Cooperative control method and system for a modular transport platform

Abstract

This application discloses a collaborative control method and system for a modular transportation platform, comprising: encoding each module when the transportation platform starts, and determining the driving mode after encoding; determining the steering center according to the current driving mode, and obtaining the steering angle and steering speed of the transportation platform; calculating the vertical and lateral distances from each wheel to the steering center, and calculating the steering angular velocity based on the steering angle and steering speed; calculating the steering angle of the wheel using the arctangent function; calculating the travel speed of each wheel based on the steering angular velocity, vertical distance, and steering angle; and collaboratively controlling the movement of each module by adjusting the steering angle and travel speed of each wheel, so that the transportation platform is more adaptable to different road conditions, reduces tire wear, and improves operating efficiency.

Description

Technical Field

[0001] This 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 Technology

[0002] A transportation platform refers to equipment or systems used to transport goods or cargo. It is commonly used in logistics, transportation, industrial equipment handling, and other fields, and is highly flexible and adaptable.

[0003] Because existing transportation platforms have predetermined module positions and control strategies at the factory, they must be assembled in a strict sequence, increasing the workload of platform construction and resulting in poor platform flexibility. Therefore, these platforms cannot meet diverse needs. Furthermore, existing transportation platforms are primarily designed for low-speed transport in enclosed areas, with relatively simple control strategies. When multiple modules are combined, their motion characteristics become mutually restrictive, easily leading to tire wear and driving instability. In addition, although these platforms can travel in straight lines or at angles, their poor road adaptability fails to meet the demands of public roads, resulting in low overall transportation efficiency. Summary of the Invention

[0004] In view of the shortcomings of the prior art, this 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 caused by the prior art.

[0005] To achieve the above objectives, this application provides the following technical solution:

[0006] The first aspect of this application provides a collaborative control method for a modular transportation platform, comprising:

[0007] When the start of the transportation platform is detected, each module in the transportation platform is encoded, and after each module has been encoded, the driving mode of the transportation platform is determined.

[0008] Based on the driving mode of the transportation platform, determine the steering center of the transportation platform, and obtain the steering angle and steering speed of the transportation platform;

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

[0010] Calculate the angular velocity of the transport platform based on the steering angle and the steering speed;

[0011] For each wheel in the module, the quotient between the vertical distance and the lateral distance from the wheel to the steering center is calculated using the arctangent function to obtain the steering angle corresponding to the wheel;

[0012] Based on the steering angular velocity, the vertical distance of each wheel, and the steering angle corresponding to each wheel, the driving speed corresponding to each wheel is calculated;

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

[0014] Optionally, in the above-described collaborative control method for a modular transportation platform, the encoding process for each module in the transportation platform includes:

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

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

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

[0018] The preset encoding value of the target module is sent to the module adjacent to the target module, so that the adjacent module encodes based on the preset encoding value of the target module;

[0019] The adjacent module is taken as the target module, and the process of sending the preset encoding value of the target module to the module adjacent to the target module is returned to complete the encoding of each module in the transportation platform.

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

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

[0022] For each of the modules, obtain the module's size information and encoding value; wherein, the size information includes the module's outer contour length, outer contour width, wheelbase, and track width;

[0023] Based on the number of rows, the outer contour length, the wheelbase, and the lateral encoding value in the encoding value, calculate the vertical distance from each wheel in the module to the steering center;

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

[0025] Optionally, in the above-described cooperative control method for a modular transportation platform, calculating the steering angular velocity of the transportation platform based on the steering angle and the steering speed includes:

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

[0027] The turning 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-described cooperative control method for a modular transportation platform, calculating the travel 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] For each wheel in the module, calculate the product of the steering angular velocity and the vertical distance of the wheel;

[0030] Divide the product by the steering angle corresponding to the wheel to obtain the driving speed corresponding to the wheel.

[0031] Optionally, in the above-described cooperative control method for a modular transportation platform, determining the steering center of the transportation platform based on its driving mode includes:

[0032] When the transportation platform is in a fixed-circle driving mode, the intersection of the extended rear axle line of the preset row module 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 transportation 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 each module that makes up the transportation 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-number driving mode, the intersection of the extended line of the rear outer contour of half of the preset driving module 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 according to the even-number driving mode.

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

[0035] A second aspect of this application provides a collaborative control system for a modular transportation platform, comprising:

[0036] The encoding unit is used to encode each module in the transportation platform when the start of the transportation platform is detected, and to determine the driving mode of the transportation platform after each module has been encoded.

[0037] The center determination unit is used to determine the steering center of the transportation platform according to the driving mode of the transportation platform, and to obtain the steering angle and steering speed of the transportation platform.

[0038] The distance calculation unit is used to calculate the vertical and lateral distances from each wheel in the module to the steering center, respectively, for each of the modules.

[0039] An angular velocity calculation unit is used to calculate the turning angular velocity of the transport platform based on the turning angle and the turning velocity.

[0040] An angle calculation unit is used to calculate the quotient between the vertical distance and the lateral distance from the wheel to the steering center using the arctangent function for each wheel in the module, so as to obtain the steering angle corresponding to the wheel.

[0041] The driving speed calculation unit 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;

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

[0043] Optionally, in the collaborative control system of the aforementioned modular transportation platform, the coding unit includes:

[0044] The status acquisition unit is used to acquire the connection status of the four interfaces of each module in the transportation platform; wherein, the four interfaces refer to the front interface, rear interface, left interface and right interface of each module in the transportation platform.

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

[0046] As a unit, it is used to use the main module as the target module;

[0047] An encoding subunit is used to send the preset encoding value of the target module to a module adjacent to the target module, so that the adjacent module encodes based on the preset encoding value of the target module;

[0048] The execution unit is returned to select the adjacent module as the target module and then returns to send the preset encoding value of the target module to the module adjacent to the target module until the encoding of each module in the transportation platform is completed.

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

[0050] The data acquisition unit is used to acquire the number of rows and columns corresponding to the transportation platform;

[0051] An information acquisition unit is used to acquire the size information and encoding value of each module respectively; wherein, the size information includes the outer contour length, outer contour width, wheelbase, and track width of the module;

[0052] The first distance 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 lateral encoding value in the encoding value;

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

[0054] Optionally, in the collaborative control system of the aforementioned modular transportation platform, the angular velocity calculation unit includes:

[0055] The acquisition unit is used to acquire the number of rows of the transportation platform, the outer contour length of the module, and the wheelbase;

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

[0057] Optionally, in the collaborative control system of the aforementioned modular transportation platform, the driving speed calculation unit includes:

[0058] 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.

[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 aforementioned modular transportation platform, the central determination unit includes:

[0061] The first determining unit is used to determine the turning center of the transportation platform when the driving mode of the transportation platform is a fixed-circle driving mode, based on the fixed-circle driving mode, the intersection of the extension line of the rear axle of the preset row module and the perpendicular line of the steering angle of the outer wheel of the front axle of the main module; wherein, the preset row module refers to the module corresponding to the maximum number of rows of each module constituting the transportation platform; the main module refers to the module whose connection status of the front interface and the left interface is empty;

[0062] The second determining unit is used to determine the turning center of the transportation platform when the driving mode of the transportation platform is an even driving mode, based on the even driving mode, the intersection of the extended line of the rear outer contour of half of the preset driving module and the perpendicular line of the steering angle of the outer wheel of the front axle of the main module.

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

[0064] This application provides a collaborative control method for a modular transportation platform. When the platform is detected to be starting, each module is encoded. After encoding each module, the platform's driving mode is determined. Based on this mode, the platform's steering center is determined, and the steering angle and speed are obtained. For each module, the vertical and lateral distances from each wheel to the steering center are calculated. Then, based on the steering angle and speed, the platform's steering angular velocity is calculated. Next, for each wheel, the arctangent function is used to calculate the quotient between the vertical and lateral distances from the wheel to the steering center, yielding the wheel's corresponding steering angle. Finally, based on the steering angular velocity, the vertical distance of each wheel, and the steering angle, the speed of each wheel is calculated. Finally, the platform's movement is controlled based on the steering angle and speed of each wheel in each module. Thus, after self-encoding, each module can automatically adjust its driving control strategy according to its position within the platform, effectively improving the platform's road adaptability and reducing tire wear and transportation efficiency. Attached Figure Description

[0065] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0066] Figure 1 A flowchart illustrating a collaborative control method for a modular transportation platform provided in this application embodiment;

[0067] Figure 2 This is a structural schematic diagram of a transportation platform assembly provided in an embodiment of this application;

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

[0069] Figure 4 A schematic diagram illustrating the encoding of various modules provided in an embodiment of this application;

[0070] Figure 5 This is a structural schematic diagram of a fixed-circle driving mode provided in an embodiment of this application;

[0071] Figure 6 A schematic diagram of the structure of an even-numbered row transportation platform traveling in a figure-eight pattern, provided in an embodiment of this application;

[0072] Figure 7 A schematic diagram of the structure of an odd-numbered line transportation platform traveling in a figure-eight pattern is provided for an embodiment of this application;

[0073] Figure 8 A flowchart illustrating a method for calculating vertical and horizontal distances provided in an embodiment of this application;

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

[0075] Figure 10 A flowchart illustrating a method for calculating steering angular velocity provided in an embodiment of this application;

[0076] Figure 11 A flowchart illustrating a method for calculating driving speed provided in an embodiment of this application;

[0077] Figure 12 This is a schematic diagram of the structure of a collaborative control system for a modular transportation platform, provided as another embodiment of this application. Detailed Implementation

[0078] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0079] In this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0080] This application provides a collaborative control method for a modular transportation platform, such as... Figure 1 As shown, the specific steps include:

[0081] S101. When the start of the transportation platform is detected, each module in the transportation platform is coded, and after each module is coded, the driving mode of the transportation platform is determined.

[0082] It should be noted that the embodiments of this application can realize any combination of transportation platforms, including lateral combination, longitudinal combination, lateral and longitudinal collaborative combination, and irregular free combination, etc. For details, please refer to Figure 2 The diagram shows the structure of the combined transportation platform. After the transportation platform is built, it can be powered on, which will start the transportation platform to travel on the road.

[0083] It should also be noted that after the transportation platform is detected to be powered on, each component module of the transportation platform needs to complete its own coding process in order to effectively control the coordinated driving of the transportation platform.

[0084] It is important to emphasize that each module that makes up the transportation platform is equipped with a Central Control Unit (CCU) responsible for the overall control of the single module. Each module is equipped with electrical and communication interfaces on the front, back, left, and right for connection between modules.

[0085] Furthermore, this application uses a transportation module with dual-axle drive and dual-axle steering, where each wheel can steer independently, as an example for illustration. Of course, this application is also applicable to the coordinated control of transportation platforms composed of other all-wheel steering modules, such as a single-axle drive dual-axle steering transportation module.

[0086] It is understandable that different modules within the transportation platform need to be coordinated during operation to achieve straight-line driving, diagonal driving, circular driving, and figure-eight driving. Therefore, after each module completes its coding, the driving mode of the transportation platform needs to be determined based on user input in order to better coordinate the driving control of the transportation platform and improve its road adaptability.

[0087] Optionally, in another embodiment of this application, a specific implementation of the encoding process for each module in the transportation platform in step S101 is as follows: Figure 3 As shown, it includes the following steps:

[0088] S301. Obtain the connection status of the four interfaces of each module in the transportation platform.

[0089] The four interfaces refer to the front, rear, left, and right interfaces of each module in the transportation platform.

[0090] It should be noted that the driving control strategy of each module is determined by its relative position within the transportation platform. Therefore, after the transportation platform is assembled and its power-on is detected, the modules must first be coded. Considering the diverse assembly forms of the transportation platform and the varying number of modules involved, the connection status of the front, rear, left, and right interfaces can be detected through the central control unit (CCU) in each module. This allows for subsequent module coding based on the connection status of each interface.

[0091] S302. Based on the connection status of the four interfaces, determine the main module from each module and set the encoding of the main module to the preset encoding value.

[0092] The main module refers to the module whose connection status between the front and left interfaces is empty.

[0093] It should be noted that in this embodiment, the module encoding adopts a horizontal and vertical collaborative encoding method. Therefore, the main module needs to be encoded first so that the encoding of other modules can be broadcast through the two communication links (horizontal and vertical). Thus, in this embodiment, the module with an empty connection status on the front and left interfaces is identified as the main module. Therefore, the main module can be determined from each module based on the connection status of the four interfaces. After the main module is determined, its encoding TP=11, where the horizontal encoding is represented by the letter "T" and the vertical encoding by the letter "P". For example, "TP=12" indicates that the module is located in the first horizontal row and the second vertical column.

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

[0095] S304. Send the preset encoding value of the target module to the module adjacent to the target module, so that the adjacent module encodes based on the preset encoding value of the target module.

[0096] Understandably, after the main module completes its encoding, the modules adjacent to it will receive the main module's encoding (TP=11) and then sequentially complete their own encoding based on the main module's encoding. Specifically, if an adjacent module is connected to the left interface of the main module, the horizontal encoding is incremented by 1; if an adjacent module is connected to the front interface of the main module, the vertical encoding is incremented by 1.

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

[0098] Specifically, after a module adjacent to the main module completes its encoding, it sends its own encoded value to the adjacent module for encoding. Since each module can only encode its own value after receiving the encoded value from the aforementioned module, the default value when encoding is not completed is TP=00. Therefore, in order for each module in the transportation platform to complete its encoding, the adjacent module is taken as the target module, and step S304 needs to be returned to execute until each module in the transportation platform completes its encoding.

[0099] For details, please refer to Figure 4 The diagram shows the encoding of each module.

[0100] S102. Based on the driving mode of the transportation platform, determine the steering center of the transportation platform and obtain the steering angle and steering speed of the transportation platform.

[0101] It should be noted that after determining the driving mode of the transportation platform, it is necessary to determine the steering center of the transportation platform to ensure that it can make correct steering adjustments and path planning during driving. Moreover, after determining the driving mode of the transportation platform, the target wheel steering angle and wheel speed of the transportation platform can be obtained by the detector, which can be used as the steering angle and steering speed of the transportation platform.

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

[0103] When the current driving mode of the transport platform is the fixed circle driving mode, the intersection of the extension line of the rear axle of the preset driving module 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 according to the fixed circle driving mode.

[0104] Here, the preset row module refers to the module corresponding to the maximum number of rows for each module that makes up the transportation platform. Therefore, the preset row module T max If T is a variable, for example, if the transportation platform consists of 5 rows, then T max =T5, or the transportation platform consists of 7 rows, then T max =T7.

[0105] The main module refers to the module whose connection status between the front and left interfaces is empty.

[0106] It should be noted that circular driving refers to the transport platform turning around a fixed center point. Furthermore, circular driving and straight-line driving can be switched without stopping, resulting in higher transport efficiency. To achieve stable circular driving, the steering centers of each wheel in each module must coincide, and their angular velocities must be the same. Therefore, when the transport platform is driving in a circular path, the steering center O is located at T. max The intersection of the extended rear axle line of the line module (preset line module) and the perpendicular line of the outer front axle wheel of the TP=11 module at the steering angle α, and the outer front axle wheel of the main module as the main control wheel, then the steering angle of the transport platform obtained in step S102 is α=α 11Fe And the turning speed is V = V 11Fe In other words, the wheel steering angle and wheel speed of the main module are obtained by user input.

[0107] For a detailed structural diagram of the fixed-circle driving mode, please refer to [link / reference needed]. Figure 5 The content shown.

[0108] When the transportation platform is in an even-number driving mode, the intersection of the extended rear outer contour line of half of the preset driving module 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 transportation platform.

[0109] Specifically, the even-numbered driving mode refers to the even-numbered driving mode within the figure-eight pattern. Figure-eight driving involves the front and rear transport modules of the transport platform rotating in opposite directions, effectively reducing the turning radius and improving passability on narrow roads. Switching between figure-eight and straight-line driving typically requires the vehicle to be stationary. Since the transport platform can be composed of any combination of modules, it's necessary to consider both odd and even numbers for T during figure-eight driving. When the current driving mode of the transport platform is even-numbered, meaning the platform consists of an even number of rows of transport modules, where the first row to the (T)th row... max / 2) All wheels in the row module and the left front wheel of the front axle (TP=11) rotate in the same direction, the (T)th max / 2+1) row to T max The steering module rotates in the opposite direction to the left front wheel of the front axle when 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 module and the perpendicular line of the outer wheel of the front axle of the TP=11 module at the steering angle α.

[0110] Furthermore, when the transport platform travels in a figure-eight pattern, with the outer wheel of the front axle of the main module as the primary control wheel, the steering angle of the transport platform obtained in step S102 is α = α 11Fe And the turning speed is V = V 11Fe In other words, the wheel steering angle and wheel speed of the main module are obtained by user input.

[0111] Specifically, a schematic diagram of the even-numbered row transportation platform moving in a figure-eight configuration can be found in [reference needed]. Figure 6 The content shown.

[0112] When the transportation platform is in an odd-number driving mode, the turning center of the transportation platform is determined by the intersection of the lateral centerline of the target row module and the perpendicular line from the steering angle of the outer front wheel of the main module. Here, the target row module refers to the module in the transportation platform corresponding to the maximum row number plus 1 and divided by 2.

[0113] When the transportation platform's driving mode is an odd-numbered driving mode within a figure-eight pattern, meaning the transportation platform consists of an odd-numbered number of transportation modules, where the first row to the [(T]th row... max +1) / 2-1] row module all wheels and [(T max +1) / 2] row module front axle wheel and TP=11 front axle left front wheel rotate in the same direction, the [(T) ... max+1) / 2] row module rear axle wheels and [(T) max +1) / 2+1] row to T max All wheels of the steering 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 The intersection of the horizontal centerline of the +1) / 2】 row module and the perpendicular line of the outer wheel of the front axle of the TP=11 module when the steering angle α is the same.

[0114] Furthermore, when the transport platform travels in a figure-eight pattern, with the outer wheel of the front axle of the main module as the primary control wheel, the steering angle of the transport platform obtained in step S102 is α = α 11Fe And the turning speed is V = V 11Fe In other words, the wheel steering angle and wheel speed of the main module are obtained by user input.

[0115] Specifically, a structural diagram of the odd-numbered line transportation platform traveling in a figure-eight pattern can be found in [reference needed]. Figure 7 The content shown.

[0116] S103. For each module, calculate the vertical and lateral distances from each wheel in the module to the steering center.

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

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

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

[0120] S802. For each module, obtain the module's size information and encoding value.

[0121] The dimensional information may include the module's outer contour length, outer contour width, wheelbase, and track width. Specifically, the module's outer contour length, outer contour width, wheelbase, and track width can be found in [reference needed]. Figure 9 The diagram shows the structure of the module. Specifically, Figure 9 In this context, L represents the outer contour length, D represents the outer contour width, x represents the wheelbase, and d represents the module track width.

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

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

[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 even-number driving mode, the formula for calculating the vertical distance H from each wheel to the steering center is as follows:

[0127] (1) Line 1 to (T) max / 2) Line 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) The (T) max / 2+1) rows 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 an odd-number driving mode, the formula for calculating the vertical distance H from each wheel to the steering center is as follows:

[0134] (1) The first row to the [(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) The [(T) max +1) / 2] row module:

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

[0139] (3) The [(T) max [+1) / 2+1] rows 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 represents the vertical distance from the inner and outer wheels of each module's rear axle to the steering center. TPFi =H TPFe / H TPFe =H TPFi The vertical distance from the inner and outer wheels of each module's front axle to the steering center is L, where L is the outer contour length and T is T. max Where T is the row number, T is the horizontal encoding value in the encoding value, and X is the wheelbase. It should be noted that in the embodiments of this application, all parameters adopt the same subscript identification rule, that is, the first two digits TP: module number, the third digit F / R: front axle F, rear axle R, and the fourth digit e / i: outer wheel e, inner wheel i.

[0143] S804. Based on the number of rows, wheel steering angle, size information, and longitudinal coding value in the coding value, calculate the lateral distance from each wheel in the module to the steering center.

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

[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 even-number 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 an odd-number driving mode, the formula for calculating 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 represents the lateral distance from the inner wheels of the front and rear axles of each module to the steering center. TPFe =R TPRe R represents the lateral distance from the outer wheels of the front and rear axles of each module to the steering center. Tmax1Re For T max The lateral distance from the outer rear axle wheel in the first row to the steering center, R （Tmax / 2）1Fe For T max / 2 The lateral distance from the outer wheel of the front axle in row 1 to the steering center, R[（Tmax+1） / 2]1Fe For (T) max +1) / 2, Column 1, lateral distance from the outer front axle wheel to the steering center, P is the longitudinal coded value, D is the outer contour width, L is the outer contour length, T max Let d be the number of rows, d be the wheelbase, X be the wheelbase, and α be the wheel steering angle.

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

[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 transportation platform based on the steering angle and steering speed of the transportation platform and the size information of each module.

[0159] Optionally, in another embodiment of this application, one specific implementation of step S104 is as follows: Figure 10 As shown, it includes the following steps:

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

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

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

[0163] W = (Vsinα) / [L(T)] max -1)+X]

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

[0165] W = (4Vsinα) / [(L+1)T] max ]

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

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

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

[0169] S105. For each wheel in the module, use the arctangent function to calculate the quotient between the vertical distance and the lateral distance from the wheel to the steering center, and obtain the steering angle corresponding to the wheel.

[0170] It is understandable that the formula for calculating 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 formula for calculating the steering angle α corresponding to each wheel is as follows:

[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 even-number driving mode, the formula for calculating the steering angle α corresponding to each wheel is:

[0177] (1) Line 1 to (T) max / 2) Line 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) The (T) max / 2+1) row to T max Line 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-number driving mode, the formula for calculating the steering angle α corresponding to each wheel is:

[0188] (1) The first row to the [(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{[(T + 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]}。 [[ID=]]

[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] Where, α TPFe α is the steering angle of the outer wheel on the front axle. TPFi α is the steering angle of the inner wheel on the front axle. TPRe α is the steering angle of the outer wheel on the rear axle. TPRi This refers to the steering angle of the inner wheel on the rear axle.

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

[0205] Specifically, in order to ensure that the transportation platform can maintain smooth and coordinated movement during turning, improve path tracking accuracy, optimize turning performance, ensure reasonable dynamic characteristics and load distribution, and improve the energy efficiency and load adaptability of the transportation platform, control is based on the driving speed corresponding to each wheel. Therefore, 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 this application, one specific implementation of step S106 is as follows: Figure 11 As shown, it includes the following steps:

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

[0208] It should be noted that, in this embodiment, regardless of whether the transportation platform's driving mode is a fixed-circle driving mode, an odd-number driving mode, or an even-number 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 formula for calculating the 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 V is the speed of the outer wheel on the rear axle. TPRi V is the speed of the inner wheel of the rear axle. TPFe V is the speed of the outer wheel on the front axle. TPFi The speed of the inner wheel on the front axle.

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

[0219] Specifically, by controlling the steering angle and speed of each wheel in each module, the transportation platform can be controlled to drive in a coordinated manner, thereby effectively realizing straight-line driving, diagonal driving, circular driving, and figure-eight driving of the transportation platform, improving driving smoothness.

[0220] This application provides a collaborative control method for a modular transportation platform. When the platform is detected to be starting, each module is encoded. After encoding each module, the platform's driving mode is determined. Based on this mode, the platform's steering center is determined, and the steering angle and speed are obtained. For each module, the vertical and lateral distances from each wheel to the steering center are calculated. Then, based on the steering angle and speed, the platform's steering angular velocity is calculated. Next, for each wheel, the arctangent function is used to calculate the quotient between the vertical and lateral distances from the wheel to the steering center, yielding the wheel's corresponding steering angle. Finally, based on the steering angular velocity, the vertical distance of each wheel, and the steering angle, the speed of each wheel is calculated. Finally, the platform's movement is controlled based on the steering angle and speed of each wheel in each module. Thus, after self-encoding, each module can automatically adjust its driving control strategy according to its position within the platform, effectively improving the platform's road adaptability and reducing tire wear and transportation efficiency.

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

[0222] The encoding unit 1201 is used to encode each module in the transportation platform when the start of the transportation platform is detected, and to determine the driving mode of the transportation platform after each module has been encoded.

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

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

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

[0226] 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 using the arctangent function for each wheel in the module, so as 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 movement of the transport platform according to the steering angle and driving 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 embodiments of this application can be referred to steps S101 to S107 in the above method embodiments, and will not be repeated here.

[0230] Optionally, in another embodiment of the present application, a collaborative control system for a modular transportation platform includes an encoding unit 1201 comprising:

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

[0232] The module determination unit is used to identify the main module from each module based on the connection status of the four interfaces, and set the code of the main module to a preset code value. Here, the main module refers to the module whose connection status is empty for both the front and left interfaces.

[0233] As a unit, it is used to use the main module as the target module.

[0234] The encoding subunit is used to send the preset encoding value of the target module to the module adjacent to the target module, so that the adjacent module can encode 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 the execution unit to send the preset encoding value of the target module to the module adjacent to the target module, until the encoding of each module in the transportation platform is completed.

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

[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 dimension information and encoding values ​​of each module. The dimension information includes the module's outer contour length, outer contour width, wheelbase, and track width.

[0239] The first distance 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, outer contour length, wheelbase, and the lateral coded value in the coded value.

[0240] The second distance calculation unit is used to calculate the lateral distance from each wheel in the module to the steering center based on the number of columns, wheel steering angle, size information, and longitudinal encoded value in the encoded value.

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

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

[0243] The angular velocity 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 another embodiment of the present application, a collaborative control system for a modular transportation platform includes a speed calculation unit 1206, comprising:

[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 another embodiment of the present application, a collaborative control system for a modular transportation platform includes a central determination unit 1202, comprising:

[0248] The first determining unit is used to determine the steering center of the transportation platform when the platform's driving mode is a fixed-circle driving mode, based on the fixed-circle driving mode, the intersection of the extended rear axle line of the preset row module and the perpendicular line of the steering angle of the outer front wheel of the main module. Here, the preset row module refers to the module corresponding to the maximum number of rows among the various modules constituting the transportation platform. The main module refers to the module whose front and left interfaces are empty.

[0249] The second determining unit is used to determine the turning center of the transportation platform when the driving mode of the transportation platform is an even driving mode, based on the even driving mode, the intersection of the extended line of the rear outer contour of half of the preset driving module and the perpendicular line of the steering angle of the outer wheel of the front axle of the main module.

[0250] The third determining unit is used to determine the steering center of the transportation platform when the transportation platform's driving mode is an odd-number driving mode, based on the odd-number driving mode, the intersection of the lateral centerline of the target row module and the perpendicular line of the steering angle of the outer front wheel of the main module. Here, the target row module refers to the module in the transportation platform corresponding to the maximum row number plus 1 and divided by 2.

[0251] It should be noted that the specific working process of each unit provided in the above embodiments of this application can be referred 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 for a modular transportation platform provided in this application has the technical effects of any of the above embodiments, and will not be described in detail here.

[0253] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can 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 enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A collaborative control method for a modular transportation platform, characterized in that, include: When the start of the transportation platform is detected, each module in the transportation platform is encoded, and after each module has been encoded, the driving mode of the transportation platform is determined. Based on the driving mode of the transportation platform, determine the steering center of the transportation platform, and obtain the steering angle and steering speed of the transportation platform; For each of the modules, calculate the vertical and lateral distances from each wheel in the module to the steering center; Calculate the angular velocity of the transport platform based on the steering angle and the steering speed; For each wheel in the module, the quotient between the vertical distance and the lateral distance from the wheel to the steering center is calculated using the arctangent function to obtain the steering angle corresponding to the wheel; Based on the steering angular velocity, the vertical distance of each wheel, and the steering angle corresponding to each wheel, the driving speed corresponding to each wheel is calculated; The movement of the transport platform is controlled according to the steering angle and driving speed corresponding to each wheel in each module; The encoding process for each module in the transportation platform includes: Obtain the connection status of the four interfaces corresponding to each module in the transportation platform; wherein, the four interfaces refer to the front interface, rear interface, left interface and right interface of each module in the transportation platform; Based on the connection status of the four interfaces, a main module is determined from each module, and the code of the main module is set to a preset code value; wherein, the main module refers to the module whose connection status of the front interface and the left interface is empty; Use the main module as the target module; The preset encoding value of the target module is sent to the module adjacent to the target module, so that the adjacent module encodes based on the preset encoding value of the target module; The adjacent module is taken as the target module, and the process of sending the preset encoding value of the target module to the module adjacent to the target module is returned to complete the encoding of each module in the transportation platform. The calculation of the vertical and lateral distances from each wheel in each module to the steering center includes: Obtain the number of rows and columns corresponding to the transportation platform; For each of the modules, obtain the module's size information and encoding value; wherein, the size information includes the module's outer contour length, outer contour width, wheelbase, and track width; Based on the number of rows, the outer contour length, the wheelbase, and the lateral encoding value in the encoding value, calculate the vertical distance from each wheel in the module to the steering center; Based on the number of columns, the wheel steering angle, the size information, and the longitudinal encoding value in the encoding value, calculate the lateral distance from each wheel in the module to the steering center; Determining the steering center of the transportation platform based on its driving mode includes: When the transportation platform is in a fixed-circle driving mode, the intersection of the extended rear axle line of the preset row module 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 transportation 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 each module that makes up the transportation 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-number driving mode, the intersection of the extended line of the rear outer contour of half of the preset driving module 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 according to the even-number driving mode. When the driving mode of the transportation platform is an odd driving mode, the intersection of the lateral centerline of the target row module and the perpendicular line of the steering angle of the outer front wheel of the main module is determined as the steering center of the transportation platform according to the odd driving mode; wherein, the target row module refers to the module in the transportation platform corresponding to the maximum row number plus 1 and divided by 2.

2. The method according to claim 1, characterized in that, The calculation of the steering angular velocity of the transport platform based on the steering angle and the steering speed includes: Obtain the number of rows of the transportation platform, the outer contour length of the module, and the wheelbase; The turning 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.

3. The method according to claim 1, characterized in that, The calculation of 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: For each wheel in the module, calculate the product of the steering angular velocity and the vertical distance of the wheel; Divide the product by the steering angle corresponding to the wheel to obtain the driving speed corresponding to the wheel.

4. A collaborative control system for a modular transportation platform, characterized in that, include: The encoding unit is used to encode each module in the transportation platform when the start of the transportation platform is detected, and to determine the driving mode of the transportation platform after each module has been encoded. The center determination unit is used to determine the steering center of the transportation platform according to the driving mode of the transportation platform, and to obtain the steering angle and steering speed of the transportation platform. The distance calculation unit is used to calculate the vertical and lateral distances from each wheel in the module to the steering center, respectively, for each of the modules. An angular velocity calculation unit is used to calculate the turning angular velocity of the transport platform based on the turning angle and the turning velocity. An angle calculation unit is used to calculate the quotient between the vertical distance and the lateral distance from the wheel to the steering center using the arctangent function for each wheel in the module, so as to obtain the steering angle corresponding to the wheel. The driving speed calculation unit 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; The control unit is used to control the movement of the transport platform according to the steering angle and driving speed corresponding to each wheel in each module; The encoding unit includes: The status acquisition unit is used to acquire the connection status of the four interfaces of each module in the transportation platform; wherein, the four interfaces refer to the front interface, rear interface, left interface and right interface of each module in the transportation platform. The module determination unit is used to determine the main module from each of the four interfaces according to the connection status of the four interfaces, and set the code of the main module to a preset code value; wherein, the main module refers to the module whose connection status of the front interface and the left interface is empty; As a unit, it is used to use the main module as the target module; An encoding subunit is used to send the preset encoding value of the target module to a module adjacent to the target module, so that the adjacent module encodes based on the preset encoding value of the target module; The execution unit is returned to take the adjacent module as the target module and return to send the preset encoding value of the target module to the module adjacent to the target module until the encoding of each module in the transportation platform is completed. The distance calculation unit includes: The data acquisition unit is used to acquire the number of rows and columns corresponding to the transportation platform; An information acquisition unit is used to acquire the size information and encoding value of each module respectively; wherein, the size information includes the outer contour length, outer contour width, wheelbase, and track width of the module; The first distance 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 lateral encoding value in the encoding value; The second distance calculation unit is used to calculate the lateral distance from each wheel in the module to the steering center based on the number of columns, the wheel steering angle, the size information, and the longitudinal encoding value in the encoding value; The center determination unit includes: The first determining unit is used to determine the turning center of the transportation platform when the driving mode of the transportation platform is a fixed-circle driving mode, based on the fixed-circle driving mode, the intersection of the extension line of the rear axle of the preset row module and the perpendicular line of the steering angle of the outer wheel of the front axle of the main module; wherein, the preset row module refers to the module corresponding to the maximum number of rows of each module constituting the transportation platform; the main module refers to the module whose connection status of the front interface and the left interface is empty; The second determining unit is used to determine the turning center of the transportation platform when the driving mode of the transportation platform is an even driving mode, based on the even driving mode, the intersection of the extended line of the rear outer contour of half of the preset driving module and the perpendicular line of the steering angle of the outer wheel of the front axle of the main module. The third determining unit is used to determine the turning center of the transportation platform when the driving mode of the transportation platform is an odd driving mode, based on the odd driving mode, the intersection of the lateral centerline of the target row module and the perpendicular line of the steering angle of the outer front wheel of the main module as the turning center of the transportation platform; wherein, the target row module refers to the module in the transportation platform corresponding to the maximum row number plus 1 and divided by 2.

5. The system according to claim 4, characterized in that, The angular velocity calculation unit includes: The acquisition unit is used to acquire the number of rows of the transportation platform, the outer contour length of the module, and the wheelbase; An angular velocity sub-calculation unit is used to calculate the turning angular velocity of the transport platform based on the number of rows, the outer contour length, the wheelbase, the turning angle, and the turning speed.

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