of the embodiments. In different views, the same reference numerals designate corresponding parts.

[0030] Figure 1 It is a schematic diagram of the overall module of the distributed drive and steering mechanism of the movable positioning platform of the present invention.

[0031] Figure 2 It is a schematic flow chart of a control method of a distributed drive and steering mechanism of a movable positioning platform of the present invention.

[0032] Figure 3 The figure is a schematic diagram of the process of adjusting the steering speed of each wheel group according to the present invention.

[0033] Figure 4 Schematic diagram of the working process of the parameter optimization subunit of the present invention. DETAILED DESCRIPTION

[0034] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with its embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention; for those skilled in the art, other systems, methods and / or features of the present embodiment will become apparent after reviewing the following detailed description; it is intended that all such additional systems, methods, features and advantages are included in this specification; included within the scope of the present invention and protected by the appended claims; additional features of the disclosed embodiments are described in the following detailed description, and these features will be apparent from the following detailed description.

[0035] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0036] Embodiment 1:

[0037] like Figure 1 As shown, this embodiment provides a distributed driving and steering mechanism of a movable positioning platform, the mechanism includes a distributed driving module, a sensing and positioning module, a motion control module and a human-computer interaction module; the distributed driving module is used to realize the mobile control of the movable positioning platform; the sensing and positioning module is used to sense the environment information around the platform and realize high-precision positioning; the motion control module is used to control the movement of the platform according to the target task; the human-computer interaction module is used to complete the information interaction between the user and the platform;

[0038] The distributed drive module includes a wheel unit, a motor drive unit and a motor control unit; the wheel unit includes wheel sets arranged at the four corners of the movable positioning platform, and each wheel set is an omnidirectional wheel; the motor drive unit includes an independent drive motor equipped for each wheel set, which is used to provide a power source for the wheel set; the motor control unit is used to receive control instructions from the motion control module, and adjust the drive motor according to the control instructions to realize the control of the platform movement;

[0039] The sensing and positioning module includes an environment sensing unit, a load sensing unit and a positioning unit; the environment sensing unit is used to sense the surrounding environment information of the platform during movement; the load sensing unit is used to sense the load distribution information of the platform in real time; the positioning unit is used to complete the positioning of the platform position and posture during the platform movement;

[0040] Specifically, the environment sensing unit scans and detects the surrounding environment information during the movement of the platform through laser radar and ultrasonic sensors, and the surrounding environment information includes the obstacle information around the platform during the movement of the platform; the load sensing unit obtains the load distribution information of the platform through multiple stress sensors set at the bottom of the platform; the positioning unit obtains the position and attitude information of the platform through the inertial measurement unit IMU and global positioning technology;

[0041] The motion control module includes a path planning unit and a collaborative control unit; the path planning unit is used to plan the movement path of the platform according to the target task; the collaborative control unit is used to adjust and control the turning speed of the movable platform during the turning process of the movement path in combination with the information provided by the perception and positioning module;

[0042] Furthermore, the human-computer interaction module includes a user input unit and a feedback unit; the user input unit is used to receive target task information provided by the user; the feedback unit is used to adjust the operating parameters of the platform in combination with the historical operating information of the platform;

[0043] This embodiment also provides a control method for a distributed drive and steering mechanism of a movable positioning platform, such as Figure 2 As shown, the method comprises the following steps:

[0044] S11: Obtain target task information provided by the user;

[0045] S12: planning the movement path of the platform in combination with the target task information provided by the user and the specific application scenario;

[0046] S13: the platform moves along the planned moving path, and collects the surrounding environment information of the platform and the load distribution information of the platform in real time during the movement;

[0047] S14: During the turning movement of the platform, the turning speed of the platform is dynamically adjusted by independently controlling each wheel group;

[0048] Furthermore, in the step S13, it also includes obtaining obstacle information during the movement of the platform in combination with the platform's surrounding environment information, and calculating the distance between the platform and the obstacle in combination with the platform's own position information and the obstacle information;

[0049] Furthermore, in the step S13, it also includes calculating the center of gravity position information of the platform in combination with the load distribution information of the platform;

[0050] Furthermore, in step S14, the steering speed of each wheel group is dynamically adjusted by combining the distance between the platform and the obstacle and the load distribution information carried by the platform, so as to ensure the smooth and efficient operation of the platform in a complex environment;

[0051] Further, such as Figure 3 As shown, the adjustment of the steering speed of each wheel set is completed in the following manner:

[0052] S141: During the movement of the platform, the distance between the platform and obstacles in the environment and the position information of the center of gravity of the platform itself are obtained in real time;

[0053] S142: Calculate dynamic speed adjustment factor:

[0054]

[0055] Among them, α(d) is the dynamic speed adjustment factor set according to the distance d between the platform and the obstacle, which represents the adjustment ratio of the platform turning speed; α min is the preset minimum value of the speed adjustment factor; α max is the preset maximum value of the speed adjustment factor; d min is the preset minimum distance threshold, d max is the preset maximum distance threshold; f(d) is the adjustment function of the speed adjustment factor, satisfying:

[0056]

[0057] Among them, γ is the sensitivity adjustment parameter, which is used to control the rate at which the speed adjustment factor changes with the distance d;

[0058] S143: Calculate the comprehensive steering speed of each wheel group:

[0059] v i =α(d)·β·v target +ω·r i ;

[0060] Among them, v i is the comprehensive steering speed of the i-th wheel group, that is, the actual driving speed of each wheel group; β is the load adjustment factor of the platform, which is adjusted and obtained according to the platform load distribution information; v target is the standard operating speed of the platform; ω is the angular velocity of the platform turning, r i is the rotation radius of the i-th wheel group relative to the steering center; ω and r iThe curvature of the path of the platform turning in the planned moving path and the geometric distribution of the platform wheel set are obtained in advance through kinematic model calculation;

[0061] Furthermore, the load adjustment factor satisfies:

[0062]

[0063] Among them, Δr is the offset between the current center of gravity position of the platform and the standard center of gravity position when balanced, and k is the offset adjustment coefficient, which is used to control the influence of the center of gravity offset on the platform steering speed and is set by pre-experimentation;

[0064] Furthermore, the code examples for adjusting the steering speed of each wheel set are as follows:

[0065]

[0066]

[0067]

[0068] This solution dynamically obtains the surrounding environment information and the load distribution information of the platform during the movement of the movable positioning platform, and sets the dynamic speed adjustment factor in combination with the surrounding environment information, thereby firstly ensuring the obstacle avoidance capability of the platform during the turning process in a complex environment; sets the load adjustment factor in combination with the load distribution information of the platform to further ensure the smooth operation of the platform during the movement; and accurately adjusts the steering speed of each wheel group based on the above contents, thereby reducing the complexity of traditional mechanical steering and improving the adaptability and operation efficiency of the platform in various mission scenarios.

[0069] Embodiment 2:

[0070] This embodiment should be understood to include at least all the features of any of the above embodiments, and further improve upon them;

[0071] This embodiment provides a distributed driving and steering mechanism of a movable positioning platform, the mechanism comprising a distributed driving module, a sensing and positioning module, a motion control module and a human-computer interaction module; the distributed driving module is used to realize the movement control of the movable positioning platform; the sensing and positioning module is used to sense the environment information around the platform and realize high-precision positioning; the motion control module is used to control the movement of the platform according to the target task; the human-computer interaction module is used to complete the information interaction between the user and the platform;

[0072] The human-computer interaction module includes a user input unit and a feedback unit; the user input unit is used to receive target task information provided by the user; the feedback unit is used to adjust the operating parameters of the platform in combination with the historical operating information of the platform;

[0073] Furthermore, the feedback unit includes a historical information acquisition subunit and a parameter optimization subunit; the historical information acquisition subunit is used to acquire the historical operation information of the platform; the parameter optimization subunit is used to optimize the operation parameters in combination with the historical operation information; the operation parameters include the sensitivity adjustment parameter γ and the offset adjustment coefficient k;

[0074] Further, such as Figure 4 As shown, the specific workflow of the parameter optimization subunit is as follows:

[0075] S21: Acquire historical operation information of the platform, wherein the historical operation information includes operation stability information and abnormal state record information of the platform each time the platform executes a task;

[0076] S22: intercepting historical operation information of the n consecutive historical execution tasks closest to the current time; and extracting adjustment features in the historical operation information; the adjustment features include operation stability features and abnormal state features; the specific extraction process is as follows:

[0077]

[0078] Among them, F stability is the operational stability characteristic, ΔW i is the average value of the load fluctuation of the platform during the turning process when executing the i-th mission. It is obtained by quantitative calculation based on the running stability information in the historical running information, reflecting the load changes of each stress sensor during the turning process of the platform;

[0079]

[0080] Among them, F error is the abnormal state feature, C error,i is the number of abnormal situations that occur during the platform's turning process during the i-th mission, including path deviation and collision with obstacles, C error,i Obtain statistics based on abnormal status record information in historical operation information;

[0081] S23: Adjust the sensitivity adjustment parameter and the offset adjustment coefficient based on the adjustment characteristics:

[0082] k′=k·(1+μ·tanh(ρ·F stability ));

[0083] Wherein, k′ is the offset adjustment coefficient after adjustment, k is the offset adjustment coefficient before adjustment, μ and ρ are pre-set offset adjustment amplitude coefficients, which are used to control the influence of the operating stability characteristics on the adjustment of the offset adjustment coefficient;

[0084] γ′=γ·(1+μ′·tanh(ρ′·F error ));

[0085] Among them, γ′ is the sensitivity adjustment parameter after adjustment, γ is the sensitivity adjustment parameter before adjustment, μ′ and ρ′ are pre-set sensitivity adjustment amplitude coefficients, which are used to control the influence of abnormal state characteristics on the sensitivity adjustment parameter;

[0086] S24: Whenever the historical operation information is updated, execute all the above steps and update the adjusted offset adjustment coefficient and sensitivity adjustment parameter to the platform as the operation parameters for subsequent task execution;

[0087] This solution dynamically adjusts the offset adjustment coefficient and sensitivity adjustment parameters based on the platform's historical operating information, allowing the platform to adaptively optimize operating parameters based on historical operating performance. By updating operating information and re-optimizing parameters after each task, it ensures that the platform can continuously adjust based on the latest operating performance, maintaining the platform's long-term adaptability and efficiency.

[0088] The contents disclosed above are only preferred feasible embodiments of the present invention, and do not limit the protection scope of the present invention. Therefore, all equivalent technical changes made using the contents of the present invention specification and drawings are included in the protection scope of the present invention. In addition, the elements therein can be updated as technology develops.

Claims

1. A distributed drive and steering mechanism for a movable positioning platform, characterized in that: The mechanism includes a distributed driving module, a sensing and positioning module, a motion control module and a human-computer interaction module; the distributed driving module is used to realize the mobile control of the movable positioning platform; the sensing and positioning module is used to sense the surrounding environment information of the platform and realize high-precision positioning; the motion control module is used to control the movement of the platform according to the target task; the human-computer interaction module is used to complete the information interaction between the user and the platform; The distributed drive module includes a wheel unit, a motor drive unit and a motor control unit; the wheel unit includes wheel sets arranged at the four corners of the movable positioning platform, and each wheel set is an omnidirectional wheel; the motor drive unit includes an independent drive motor equipped for each wheel set, which is used to provide a power source for the wheel set; the motor control unit is used to receive control instructions from the motion control module, and adjust the drive motor according to the control instructions to realize the control of the platform movement; The perception and positioning module includes an environment perception unit, a load perception unit and a positioning unit; the environment perception unit is used to perceive the surrounding environment information of the platform during movement; the load perception unit is used to perceive the load distribution information of the platform in real time; the positioning unit is used to complete the positioning of the platform position and posture during the movement of the platform.

2. A distributed drive and steering mechanism for a movable positioning platform according to claim 1, characterized in that: The motion control module includes a path planning unit and a collaborative control unit; the path planning unit is used to plan the platform's moving path according to the target task; the collaborative control unit is used to adjust and control the turning speed of the movable platform during the turning process of the moving path in combination with the information provided by the perception and positioning module.

3. A distributed drive and steering mechanism for a movable positioning platform according to claim 2, characterized in that: The human-computer interaction module includes a user input unit and a feedback unit; the user input unit is used to receive target task information provided by the user; the feedback unit is used to adjust the operating parameters of the platform in combination with the historical operating information of the platform.

4. A control method for a distributed drive and steering mechanism of a movable positioning platform, applied to a distributed drive and steering mechanism of a movable positioning platform as claimed in claim 3, characterized in that: The method comprises the following steps: S11: Obtain target task information provided by the user; S12: planning the movement path of the platform in combination with the target task information provided by the user and the specific application scenario; S13: the platform moves along the planned moving path, and collects the surrounding environment information of the platform and the load distribution information of the platform in real time during the movement; S14: During the turning movement of the platform, the turning speed of the platform is dynamically adjusted by independently controlling each wheel group.

5. The control method of the distributed drive and steering mechanism of a movable positioning platform according to claim 4, characterized in that: The step S13 also includes acquiring obstacle information during the movement of the platform in combination with the platform's surrounding environment information, and calculating the distance between the platform and the obstacle in combination with the platform's own position information and the obstacle information.

6. The control method of the distributed drive and steering mechanism of a movable positioning platform according to claim 5, characterized in that: In the step S13, the center of gravity position information of the platform is calculated in combination with the load distribution information of the platform.

7. The control method of the distributed drive and steering mechanism of a movable positioning platform according to claim 6, characterized in that: In step S14, the steering speed of each wheel group is dynamically adjusted by combining the distance between the platform and the obstacle and the load distribution information borne by the platform, thereby ensuring the smooth and efficient operation of the platform in a complex environment.

8. The control method of the distributed drive and steering mechanism of a movable positioning platform according to claim 7, characterized in that: The adjustment of the steering speed of each wheel set is completed in the following manner: S141: During the movement of the platform, the distance between the platform and obstacles in the environment and the position information of the center of gravity of the platform itself are obtained in real time; S142: Calculate dynamic speed adjustment factor: Among them, α(d) is the dynamic speed adjustment factor set according to the distance d between the platform and the obstacle, which represents the adjustment ratio of the platform steering speed; α min is the preset minimum value of the speed adjustment factor; α max is the preset maximum value of the speed adjustment factor; d min is the preset minimum distance threshold, d max is the preset maximum distance threshold; f(d) is the adjustment function of the speed adjustment factor; S143: Calculate the comprehensive steering speed of each wheel group: v i =α(d)·β·v target +ω·r i ; Among them, v i is the comprehensive steering speed of the i-th wheel group, that is, the actual driving speed of each wheel group; β is the load adjustment factor of the platform, which is adjusted and obtained according to the platform load distribution information; v target is the standard operating speed of the platform; ω is the angular velocity of the platform turning, r i is the rotation radius of the i-th wheel group relative to the steering center; ω and r i The path curvature of the platform turning in the planned moving path and the geometric distribution of the platform wheel set are obtained in advance through kinematic model calculation.

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