Cooperative control method and system for modular transportation platform

Abstract

The invention discloses a cooperative control method and system for a modular transportation platform, and the method comprises the steps: carrying out the coding processing of each module when the transportation platform is started, and determining a driving mode after the coding is completed; according to the current driving mode, a steering center is determined, and the steering angle and the steering speed of the transportation platform are obtained; calculating the vertical and transverse distances from each wheel to the steering center, and calculating a steering angular velocity based on the steering angle and the steering velocity; the steering angle of the wheel is calculated through an arc tangent function; calculating the running speed of each wheel according to the steering angular velocity, the vertical distance and the steering angle; by adjusting the steering angle and the running speed of each wheel, the movement of each module is cooperatively controlled, so that the transportation platform is more adaptive to different road conditions, the tire wear is reduced, and the running efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of automotive electronics technology, and in particular to a collaborative control method and system for a modular transportation platform. Background Art

[0002] A transport platform refers to a device or system used to transport items or goods. It is usually used in logistics, transportation, industrial equipment handling and other fields, and has a high degree of flexibility and adaptability.

[0003] Because existing transport platforms have factory-defined module positions and control strategies, they must be assembled in a strict sequence. This increases the workload and results in poor flexibility, making them unable to meet diverse needs. Furthermore, existing transport platforms are primarily designed for low-speed transportation in closed areas, and their control strategies are relatively simple. When multiple modules are combined, their motion characteristics can interfere with each other, leading to tire wear and unstable driving. Furthermore, while these transport platforms can travel in straight or diagonal directions, they lack road adaptability and cannot meet the needs of open roads, resulting in low overall transport efficiency. Summary of the Invention

[0004] Based on the above-mentioned deficiencies of the prior art, the present application provides a collaborative control method and system for a modular transportation platform to solve the problems of easy tire wear and low transportation efficiency brought about by the prior art.

[0005] In order to achieve the above objectives, this application provides the following technical solutions:

[0006] A first aspect of the present application provides a collaborative control method for a modular transport platform, comprising:

[0007] When it is detected that the transport platform is started, encoding each module in the transport platform is performed, and after each module is encoded, the driving mode of the transport platform is determined;

[0008] Determining a steering center of the transport platform according to the driving mode of the transport platform, and obtaining a steering angle and a steering speed of the transport platform;

[0009] For each of the modules, calculating the vertical distance and the lateral distance from each wheel in the module to the steering center;

[0010] Calculating a steering angular velocity of the transport platform based on the steering angle and the steering velocity;

[0011] For each wheel in the module, use an inverse tangent function to calculate the quotient of the vertical distance and the lateral distance from the wheel to the steering center to obtain a steering angle corresponding to the wheel;

[0012] Calculating a driving speed corresponding to each wheel based on the steering angular velocity, the vertical distance of each wheel, and the steering angle corresponding to each wheel;

[0013] The travel of the transport platform is controlled according to the steering angle and travel speed corresponding to each wheel in each module.

[0014] Optionally, in the above-mentioned collaborative control method of the modular transport platform, the encoding processing of each module in the transport platform includes:

[0015] Obtaining connection status corresponding to four interfaces of each module in the transport platform; wherein the four interfaces refer to a front interface, a rear interface, a left interface, and a right interface of each module in the transport platform;

[0016] According to the connection status corresponding to the four interfaces, a master module is determined from each module, and the code of the master module is set to a preset code value; wherein the master module refers to the module whose connection status of the front interface and the left interface is empty;

[0017] Taking the main module as the target module;

[0018] Sending the preset coding value of the target module to modules adjacent to the target module, so that the adjacent modules are encoded based on the preset coding value of the target module;

[0019] The adjacent module is used as a target module, and the process of sending the preset coding value of the target module to the modules adjacent to the target module is returned to execution until coding of each module in the transport platform is completed.

[0020] Optionally, in the above-mentioned collaborative control method of the modular transport platform, calculating, for each module, the vertical distance and the lateral distance from each wheel in the module to the steering center includes:

[0021] Obtain the number of rows and columns corresponding to the transport platform;

[0022] For each module, obtain the module's dimension information and code value respectively; wherein the dimension information includes the module's outer contour length, outer contour width, wheelbase, and track width;

[0023] Calculating a vertical distance from each wheel in the module to the steering center based on the number of rows, the outer contour length, the wheelbase, and the transverse code value in the code value;

[0024] The lateral distance from each wheel in the module to the steering center is calculated according to the number of columns, the wheel steering angle, the size information and the longitudinal code value in the code value.

[0025] Optionally, in the above-mentioned collaborative control method of the modular transport platform, calculating the steering angular velocity of the transport platform based on the steering angle and the steering speed includes:

[0026] Obtaining the number of rows of the transport platform, the outer contour length and wheelbase of the module;

[0027] The steering angular velocity of the transport platform is calculated based on the number of rows, the outer contour length, the wheelbase, the steering angle, and the steering speed.

[0028] Optionally, in the above-mentioned collaborative control method of the modular transport platform, calculating the driving speed corresponding to each wheel based on the steering angular velocity, the vertical distance of each wheel, and the steering angle corresponding to each wheel includes:

[0029] Calculating, for each wheel in the module, a product of the steering angular velocity and the vertical distance of the wheel;

[0030] The product is divided by the steering angle corresponding to the wheel to obtain the driving speed corresponding to the wheel.

[0031] Optionally, in the above-mentioned collaborative control method of the modular transport platform, determining the turning center of the transport platform according to the driving mode of the transport platform includes:

[0032] When the driving mode of the transport platform is a fixed circle driving mode, according to the fixed circle driving mode, the intersection of the rear axle extension line of the preset row module and the vertical line of the steering angle of the outer wheel of the front axle of the main module is determined as the turning center of the transport platform; wherein the preset row module refers to the module corresponding to the maximum number of rows of the modules constituting the transport platform; the main module refers to the module whose connection status of the front interface and the left interface is empty;

[0033] When the driving mode of the transport platform is an even driving mode, according to the even driving mode, the intersection of the extended rear outer contour of one-half of the preset row modules and the perpendicular line of the steering angle of the outer wheel of the front axle of the main module is determined as the steering center of the transport platform;

[0034] When the driving mode of the transport platform is an odd driving mode, according to the odd driving mode, the intersection of the lateral center line of the target row module and the vertical line of the steering angle of the outer wheel of the front axle of the main module is determined as the turning center of the transport platform; wherein, the target row module refers to the maximum row number plus 1, divided by 2, and the corresponding module in the transport platform.

[0035] A second aspect of the present application provides a collaborative control system for a modular transport platform, comprising:

[0036] an encoding unit, configured to, when detecting that the transport platform is started, perform encoding processing on each module in the transport platform, and determine the driving mode of the transport platform after encoding is completed for each module;

[0037] a center determination unit, configured to determine the turning center of the transport platform according to the driving mode of the transport platform, and obtain the turning angle and turning speed of the transport platform;

[0038] a distance calculation unit, configured to calculate, for each module, a vertical distance and a lateral distance from each wheel in the module to the steering center;

[0039] an angular velocity calculation unit, configured to calculate the steering angular velocity of the transport platform based on the steering angle and the steering velocity;

[0040] an angle calculation unit, configured to calculate, for each wheel in the module, a quotient between a vertical distance and a lateral distance from the wheel to the steering center using an inverse tangent function to obtain a steering angle corresponding to the wheel;

[0041] a driving speed calculation unit, configured to calculate a driving speed corresponding to each wheel based on the steering angular velocity, the vertical distance of each wheel, and the steering angle corresponding to each wheel;

[0042] The control unit is used to control the travel of the transport platform according to the steering angle and travel speed corresponding to each wheel in each module.

[0043] Optionally, in the above-mentioned collaborative control system of the modular transport platform, the encoding unit includes:

[0044] A status acquisition unit, configured to acquire the connection status corresponding to four interfaces of each module in the transport platform; wherein the four interfaces refer to the front interface, rear interface, left interface, and right interface of each module in the transport platform;

[0045] A module determination unit, configured to determine a master module from each of the modules according to the connection status corresponding to the four interfaces, and set the code of the master module to a preset code value; wherein the master module refers to a module whose connection status of the front interface and the left interface is empty;

[0046] As a unit, used to take the main module as a target module;

[0047] an encoding subunit, configured to send the preset encoding value of the target module to modules adjacent to the target module, so that the adjacent modules are encoded based on the preset encoding value of the target module;

[0048] The return execution unit is used to take the adjacent module as the target module and return to execute the sending of the preset coding value of the target module to the module adjacent to the target module until the coding of each module in the transport platform is completed.

[0049] Optionally, in the collaborative control system of the modular transport platform, the distance calculation unit includes:

[0050] A data acquisition unit, configured to acquire the number of rows and columns corresponding to the transport platform;

[0051] An information acquisition unit, configured to acquire, for each of the modules, the module's dimension information and code value; wherein the dimension information includes the module's outer contour length, outer contour width, wheelbase, and track width;

[0052] a first distance sub-calculation unit, configured to calculate a vertical distance from each wheel in the module to the steering center based on the number of rows, the outer contour length, the wheelbase, and a transverse code value in the code values;

[0053] The second distance sub-calculation unit is used to calculate the lateral distance from each wheel in the module to the steering center according to the number of columns, the wheel steering angle, the size information and the longitudinal code value in the code value.

[0054] Optionally, in the above-mentioned collaborative control system of the modular transport platform, the angular velocity calculation unit includes:

[0055] An acquisition unit, configured to acquire the number of rows of the transport platform, the outer contour length and the wheelbase of the module;

[0056] An angular velocity sub-calculation unit is used to calculate the steering angular velocity of the transport platform based on the number of rows, the outer contour length, the wheelbase, the steering angle and the steering speed.

[0057] Optionally, in the above-mentioned collaborative control system of the modular transport platform, the driving speed calculation unit includes:

[0058] a product calculation unit, configured to calculate, for each wheel in the module, a product of the steering angular velocity and the vertical distance of the wheel;

[0059] The driving speed sub-calculation unit is used to divide the product by the steering angle corresponding to the wheel to obtain the driving speed corresponding to the wheel.

[0060] Optionally, in the collaborative control system of the modular transport platform, the center determination unit includes:

[0061] A first determining unit is configured to determine, when the driving mode of the transport platform is a fixed-circle driving mode, the intersection of a rear axle extension line of a preset row module and a perpendicular line of a steering angle of an outer wheel of a front axle of a main module as the turning center of the transport platform according to the fixed-circle driving mode; wherein the preset row module refers to the module corresponding to the maximum number of rows of modules constituting the transport platform; and the main module refers to the module whose connection status between the front interface and the left interface is empty;

[0062] a second determining unit, configured to, when the driving mode of the transport platform is an even driving mode, determine, according to the even driving mode, an intersection of an extended rear outer contour of one-half of the preset row modules and a perpendicular line of a steering angle of an outer wheel of a front axle of the main module as a steering center of the transport platform;

[0063] The third determination unit is used to determine, when the driving mode of the transport platform is an odd driving mode, the intersection of the lateral center line of the target row module and the vertical line of the steering angle of the outer wheel of the front axle of the main module as the turning center of the transport platform according to the odd driving mode; wherein, the target row module refers to the module corresponding to the maximum row number plus 1 divided by 2 in the transport platform.

[0064] The present application provides a collaborative control method for a modular transport platform. When the transport platform is detected to be started, each module in the transport platform is coded. After each module is coded, the transport platform's driving mode is determined. Based on the driving mode, the transport platform's turning center is determined, and the transport platform's steering angle and steering speed are obtained. For each module, the vertical and lateral distances from each wheel in the module to the turning center are calculated. Based on the steering angle and steering speed, the transport platform's steering angular velocity is calculated. For each wheel in the module, the quotient between the vertical and lateral distances from the wheel to the turning center is calculated using an inverse tangent function to obtain the corresponding steering angle. Based on the steering angular velocity, the vertical distance of each wheel, and the steering angle corresponding to each wheel, the corresponding driving speed of each wheel is calculated. Finally, the transport platform's driving is controlled based on the steering angle and driving speed corresponding to each wheel in each module. Consequently, after self-coding, each module can automatically adjust its driving control strategy based on its position in the transport platform, effectively improving the transport platform's roadworthiness and thereby reducing tire wear and transportation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0066] Figure 1 A schematic flow chart of a collaborative control method for a modular transport platform provided in an embodiment of the present application;

[0067] Figure 2 A schematic structural diagram of a transport platform combination provided in an embodiment of the present application;

[0068] Figure 3 A schematic diagram of the structure of an encoding method for a reduction module provided in an embodiment of the present application;

[0069] Figure 4 A schematic diagram of coding of each module provided in an embodiment of the present application;

[0070] Figure 5 A schematic structural diagram of a fixed circle driving mode provided in an embodiment of the present application;

[0071] Figure 6 A schematic diagram of the structure of an even-numbered transport platform running in a figure-8 manner provided in an embodiment of the present application;

[0072] Figure 7 A schematic diagram of the structure of an odd-numbered transport platform running in a figure-8 manner provided in an embodiment of the present application;

[0073] Figure 8 A flowchart of a method for calculating vertical distance and lateral distance provided in an embodiment of the present application;

[0074] Figure 9 A schematic diagram of the structure of a module provided in an embodiment of the present application;

[0075] Figure 10 A schematic flow chart of a method for calculating a steering angular velocity according to an embodiment of the present application;

[0076] Figure 11 A schematic flow chart of a method for calculating driving speed provided in an embodiment of the present application;

[0077] Figure 12 A schematic structural diagram of a collaborative control system for a modular transport platform provided in another embodiment of the present application. DETAILED DESCRIPTION

[0078] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0079] In this application, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

[0080] The embodiment of the present application provides a collaborative control method for a modular transport platform, such as Figure 1 As shown, the specific steps include:

[0081] S101. When it is detected that the transport platform is started, each module in the transport platform is coded, and after each module is coded, the driving mode of the transport platform is determined.

[0082] It should be noted that the embodiments of the present application can realize any combination of transport platforms, including horizontal combination, vertical combination, horizontal and vertical coordinated combination and special-shaped free combination, etc. For details, please refer to Figure 2 The structural diagram of the transport platform combination shown in the figure shows that after the transport platform is built, the transport platform can be powered on, that is, the transport platform will be started to travel on the road.

[0083] It should also be noted that after detecting that the transport platform is powered on, each component module in the transport platform needs to complete the encoding processing by itself, so as to effectively control the coordinated driving of the transport platform.

[0084] It should be emphasized that each module that makes up the transport platform is equipped with a central control unit (CCU), which is responsible for the overall control of the single module. The front, rear, left and right of each module are equipped with electrical and communication interfaces for connection between modules.

[0085] In addition, the embodiment of the present application is illustrated by taking a transport module with dual-axis drive and dual-axis steering and each wheel can be independently steered as an example. Of course, the embodiment of the present application is also applicable to the collaborative control of a transport platform composed of other all-wheel steering modules, such as a single-axis drive and dual-axis steering transport module.

[0086] It is understandable that different modules within the transport platform need to be coordinated and controlled during driving to achieve straight-line driving, diagonal driving, circular driving and "8"-shaped driving. Therefore, after each module completes the coding, it is necessary to determine the driving mode of the transport platform based on user input so that the transport platform can be better coordinated and controlled, thereby improving road adaptability.

[0087] Optionally, in another embodiment of the present application, a specific implementation method of encoding each module in the transport platform in step S101 is as follows: Figure 3 As shown, the following steps are included:

[0088] S301: Acquire the connection status corresponding to the four interfaces of each module in the transportation platform.

[0089] Among them, the four interfaces refer to the front interface, rear interface, left interface and right interface of each module in the transport platform.

[0090] It should be noted that the driving control strategy of each module is determined by its relative position within the transport platform. Therefore, after the transport platform is assembled and powered on, the modules must be coded. Considering the diverse combinations of transport platforms and the varying number of modules involved, the central control unit (CCU) in each module can monitor the connection status of the front, rear, left, and right interfaces, allowing subsequent module coding based on the connection status of each interface.

[0091] S302: Determine a main module from each module according to the connection status corresponding to the four interfaces, and set the code of the main module to a preset code value.

[0092] The master module refers to the module whose front and left interfaces have empty connections.

[0093] It should be noted that in the embodiment of the present application, the module coding adopts a horizontal and vertical collaborative coding method. Therefore, the main module needs to be encoded first, so that the encoding of other modules can be broadcast through the two horizontal and vertical communication links. Therefore, in the embodiment of the present application, the module with the empty connection status of the front interface and the left interface is confirmed as the main module. Therefore, the main module can be determined from each module based on the connection status corresponding to the four interfaces. After the main module is determined, the code TP=11 of the main module, where the horizontal code is represented by the letter "T" and the vertical code is represented by the letter "P". For example, "TP=12" means that the module is in the first row horizontally and the second column vertically.

[0094] S303: Use the main module as the target module.

[0095] S304: Send the preset coding value of the target module to the modules adjacent to the target module, so that the adjacent modules perform coding based on the preset coding value of the target module.

[0096] It is understood that when the main module completes encoding, the modules adjacent to the main module will receive the main module's code TP=11, and thus complete their own encoding based on the main module's code. Specifically, if the adjacent module is connected to the left interface of the main module, the horizontal code is increased by 1, and if the adjacent module is connected to the front interface of the main module, the vertical code is increased by 1.

[0097] S305: Use the adjacent module as the target module.

[0098] Specifically, when the module adjacent to the main module completes encoding, the module will send its own encoding value to the adjacent module for encoding, because each module can only encode itself after receiving the encoding value of the previous module. When encoding is not completed, the default is TP=00. Therefore, in order to complete the encoding of each module in the transport platform, the adjacent module is used as the target module at this time, and it is necessary to return to execute step S304 until the encoding of each module in the transport platform is completed.

[0099] For details, see Figure 4 The coding diagram of each module is shown.

[0100] S102: Determine the turning center of the transport platform according to the driving mode of the transport platform, and obtain the turning angle and turning speed of the transport platform.

[0101] It should be noted that after determining the driving mode of the transport platform, it is necessary to determine the steering center of the transport platform to ensure that it can correctly perform steering adjustments and path planning during driving. After determining the driving mode of the transport platform, the target wheel steering angle and wheel driving speed of the transport platform can be obtained through the detector as the steering angle and steering speed of the transport platform.

[0102] Optionally, in another embodiment of the present application, a specific implementation of determining the turning center of the transport platform according to the current driving mode of the transport platform in step S101 includes the following steps:

[0103] When the current driving mode of the transport platform is the fixed circle driving mode, according to the fixed circle driving mode, the intersection of the rear axle extension line of the preset row module and the vertical line of the steering angle of the outer wheel of the front axle of the main module is determined as the steering center of the transport platform.

[0104] The preset row module refers to the module corresponding to the maximum number of rows of modules that make up the transport platform. Therefore, the preset row module T max is a variable, for example, the transport platform consists of 5 rows, then T max = T5, or the transport platform consists of 7 rows, then T max =T7.

[0105] The master module refers to the module whose front and left ports have empty connections.

[0106] It should be noted that circular driving refers to the transport platform turning around a fixed center. In addition, circular driving and straight-line driving can be switched without stopping, which improves transportation efficiency. In order to achieve stable circular driving, the transport platform must ensure that the steering centers of each wheel of each module coincide and have the same angular velocity. Therefore, when the transport platform is driving in a circular direction, the steering center O is located at T max The intersection of the extended line of the rear axle of the row module (preset row module) and the vertical line when the TP=11 module front axle outer wheel steering angle α, and the front axle outer wheel of the main module is also the main control wheel, then the steering angle of the transport platform obtained in step S102 is α=α 11Fe and the steering speed is V = V 11Fe , that is, the wheel steering angle and wheel speed of the main module, are obtained by user input.

[0107] Specifically, the structural diagram of the fixed circle driving mode can be found in Figure 5 The content shown.

[0108] When the driving mode of the transport platform is an even driving mode, according to the even driving mode, the intersection of the extended rear outer contour of the half preset row module and the vertical line of the steering angle of the outer wheel of the front axle of the main module is determined as the steering center of the transport platform.

[0109] Specifically, the even driving mode refers to the even driving mode in the "8" driving. The "8" driving means that the wheels of the front and rear transport modules of the transport platform rotate in opposite directions, which can effectively reduce the turning radius and improve the passability on narrow roads. When switching between "8" driving and straight driving, it is usually necessary to do so when the vehicle is stationary. Since the transport platform can be composed of any combination of modules, it is necessary to consider the two cases of T being an odd number and an even number when driving in the "8" shape. When the current driving mode of the transport platform is the even driving mode, that is, the transport platform is composed of an even number of rows of transport modules, where rows 1 to (T max All wheels of the row module and the left front wheel of the front axle TP=11 rotate in the same direction. max / 2+1) Go to T max The row module rotates in the opposite direction to the left front wheel of the front axle TP=11. At this time, the steering center O is located at (T max / 2) The intersection of the extended line of the rear outer contour of the row module and the vertical line when TP=11 module front axle outer wheel turns at angle α.

[0110] In addition, when the transport platform is traveling in the shape of "8", the outer wheel of the front axle of the main module is the main control wheel, so the steering angle of the transport platform obtained in step S102 is α=α 11Fe and the steering speed is V = V 11Fe , that is, the wheel steering angle and wheel speed of the main module, are obtained by user input.

[0111] Specifically, the structural diagram of the even-numbered transport platform 8-shaped movement can be found in Figure 6 The content shown.

[0112] When the transport platform's driving mode is odd, the transport platform's turning center is determined by the intersection of the target row module's transverse centerline and the perpendicular line of the steering angle of the main module's front axle outer wheel. The target row module is the module in the transport platform corresponding to the maximum row number plus 1, divided by 2.

[0113] When the driving mode of the transport platform is the odd-numbered driving mode in the "8" driving mode, that is, the transport platform is composed of odd-numbered rows of transport modules, where the 1st row to the [(T max +1) / 2-1] row module all wheels and [(T max +1) / 2] row module front axle wheels and TP=11 front axle left front wheel rotate in the same direction, the first [(T max+1) / 2] row module rear axle wheels and [(T max +1) / 2+1] line to T max All wheels of the row module rotate in the opposite direction to the left front wheel of the front axle TP=11. At this time, the steering center O is located at [(T max +1) / 2] The intersection of the transverse center line of the row module and the vertical line when the TP=11 module front axle outer wheel turns at an angle of α.

[0114] In addition, when the transport platform is traveling in the shape of "8", the outer wheel of the front axle of the main module is the main control wheel, so the steering angle of the transport platform obtained in step S102 is α=α 11Fe and the steering speed is V = V 11Fe , that is, the wheel steering angle and wheel speed of the main module, are obtained by user input.

[0115] Specifically, the structural diagram of the odd-numbered transport platform 8-shaped movement can be found in Figure 7 The content shown.

[0116] S103 , for each module, calculating the vertical distance and the lateral distance from each wheel in the module to the steering center.

[0117] Specifically, in order to ensure that the transport platform can complete the steering task efficiently, accurately and safely, and to optimize the motion control of the transport platform, it is necessary to calculate the vertical and lateral distances from each wheel contained in each module to the steering center.

[0118] Optionally, in another embodiment of the present application, a specific implementation of step S103 is as follows: Figure 8 As shown, the following steps are included:

[0119] S801. Obtain the number of rows and columns corresponding to the transportation platform.

[0120] S802: For each module, obtain the module size information and code value.

[0121] The size information may include the module's outer contour length, outer contour width, wheelbase, and track width. Figure 9 The structural diagram of the module shown in FIG. Figure 9 Where L is the outer contour length, D is the outer contour width, x is the wheelbase, and d is the module track.

[0122] S803: Calculate the vertical distance from each wheel to the steering center in the module based on the number of rows, the outer contour length, the wheelbase, and the lateral code value in the code value.

[0123] Specifically, when the transport platform is in a fixed circle driving mode, the calculation formula for calculating the vertical distance H from each wheel to the steering center is:

[0124] H TPRi =H TPRe =L(T max -T)

[0125] H TPFi =H TPFe =L(T max -T)+X

[0126] When the transport platform is in an even driving mode, the formula for calculating the vertical distance H from each wheel to the steering center is:

[0127] (1) Row 1 to (T max / 2) Row module:

[0128] H TPFe =H TPFi =(L / 2+X / 2)(T max / 2-T+1)

[0129] H TPRe =H TPRi =(L / 2+X / 2)(T max / 2-T+1)-X

[0130] (2) Section (T max / 2+1) row to Tmax row module:

[0131] H TPFe =H TPFi = (L / 2 + X / 2) (T - T max / 2)-X

[0132] H TPRe =H TPRi = (L / 2 + X / 2) (T - T max / 2)

[0133] When the transport platform is in odd driving mode, the calculation formula for the vertical distance H from each wheel to the steering center is:

[0134] (1) Row 1 to row [(T max +1) / 2-1] row module:

[0135] H TPFe =H TPFi =(L / 2+X / 2)[(T max +1) / 2-T]+L / 2

[0136] H TPRe =H TPRi=(L / 2+X / 2)[(T max +1) / 2-T]+L / 2-X

[0137] (2) [(T max +1) / 2] Row Module:

[0138] H TPFe =H TPFi = H TPRe =H TPRi =L / 2

[0139] (3) [(T max +1) / 2+1] row to Tmax row module:

[0140] H TPFe =H TPFi =(L / 2+X / 2)[T-(Tmax+1) / 2]+L / 2-X

[0141] H TPRe =H TPRi =(L / 2+X / 2)[T-(Tmax+1) / 2]+L / 2

[0142] Among them, H TPRi =H TPRe / H TPRe =H TPRi H is the vertical distance from the inner and outer wheels of the rear axle of each module to the steering center, TPFi =H TPFe / H TPFe =H TPFi is the vertical distance from the inner and outer wheels of the front axle of each module to the steering center, L is the outer contour length, T max is the number of rows, T is the transverse code value in the code value, and X is the wheelbase. It should be noted that in the embodiments of this application, all parameters use the same subscript identification rule, that is, the first two digits TP are module numbers, the third digit F / R is module front axle F, rear axle R, and the fourth digit e / i is outer wheel e, inner wheel i.

[0143] S804: Calculate the lateral distance from each wheel to the steering center in the module according to the number of columns, the wheel steering angle, the size information, and the longitudinal code value in the code value.

[0144] Specifically, when the transport platform is in a fixed circle driving mode, the calculation formula for calculating the lateral distance R from each wheel to the steering center is:

[0145] R TPFi =R TPRi =R Tmax1Re -(P-1)Dd

[0146] R TPFe=R TPRe =R Tmax1Re -(P-1)D

[0147] R Tmax1Fe =R Tmax1Re =[L(T max -1)+X] / tanα

[0148] When the transport platform is in an even driving mode, the formula for calculating the lateral distance R from each wheel to the steering center is:

[0149] R TPFi =R TPRi = R （Tmax / 2）1Fe -(P-1)Dd

[0150] R TPFe =R TPRe = R （Tmax / 2）1Fe -(P-1)D

[0151] R （Tmax / 2）1Fe =R （Tmax / 2）1Re =(L / 2+X / 2)(T max / 2) / tanα

[0152] When the transport platform is in odd driving mode, the calculation formula for the lateral distance R from each wheel to the steering center is:

[0153] R TPFi =R TPRi = R [（Tmax+1） / 2]1Fe -(P-1)Dd

[0154] R TPFe =R TPRe = R [（Tmax+1） / 2]1Fe -(P-1)D

[0155] R [（Tmax+1） / 2]1Fe = R [（Tmax+1） / 2]1Re ={(L / 2+X / 2)[(T max +1) / 2-1]+L / 2} / tanα.

[0156] Among them, R TPFi =R TPRi R is the lateral distance from the inner wheels of the front and rear axles of each module to the steering center, TPFe =R TPRe R is the lateral distance from the outer wheels of the front and rear axles of each module to the steering center, Tmax1Re T max The lateral distance from the outer wheel of the rear axle in the first row to the steering center, R （Tmax / 2）1Fe T max / 2 The lateral distance from the outer wheel of the front axle in the first row to the steering center, R[（Tmax+1） / 2]1Fe is (T max +1) / 2 row, first column, the lateral distance from the outer wheel of the front axle to the steering center, P is the longitudinal code value in the code value, D is the outer contour width, L is the outer contour length, T max is the number of rows, d is the wheelbase, X is the wheelbase, and α is the wheel steering angle.

[0157] S104: Calculate the steering angular velocity of the transport platform based on the steering angle and the steering velocity.

[0158] Specifically, in order to achieve precise dynamic control, reduce tire wear, improve path tracking accuracy, and ensure that the platform can operate stably and safely in different operating environments, it is necessary to calculate the steering angular velocity of the transport platform based on the steering angle and steering speed of the transport platform and the size information of each module.

[0159] Optionally, in another embodiment of the present application, a specific implementation of step S104 is as follows: Figure 10 As shown, the following steps are included:

[0160] S1001. Obtain the number of rows of the transport platform, the outer contour length and wheelbase of the module.

[0161] S1002. Calculate the steering angular velocity of the transport platform based on the number of rows, outer contour length, wheelbase, steering angle, and steering speed.

[0162] Specifically, when the transport platform is in a fixed circle driving mode, the calculation formula for calculating the steering angular velocity W of the transport platform is:

[0163] W = (V sin α) / [L (T max -1)+X]

[0164] When the transport platform is in an even driving mode, the calculation formula for the steering angular velocity W of the transport platform is:

[0165] W = (4Vsinα) / [(L+1)T max ]

[0166] When the transport platform is in odd driving mode, the calculation formula for the steering angular velocity W of the transport platform is:

[0167] W=(4Vsinα) / [(L+1)(T max +1)-2X]

[0168] Among them, α is the steering angle, V is the steering speed, X is the wheelbase, L is the outer contour length, T max is the number of rows.

[0169] S105 , for each wheel in the module, use an inverse tangent function to calculate the quotient of the vertical distance and the lateral distance from the wheel to the steering center to obtain the steering angle corresponding to the wheel.

[0170] It is understood that the calculation formula for the steering angle corresponding to the wheel is: α = arctan (H / R), where H is the vertical distance and R is the lateral distance.

[0171] Therefore, specifically, when the transport platform is in a fixed circle driving mode, the calculation formula for calculating the steering angle α corresponding to each wheel is:

[0172] α TPFe =arctan{[L(T max -T)+X] / [R Tmax1Re -(P-1)D]}

[0173] α TPFi =arctan{[L(T max -T)+X] / [R Tmax1Re -(P-1)Dd]}

[0174] α TPRe =arctan{[L(T max -T)] / [R Tmax1Re -(P-1)D]}

[0175] α TPRi =arctan{[L(T max -T)] / [R Tmax1Re -(P-1)Dd]}

[0176] When the transport platform is in an even driving mode, the calculation formula for the steering angle α corresponding to each wheel is:

[0177] (1) Row 1 to (T max / 2) Row module:

[0178] α TPFe =arctan{[(L / 2+X / 2)(T max / 2-T+1)] / [R （Tmax / 2）1Fe -(P-1)D]}.

[0179] α TPFi =arctan{[(L / 2+X / 2)(T max / 2-T+1)] / [R( Tmax / 2）1Fe -(P-1)Dd]}.

[0180] α TPRe =arctan{[(L / 2+X / 2)(Tmax / 2-T+1)-X] / [R （Tmax / 2）1Fe -(P-1)D]}.

[0181] α TPRi =arctan{[(L / 2+X / 2)(T max / 2-T+1)-X] / [R （Tmax / 2）1Fe -(P-1)Dd]}.

[0182] (2) Section (T max / 2+1) Go to T max Row Module:

[0183] α TPFe =-arctan{[(L / 2+X / 2)(T- T max / 2)-X] / [R （Tmax / 2）1Fe -(P-1)D]}.

[0184] α TPFi =-arctan{[(L / 2+X / 2)(T- T max / 2)-X] / [R （Tmax / 2）1Fe -(P-1)Dd]}.

[0185] α TPRe =-arctan{[(L / 2+X / 2)(T- T max / 2)] / [R （Tmax / 2）1Fe -(P-1)D]}.

[0186] α TPRi =-arctan{[(L / 2+X / 2)(T- T max / 2)] / [R （Tmax / 2）1Fe -(P-1)Dd]}.

[0187] When the transport platform is in odd driving mode, the calculation formula for the steering angle α corresponding to each wheel is:

[0188] (1) Row 1 to row [(T max +1) / 2-1] row module:

[0189] α TPFe =arctan{{(L / 2+X / 2)[(T max +1) / 2-T]+L / 2} / [R [（Tmax+1） / 2]1Fe -(P-1)D]}.

[0190] α TPFi =arctan{{(L / 2+X / 2)[(T max{(+1) / 2 - T] + L / 2} / [R [（Tmax+1） / 2]1Fe - (P - 1)D - d]}。

[0191] α TPRe = arctan{{(L / 2 + X / 2)[(T max + 1) / 2 - T] + L / 2 - X} / [R [（Tmax+1） / 2]1Fe - (P - 1)D]}。

[0192] α TPRi = arctan{{(L / 2 + X / 2)[(T max + 1) / 2 - T] + L / 2 - X} / [R [（Tmax+1） / 2]1Fe - (P - 1)D - d]}。

[0193] (2)第[(T max + 1) / 2]行模块:

[0194] α TPFe = arctan{(L / 2) / [R [（Tmax+1） / 2]1Fe - (P - 1)D]}。

[0195] α TPFi = arctan{(L / 2) / [R [（Tmax+1） / 2]1Fe - (P - 1)D - d]}。

[0196] α TPRe = - arctan{(L / 2) / [R [（Tmax+1） / 2]1Fe - (P - 1)D]}。

[0197] α TPRi = - arctan{(L / 2) / [R [（Tmax+1） / 2]1Fe - (P - 1)D - d]}。

[0198] (3)第[(T max + 1) / 2 + 1]行到T max 行模块:

[0199] α TPFe = arctan{{(L / 2 + X / 2)[T - (T max + 1) / 2] + L / 2 - X} / [R [（Tmax+1） / 2]1Fe - (P - 1)D]}。

[0200] α TPFi = arctan{{(L / 2 + X / 2)[T - (T max + 1) / 2] + L / 2 - X} / [R [（Tmax+1） / 2]1F - (P - 1)D - d]}。

[0201] α TPRe =arctan{{(L / 2+X / 2)[T-(T max +1) / 2]+L / 2} / [R [（Tmax+1） / 2]1Fe -(P-1)D]}.

[0202] α TPRi =arctan{{(L / 2+X / 2)[T-(T max +1) / 2]+L / 2} / [R [（Tmax+1） / 2]1Fe -(P-1)Dd]}.

[0203] Among them, α TPFe is the steering angle of the outer wheel of the front axle, α TPFi is the steering angle of the inner wheel of the front axle, α TPRe is the steering angle of the outer wheel of the rear axle, α TPRi is the steering angle of the inner wheel on the rear axle.

[0204] S106: Calculate the driving speed corresponding to each wheel based on the steering angular velocity, the vertical distance of each wheel, and the steering angle corresponding to each wheel.

[0205] Specifically, in order to ensure that the transport platform can maintain smooth and coordinated movement during the steering process, improve path tracking accuracy, optimize turning performance, ensure reasonable dynamic characteristics and load distribution, and at the same time improve the energy efficiency and load adaptability of the transport platform, the driving speed corresponding to each wheel is controlled, so it needs to be calculated based on the steering angular velocity, the vertical distance of each wheel and the steering angle corresponding to each wheel.

[0206] Optionally, in another embodiment of the present application, a specific implementation of step S106 is as follows: Figure 11 As shown, the following steps are included:

[0207] S1101. Calculate, for each wheel in the module, the product of the steering angular velocity and the vertical distance of the wheel.

[0208] It should be noted that in the embodiment of the present application, regardless of whether the driving mode of the transport platform is a fixed circle driving mode, an odd driving mode, or an even driving mode, the calculation formula for the driving speed corresponding to each wheel is the same. Therefore, the formula for calculating the product of the steering angular velocity and the vertical distance of each wheel is:

[0209] Product 1 = WH TPRe , product 2 = WH TPRi , product 3 = WH TPFe , product 4 = WH TPFi .

[0210] Among them, product 1 is the product of the outer wheels of the rear axle, product 2 is the product of the inner wheels of the rear axle, product 3 is the product of the outer wheels of the front axle, and product 4 is the product of the inner wheels of the front axle.

[0211] S1102: Divide the product by the steering angle corresponding to the wheel to obtain the driving speed corresponding to the wheel.

[0212] Specifically, the calculation formula for the driving speed V corresponding to each wheel is:

[0213] V TPRe =WH TPRe / sinα TPRe

[0214] V TPRi =WH TPRi / sinα TPRi

[0215] V TPFe =WH TPFe / sinα TPFe

[0216] V TPFi =WH TPFi / sinα TPFi

[0217] Among them, V TPRe is the speed of the outer wheel of the rear axle, V TPRi is the speed of the inner wheel of the rear axle, V TPFe is the speed of the outer wheel of the front axle, V TPFi Speed of the inside wheel on the front axle.

[0218] S107: Control the travel of the transport platform according to the steering angle and travel speed corresponding to each wheel in each module.

[0219] Specifically, by controlling the steering angle and driving speed of each wheel in each module, the transport platform can be controlled to travel in a coordinated manner, thereby effectively realizing straight-line driving, oblique driving, circular driving, and "8"-shaped driving of the transport platform, thereby improving driving smoothness.

[0220] The present application provides a collaborative control method for a modular transport platform. When the transport platform is detected to be started, each module in the transport platform is coded. After each module is coded, the transport platform's driving mode is determined. Based on the driving mode, the transport platform's turning center is determined, and the transport platform's steering angle and steering speed are obtained. For each module, the vertical and lateral distances from each wheel in the module to the turning center are calculated. Based on the steering angle and steering speed, the transport platform's steering angular velocity is calculated. For each wheel in the module, the quotient between the vertical and lateral distances from the wheel to the turning center is calculated using an inverse tangent function to obtain the corresponding steering angle. Based on the steering angular velocity, the vertical distance of each wheel, and the steering angle corresponding to each wheel, the corresponding driving speed of each wheel is calculated. Finally, the transport platform's driving is controlled based on the steering angle and driving speed corresponding to each wheel in each module. Consequently, after self-coding, each module can automatically adjust its driving control strategy based on its position in the transport platform, effectively improving the transport platform's roadworthiness and thereby reducing tire wear and transportation efficiency.

[0221] Another embodiment of the present application provides a collaborative control system for a modular transport platform, such as Figure 12 As shown, it includes the following units:

[0222] The encoding unit 1201 is used to perform encoding processing on each module in the transport platform when it is detected that the transport platform is started, and determine the driving mode of the transport platform after each module is encoded.

[0223] The center determination unit 1202 is used to determine the turning center of the transport platform according to the driving mode of the transport platform, and obtain the turning angle and turning speed of the transport platform.

[0224] The distance calculation unit 1203 is used to calculate the vertical distance and the lateral distance from each wheel in each module to the steering center.

[0225] The angular velocity calculation unit 1204 is configured to calculate the steering angular velocity of the transport platform based on the steering angle and the steering velocity.

[0226] The angle calculation unit 1205 is used to calculate the quotient between the vertical distance and the lateral distance from the wheel to the steering center for each wheel in the module using the inverse tangent function to obtain the steering angle corresponding to the wheel.

[0227] The driving speed calculation unit 1206 is used to calculate the driving speed corresponding to each wheel based on the steering angular velocity, the vertical distance of each wheel and the steering angle corresponding to each wheel.

[0228] The control unit 1207 is used to control the travel of the transport platform according to the steering angle and travel speed corresponding to each wheel in each module.

[0229] It should be noted that the specific working process of the above-mentioned units in the embodiment of the present application can refer to steps S101 to S107 in the above-mentioned method embodiment, and will not be repeated here.

[0230] Optionally, in a collaborative control system of a modular transport platform provided in another embodiment of the present application, the encoding unit 1201 includes:

[0231] The status acquisition unit is used to acquire the connection status of the four interfaces of each module in the transport platform, wherein the four interfaces refer to the front interface, rear interface, left interface and right interface of each module in the transport platform.

[0232] The module determination unit is configured to determine a master module from each module based on the connection status of the four interfaces, and set the code of the master module to a preset code value. The master module refers to a module whose connection status of the front interface and the left interface is empty.

[0233] As a unit, used to make the main module as the target module.

[0234] The encoding subunit is configured to send the preset encoding value of the target module to the modules adjacent to the target module, so that the adjacent modules are encoded based on the preset encoding value of the target module.

[0235] The return execution unit is used to take the adjacent module as the target module, and return to execute to send the preset coding value of the target module to the modules adjacent to the target module until the coding of each module in the transportation platform is completed.

[0236] Optionally, in a collaborative control system of a modular transport platform provided in another embodiment of the present application, the distance calculation unit 1203 includes:

[0237] The data acquisition unit is used to obtain the number of rows and columns corresponding to the transportation platform.

[0238] The information acquisition unit is used to acquire the module size information and code value for each module, wherein the size information includes the module's outer contour length, outer contour width, wheelbase, and track width.

[0239] The first distance sub-calculation unit is used to calculate the vertical distance from each wheel in the module to the steering center based on the number of rows, the outer contour length, the wheelbase and the transverse code value in the code value.

[0240] The second distance sub-calculation unit is used to calculate the lateral distance from each wheel in the module to the steering center according to the column number, wheel steering angle, size information and the longitudinal code value in the code value.

[0241] Optionally, in a collaborative control system of a modular transport platform provided in another embodiment of the present application, the angular velocity calculation unit 1204 includes:

[0242] The acquisition unit is used to obtain the number of rows of the transport platform, the outer contour length and the wheelbase of the module.

[0243] The angular velocity sub-calculation unit is used to calculate the steering angular velocity of the transport platform based on the number of rows, outer contour length, wheelbase, wheel steering angle and wheel travel speed.

[0244] Optionally, in a collaborative control system of a modular transport platform provided in another embodiment of the present application, the driving speed calculation unit 1206 includes:

[0245] The product calculation unit is used to calculate the product of the steering angular velocity and the vertical distance of the wheel for each wheel in the module.

[0246] The driving speed sub-calculation unit is used to divide the product by the steering angle corresponding to the wheel to obtain the driving speed corresponding to the wheel.

[0247] Optionally, in a collaborative control system of a modular transport platform provided in another embodiment of the present application, the center determination unit 1202 includes:

[0248] The first determination unit is configured to, when the transport platform is in a fixed-circle driving mode, determine the transport platform's turning center based on the intersection of the extended rear axle of the preset row module and the perpendicular line of the steering angle of the front axle outer wheel of the main module. The preset row module refers to the module corresponding to the maximum number of rows of modules comprising the transport platform. The main module refers to the module whose front and left interfaces have unconnected connections.

[0249] The second determination unit is used to determine the intersection of the extended line of the rear outer contour of the half preset row module and the vertical line of the steering angle of the outer wheel of the front axle of the main module as the steering center of the transport platform according to the even driving mode when the driving mode of the transport platform is the even driving mode.

[0250] The third determining unit is configured to, when the transport platform is in an odd driving mode, determine the turning center of the transport platform as the intersection of a transverse centerline of a target row module and a perpendicular line of the steering angle of the front axle outer wheel of the main module, based on the odd driving mode. The target row module is the module corresponding to the maximum row number plus 1 divided by 2 in the transport platform.

[0251] It should be noted that the specific working process of each unit provided in the above embodiments of the present application can refer to the corresponding steps in the above method embodiments, and will not be repeated here.

[0252] It should also be noted that the collaborative control system of a modular transport platform provided in the embodiment of the present application has the technical effects of any of the above embodiments, and the embodiments of the present application will not be repeated here.

[0253] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0254] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A collaborative control method for a modular transport platform, characterized in that: include: When it is detected that the transport platform is started, encoding each module in the transport platform is performed, and after each module is encoded, the driving mode of the transport platform is determined; Determining a steering center of the transport platform according to the driving mode of the transport platform, and obtaining a steering angle and a steering speed of the transport platform; For each of the modules, calculating the vertical distance and the lateral distance from each wheel in the module to the steering center; Calculating a steering angular velocity of the transport platform based on the steering angle and the steering velocity; For each wheel in the module, use an inverse tangent function to calculate the quotient of the vertical distance and the lateral distance from the wheel to the steering center to obtain a steering angle corresponding to the wheel; Calculating a driving speed corresponding to each wheel based on the steering angular velocity, the vertical distance of each wheel, and the steering angle corresponding to each wheel; The travel of the transport platform is controlled according to the steering angle and travel speed corresponding to each wheel in each module.

2. The method according to claim 1, characterized in that The encoding process for each module in the transport platform includes: Obtaining connection status corresponding to four interfaces of each module in the transport platform; wherein the four interfaces refer to a front interface, a rear interface, a left interface, and a right interface of each module in the transport platform; According to the connection status corresponding to the four interfaces, a master module is determined from each module, and the code of the master module is set to a preset code value; wherein the master module refers to the module whose connection status of the front interface and the left interface is empty; Taking the main module as the target module; Sending the preset coding value of the target module to modules adjacent to the target module, so that the adjacent modules are encoded based on the preset coding value of the target module; The adjacent module is used as a target module, and the process of sending the preset coding value of the target module to the modules adjacent to the target module is returned to execution until coding of each module in the transport platform is completed.

3. The method according to claim 1, characterized in that Calculating the vertical distance and the lateral distance from each wheel in the module to the steering center for each module includes: Obtain the number of rows and columns corresponding to the transport platform; For each module, obtain the module's dimension information and code value respectively; wherein the dimension information includes the module's outer contour length, outer contour width, wheelbase, and track width; Calculating a vertical distance from each wheel in the module to the steering center based on the number of rows, the outer contour length, the wheelbase, and the transverse code value in the code value; The lateral distance from each wheel in the module to the steering center is calculated according to the number of columns, the wheel steering angle, the size information and the longitudinal code value in the code value.

4. The method according to claim 1, wherein The calculating the steering angular velocity of the transport platform based on the steering angle and the steering velocity includes: Obtaining the number of rows of the transport platform, the outer contour length and wheelbase of the module; The steering angular velocity of the transport platform is calculated based on the number of rows, the outer contour length, the wheelbase, the steering angle, and the steering speed.

5. The method according to claim 1, characterized in that Calculating the driving speed corresponding to each wheel based on the steering angular velocity, the vertical distance of each wheel, and the steering angle corresponding to each wheel includes: Calculating, for each wheel in the module, a product of the steering angular velocity and the vertical distance of the wheel; The product is divided by the steering angle corresponding to the wheel to obtain the driving speed corresponding to the wheel.

6. The method according to any one of claims 1 to 5, characterized in that Determining the turning center of the transport platform according to the driving mode of the transport platform includes: When the driving mode of the transport platform is a fixed circle driving mode, according to the fixed circle driving mode, the intersection of the rear axle extension line of the preset row module and the vertical line of the steering angle of the outer wheel of the front axle of the main module is determined as the turning center of the transport platform; wherein the preset row module refers to the module corresponding to the maximum number of rows of the modules constituting the transport platform; the main module refers to the module whose connection status of the front interface and the left interface is empty; When the driving mode of the transport platform is an even driving mode, according to the even driving mode, the intersection of the extended rear outer contour of one-half of the preset row modules and the perpendicular line of the steering angle of the outer wheel of the front axle of the main module is determined as the steering center of the transport platform; When the driving mode of the transport platform is an odd driving mode, according to the odd driving mode, the intersection of the lateral center line of the target row module and the vertical line of the steering angle of the outer wheel of the front axle of the main module is determined as the turning center of the transport platform; wherein, the target row module refers to the maximum row number plus 1, divided by 2, and the corresponding module in the transport platform.

7. A collaborative control system for a modular transport platform, characterized in that: include: an encoding unit, configured to, when detecting that the transport platform is started, perform encoding processing on each module in the transport platform, and determine the driving mode of the transport platform after encoding is completed for each module; a center determination unit, configured to determine the turning center of the transport platform according to the driving mode of the transport platform, and obtain the turning angle and turning speed of the transport platform; a distance calculation unit, configured to calculate, for each module, a vertical distance and a lateral distance from each wheel in the module to the steering center; an angular velocity calculation unit, configured to calculate the steering angular velocity of the transport platform based on the steering angle and the steering velocity; an angle calculation unit, configured to calculate, for each wheel in the module, a quotient between a vertical distance and a lateral distance from the wheel to the steering center using an inverse tangent function to obtain a steering angle corresponding to the wheel; a driving speed calculation unit, configured to calculate a driving speed corresponding to each wheel based on the steering angular velocity, the vertical distance of each wheel, and the steering angle corresponding to each wheel; The control unit is used to control the travel of the transport platform according to the steering angle and travel speed corresponding to each wheel in each module.

8. The system according to claim 7, characterized in that The encoding unit includes: A status acquisition unit, configured to acquire the connection status corresponding to four interfaces of each module in the transport platform; wherein the four interfaces refer to the front interface, rear interface, left interface, and right interface of each module in the transport platform; A module determination unit, configured to determine a master module from each of the modules according to the connection status corresponding to the four interfaces, and set the code of the master module to a preset code value; wherein the master module refers to a module whose connection status of the front interface and the left interface is empty; As a unit, used to take the main module as a target module; an encoding subunit, configured to send the preset encoding value of the target module to modules adjacent to the target module, so that the adjacent modules are encoded based on the preset encoding value of the target module; The return execution unit is used to take the adjacent module as the target module and return to execute the sending of the preset coding value of the target module to the module adjacent to the target module until the coding of each module in the transport platform is completed.

9. The system according to claim 7, wherein: The distance calculation unit includes: A data acquisition unit, configured to acquire the number of rows and columns corresponding to the transport platform; An information acquisition unit, configured to acquire, for each of the modules, the module's dimension information and code value; wherein the dimension information includes the module's outer contour length, outer contour width, wheelbase, and track width; a first distance sub-calculation unit, configured to calculate a vertical distance from each wheel in the module to the steering center based on the number of rows, the outer contour length, the wheelbase, and a transverse code value in the code values; The second distance sub-calculation unit is used to calculate the lateral distance from each wheel in the module to the steering center according to the number of columns, the wheel steering angle, the size information and the longitudinal code value in the code value.

10. The system according to claim 7, wherein: The angular velocity calculation unit includes: An acquisition unit, configured to acquire the number of rows of the transport platform, the outer contour length and the wheelbase of the module; An angular velocity sub-calculation unit is used to calculate the steering angular velocity of the transport platform based on the number of rows, the outer contour length, the wheelbase, the steering angle and the steering speed.

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