A distributed drive and steering mechanism and its control method for a mobile positioning platform

Abstract

This invention provides a distributed drive and steering mechanism and its control method for a mobile positioning platform. The mechanism includes a distributed drive module, a perception and positioning module, a motion control module, and a human-machine interaction module. The distributed drive module is used to realize the movement control of the mobile positioning platform. The perception and positioning module is used to perceive the surrounding environment information of the platform and achieve high-precision positioning. The motion control module is used to control the movement of the platform according to the target task. The human-machine interaction module is used to complete the information interaction between the user and the platform. This invention improves the operational stability, obstacle avoidance capability, and task adaptability of the mobile positioning platform in complex environments through modular design and dynamic adjustment strategies.

Description

Technical Field

[0001] This invention relates to the field of intelligent mobile platform technology, and in particular to a distributed drive and steering mechanism and its control method for a mobile positioning platform. Background Technology

[0002] With the development of automation technology and intelligent devices, mobile positioning platforms have been widely used in logistics, industrial manufacturing, and service robots. Existing mobile platforms typically employ centralized drive or simple mechanical steering structures. While these can meet the needs of some application scenarios, they often suffer from poor operational stability, limited obstacle avoidance capabilities, and low path planning efficiency in complex environments. Especially in dynamic loads and changing environments, traditional mechanical steering or fixed-parameter control methods struggle to adapt to diverse task requirements, further limiting the application scenarios and operational efficiency of mobile platforms. In recent years, distributed drive and multi-wheel independent control technologies have gradually become important directions for improving the performance of mobile platforms. Through independent drive and steering control, each wheel set can respond more flexibly to path planning and task requirements. However, how to fully consider the impact of environmental information and load distribution on the motion characteristics of the mobile platform during operation and achieve precise dynamic steering control remains one of the key challenges in current technological development.

[0003] A review of publicly available technical solutions reveals that CN115848164A proposes a distributed-drive, high-performance six-wheel steering intelligent chassis system and control method for commercial vehicles. The system includes a frame, suspension system, drive and braking system, steering system, and information perception and control system. This solution maximizes the controllable degrees of freedom for each wheel during driving, controlling the steering angle and driving force of each wheel separately. This gives the three-axle commercial vehicle redundancy and coupling over the input vectors of the drive and braking systems. Advanced sensing and state sensing devices are integrated into the multi-wheel steering and multi-wheel drive chassis control architecture, forming a complete high-performance intelligent chassis system that enhances the ability of multi-axle heavy-duty commercial vehicles to handle extreme conditions. The underlying control quantity optimization scheme based on the distributed six-wheel steering chassis has an ideal tire force distribution mechanism, improving vehicle stability. Simultaneously, the multi-motor distributed drive structure has a better energy distribution mode, improving drive motor efficiency and reducing energy consumption. However, this solution only independently controls the steering angle and driving force of the wheels, without dynamically adjusting based on real-time environmental information and load distribution, and cannot accurately optimize the steering process in complex environments. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of current methods by proposing a distributed drive and steering mechanism for a mobile positioning platform and its control method.

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

[0006] A distributed drive and steering mechanism for a mobile positioning platform, the mechanism comprising a distributed drive module, a sensing and positioning module, a motion control module, and a human-machine interaction module; the distributed drive module is used to realize the movement control of the mobile positioning platform; the sensing and positioning module is used to sense the surrounding environment information of the platform and achieve high-precision positioning; the motion control module is used to control the movement of the platform according to the target task; and the human-machine interaction module is used to complete the information interaction between the user and the platform.

[0007] The distributed drive module includes a wheel assembly unit, a motor drive unit, and a motor control unit. The wheel assembly unit includes wheel assemblies located at the four corners of the movable positioning platform, each wheel assembly being an omnidirectional wheel. The motor drive unit includes an independent drive motor for each wheel assembly, providing power to the wheel assembly. The motor control unit receives control commands from the motion control module and adjusts the drive motors according to the control commands to control the movement of the platform.

[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 its movement; the load perception unit is used to perceive the load distribution information borne by the platform in real time; and the positioning unit is used to locate the position and attitude of the platform during its movement.

[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 movement path according to the target task; the collaborative control unit is used to adjust and control the turning speed of the mobile platform during the turning process of the movement path by combining 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; the feedback unit is used to adjust the platform's operating parameters based on the platform's historical operating information.

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

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

[0013] S12: Plan the platform's movement path by combining the target task information provided by the user with the specific application scenario;

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

[0015] S14: During the platform's steering movement, the platform's steering speed is dynamically adjusted through independent control of each wheel set.

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

[0017] Furthermore, in step S13, the center of gravity position information of the platform is calculated by combining the load distribution information of the platform.

[0018] Furthermore, in step S14, the steering speed of each wheel set is dynamically adjusted by combining the distance between the platform and the obstacle and the load distribution information carried by the platform, thereby ensuring the stable and efficient operation of the platform in complex environments.

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

[0020] S141: During platform movement, real-time information is obtained regarding the distance between the platform and obstacles in the environment, as well as the position of the platform's own center of gravity.

[0021] S142: Calculate the dynamic speed adjustment factor:

[0022]

[0023] Where α(d) is a dynamic speed adjustment factor set according to the distance d between the platform and the obstacle, representing the adjustment ratio of the platform's turning speed; min The minimum value of the preset speed adjustment factor; α max The preset maximum speed adjustment factor; d min d is the preset minimum distance threshold. max d is the preset maximum distance threshold; f(d) is the adjustment function of the speed adjustment factor;

[0024] S143: Calculate the combined steering speed of each wheel set:

[0025] v i =α(d)·β·v target +ω·r i ;

[0026] Among them, v i β represents the combined steering speed of the i-th wheel set, which is also the actual driving speed of each wheel set; β is the platform load adjustment factor, which is adjusted and obtained based on the platform load distribution information; v target ω is the standard operating speed for platform movement; ω is the angular velocity of platform turning; r iLet ω be the radius of rotation of the i-th wheel set relative to the steering center; and r be the radius of rotation of the i-th wheel set relative to the steering center. i The curvature of the platform's turning path and the geometric distribution of the platform's wheelsets are calculated in advance using a kinematic model based on the planned movement path.

[0027] The beneficial effects achieved by this invention are as follows:

[0028] This solution achieves precise drive for each wheel set through independent motor control of the distributed drive module. Combined with the omnidirectional wheel design, it enables the platform to flexibly cope with complex paths and task requirements, effectively reducing the complexity of traditional mechanical steering structures. The sensing and positioning module dynamically acquires information about the surrounding environment and platform load distribution during platform movement, and dynamically adjusts the steering speed based on this information. This ensures the platform's stable operation when the load is unbalanced or dynamically changing, effectively avoiding attitude deviation or abnormal operation. At the same time, it significantly improves the platform's obstacle avoidance capability and operating efficiency, giving the platform excellent stability, obstacle avoidance capability, and task adaptability in complex environments. Attached Figure Description

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

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

[0031] Figure 2 This is a schematic diagram of the control method for the distributed drive and steering mechanism of the mobile positioning platform of the present invention.

[0032] Figure 3 This is a schematic diagram illustrating the process of adjusting the steering speed of each wheel set according to the present invention.

[0033] Figure 4 This is a schematic diagram of the workflow of the parameter optimization subunit of the present invention. Detailed Implementation

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

[0035] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0036] Example 1:

[0037] like Figure 1 As shown, this embodiment provides a distributed drive and steering mechanism for a mobile positioning platform. The mechanism includes 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 mobile positioning platform; the perception and positioning module is used to perceive 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; and 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 assembly unit, a motor drive unit, and a motor control unit. The wheel assembly unit includes wheel assemblies located at the four corners of the movable positioning platform, each wheel assembly being an omnidirectional wheel. The motor drive unit includes an independent drive motor for each wheel assembly, providing power to the wheel assembly. The motor control unit receives control commands from the motion control module and adjusts the drive motors according to the control commands to control the movement of the platform.

[0039] The sensing and positioning module includes an environmental sensing unit, a load sensing unit, and a positioning unit; the environmental sensing unit is used to sense the surrounding environment information of the platform during its movement; the load sensing unit is used to sense the load distribution information borne by the platform in real time; and the positioning unit is used to locate the position and attitude of the platform during its movement.

[0040] Specifically, the environmental perception unit scans and detects the surrounding environment information during the platform's movement using lidar and ultrasonic sensors. The surrounding environment information includes information about obstacles around the platform during its movement. The load perception unit obtains the load distribution information of the platform through multiple stress sensors installed at the bottom of the platform. The positioning unit obtains the platform's position and attitude information through an 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 platform's movement path according to the target task; the collaborative control unit is used to adjust and control the turning speed of the mobile platform during the turning process of the movement path by combining 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 platform's operating parameters based on the platform's historical operating information.

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

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

[0045] S12: Plan the platform's movement path by combining the target task information provided by the user with the specific application scenario;

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

[0047] S14: During the platform's steering movement, the platform's steering speed is dynamically adjusted through independent control of each wheel set;

[0048] Furthermore, in step S13, the method also includes obtaining obstacle information during the platform's movement by combining information about the surrounding environment of the platform, and calculating the distance between the platform and the obstacle by combining the platform's own position information and the obstacle information.

[0049] Furthermore, in step S13, the center of gravity position information of the platform is calculated by combining the load distribution information of the platform.

[0050] Furthermore, in step S14, the steering speed of each wheel set is dynamically adjusted by combining the distance between the platform and the obstacle and the load distribution information carried by the platform, thereby ensuring the stable and efficient operation of the platform in complex environments.

[0051] Furthermore, such as Figure 3 As shown, the adjustment of the steering speed of each wheel set is accomplished in the following way:

[0052] S141: During platform movement, real-time information is obtained regarding the distance between the platform and obstacles in the environment, as well as the position of the platform's own center of gravity.

[0053] S142: Calculate the dynamic speed adjustment factor:

[0054]

[0055] Where α(d) is a dynamic speed adjustment factor set according to the distance d between the platform and the obstacle, representing the adjustment ratio of the platform's turning speed; min The minimum value of the preset speed adjustment factor; α max The preset maximum speed adjustment factor; d min d is the preset minimum distance threshold. max Here, f(d) is the preset maximum distance threshold; f(d) is the adjustment function of the speed adjustment factor, satisfying:

[0056]

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

[0058] S143: Calculate the combined steering speed of each wheel set:

[0059] v i =α(d)·β·v target +ω·r i ;

[0060] Among them, v i β represents the combined steering speed of the i-th wheel set, which is also the actual driving speed of each wheel set; β is the platform load adjustment factor, which is adjusted and obtained based on the platform load distribution information; v target ω is the standard operating speed for platform movement; ω is the angular velocity of platform turning; r i Let ω be the radius of rotation of the i-th wheel set relative to the steering center; and r be the radius of rotation of the i-th wheel set relative to the steering center. iThe curvature of the platform's turning path and the geometric distribution of the platform's wheel set are calculated in advance using a kinematic model based on the planned movement path.

[0061] Furthermore, the load adjustment factor satisfies:

[0062]

[0063] Where Δr is the offset between the current center of gravity position of the platform and the standard center of gravity position when in equilibrium, and k is the offset adjustment coefficient, which is used to control the influence of the center of gravity offset on the platform's steering speed and is set through pre-experimentation;

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

[0065]

[0066]

[0067]

[0068] This solution dynamically acquires information about the surrounding environment and the load distribution of the platform during its movement. By combining this information with a dynamic speed adjustment factor, it first ensures the platform's obstacle avoidance capability during steering in complex environments. Then, by combining this information with a load adjustment factor, it further ensures the platform's operational stability during movement. Finally, by precisely adjusting the steering speed of each wheel set, the solution reduces the complexity of traditional mechanical steering and improves the platform's adaptability and operational efficiency in diverse task scenarios.

[0069] Example 2:

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

[0071] This embodiment provides a distributed drive and steering mechanism for a mobile positioning platform. The mechanism includes a distributed drive module, a perception and positioning module, a motion control module, and a human-machine interaction module. The distributed drive module is used to realize the movement control of the mobile positioning platform. The perception and positioning module is used to perceive 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-machine 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 platform's operating parameters based on the platform's historical operating information.

[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 historical operating information of the platform; the parameter optimization subunit is used to optimize the operating parameters in combination with the historical operating information; the operating parameters include a sensitivity adjustment parameter γ and an offset adjustment coefficient k;

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

[0075] S21: Obtain the platform's historical operation information, which includes the platform's operational stability information and abnormal status record information each time the platform executes a task;

[0076] S22: Extract historical execution information from the n most recent consecutive historical execution tasks; and extract adjustment features from the historical execution information; the adjustment features include operational stability features and abnormal state features; the specific extraction process is as follows:

[0077]

[0078] Among them, F stability For operational stability characteristics, ΔW i The average load fluctuation of the platform during the turning process during the i-th task execution is obtained by quantitative calculation based on the running stability information in the historical operation information, reflecting the load changes of each stress sensor during the platform turning process;

[0079]

[0080] Among them, F error As an abnormal state characteristic, C error,i C represents the number of times the platform encounters abnormal situations during turns during the i-th task execution, including path deviation and collision with obstacles. error,i Obtained statistically from abnormal status records in historical operational information;

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

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

[0083] Where k′ is the adjusted offset adjustment coefficient, k is the original offset adjustment coefficient, and μ and ρ are preset offset adjustment amplitude coefficients used to control the influence of operational stability characteristics on the adjustment of the offset adjustment coefficient.

[0084] γ′=γ·(1+μ′·tanh(ρ′·F error ));

[0085] Where γ′ is the adjusted sensitivity adjustment parameter, γ is the original sensitivity adjustment parameter, and μ′ and ρ′ are preset sensitivity adjustment amplitude coefficients used to control the influence of abnormal state characteristics on the sensitivity adjustment parameter.

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

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

[0088] The content disclosed above is only a preferred and feasible embodiment of the present invention, and is not intended to limit the scope of protection of the present invention. Therefore, all equivalent technical changes made based on the content of the present invention specification and drawings are included within the scope of protection of the present invention. Furthermore, the elements therein can be updated as technology develops.

Claims

1. A distributed drive and steering mechanism for a mobile positioning platform, characterized in that, The mechanism includes 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 motion control of the mobile positioning platform; the perception and positioning module is used to perceive 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; and 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 assembly unit, a motor drive unit, and a motor control unit. The wheel assembly unit includes wheel assemblies located at the four corners of the movable positioning platform, each wheel assembly being an omnidirectional wheel. The motor drive unit includes an independent drive motor for each wheel assembly, providing power to the wheel assembly. The motor control unit receives control commands from the motion control module and adjusts the drive motors according to the control commands to control the movement of the platform. The sensing and positioning module includes an environmental sensing unit, a load sensing unit, and a positioning unit; the environmental sensing unit is used to sense the surrounding environment information of the platform during its movement; the load sensing unit is used to sense the load distribution information borne by the platform in real time; and the positioning unit is used to locate the position and attitude of the platform during its movement. The control method for the distributed drive and steering mechanism of the mobile positioning platform includes the following steps: S11: Obtain target task information provided by the user; S12: Plan the platform's movement path by combining the target task information provided by the user with the specific application scenario; S13: The platform moves along the planned path and collects information on the surrounding environment and the load distribution of the platform in real time during the movement. S14: During the platform's steering movement, the platform's steering speed is dynamically adjusted through independent control of each wheel set; The steering speed of each wheel set is adjusted in the following way: S141: During platform movement, real-time information is obtained regarding the distance between the platform and obstacles in the environment, as well as the position of the platform's own center of gravity. S142: Calculate the dynamic speed adjustment factor: ； in, Based on the distance between the platform and the obstacle The dynamic speed adjustment factor indicates the adjustment ratio of the platform's steering speed; The minimum value of the preset speed adjustment factor; The preset maximum speed adjustment factor; The preset minimum distance threshold, The preset maximum distance threshold; This is the adjustment function for the speed adjustment factor; S143: Calculate the combined steering speed of each wheel set: ； in, For the first The combined steering speed of each wheel set is the actual driving speed of each wheel set; This is the platform's load adjustment factor, which is adjusted and obtained based on the platform's load distribution information. The standard operating speed for platform mobility; The angular velocity of the platform during turning. For the first The radius of rotation of each wheel set relative to the steering center; and The curvature of the platform's turning path and the geometric distribution of the platform's wheelsets are calculated in advance using a kinematic model based on the planned movement path.

2. The distributed drive and steering mechanism of a mobile 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 movement path according to the target task; the collaborative control unit is used to adjust and control the turning speed of the mobile platform during the turning process of the movement path by combining the information provided by the perception and positioning module.

3. The distributed drive and steering mechanism of a mobile 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 platform's operating parameters based on the platform's historical operating information.

4. The control method for the distributed drive and steering mechanism of a mobile positioning platform according to claim 3, characterized in that, Step S13 further includes obtaining obstacle information during the platform's movement by combining information about the surrounding environment of the platform, and calculating the distance between the platform and the obstacle by combining the platform's own position information and the obstacle information.

5. The control method for the distributed drive and steering mechanism of a mobile positioning platform according to claim 4, characterized in that, In step S13, the center of gravity position information of the platform is calculated by combining the load distribution information of the platform.

6. The control method for the distributed drive and steering mechanism of a mobile positioning platform according to claim 5, characterized in that, In step S14, the steering speed of each wheel set is dynamically adjusted by combining the distance between the platform and the obstacle and the load distribution information carried by the platform, thereby ensuring the platform operates smoothly and efficiently in complex environments.

Images