Wheel type chassis, equipment, operation control method and storage medium

Abstract

The invention discloses a wheel type chassis, equipment, an operation control method and a storage medium. The wheel type chassis comprises a base; the driving devices, the first wheel units, the second wheel units, the first supporting arms, the second supporting arms and the driven wheels are arranged on the two sides of the base in pairs; wherein, on any side of the the driving device is arranged between the first wheel unit and the second wheel unit and comprises an output shaft; one end of the first supporting arm is connected with the first wheel unit, and the other end of the first supporting arm is coaxially and fixedly connected to an output shaft of the driving device so that the first supporting arm can synchronously rotate along with the output shaft. The second support arm is used for connecting the driving device and the second wheel unit; the driven wheel is installed between the first wheel unit and the second wheel unit through a driven shaft independent of the output shaft and can rotate around the driven shaft. The first wheel unit and the second wheel unit are each provided with an independent power source so as to drive the first wheel unit and the second wheel unit to rotate. By means of the structure, the capacity of the wheel type chassis in longitudinal movement such as obstacle crossing and climbing can be effectively improved.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a wheeled chassis, equipment, motion control method, and storage medium. Background Technology

[0002] In robots that employ a chassis-plus-body configuration, the chassis mainly includes two types: wheeled and legged. However, both types of chassis have varying degrees of limitations in their longitudinal movement capabilities (such as obstacle crossing and climbing stairs).

[0003] Taking a wheeled chassis robot as an example, it possesses efficient movement capabilities on flat terrain. However, the wheeled chassis structure lacks sufficient longitudinal degrees of freedom (such as height adjustment and pedaling motion), severely limiting its climbing and obstacle-crossing abilities when encountering terrain or obstacles with vertical drops, such as stairs, steps, or ditches. In contrast, legged chassis maintain efficient movement capabilities on flat ground while significantly improving longitudinal movement capabilities. However, the stability of robots using such chassis typically relies heavily on sophisticated motion control and balance algorithms, the structural design of the leg joints, and the performance of the drive motors.

[0004] In view of this, there is an urgent need to provide a wheeled chassis, equipment, motion control method and storage medium to effectively improve the ability of wheeled chassis in longitudinal movements such as obstacle crossing and climbing.

[0005] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0006] The main objective of this application is to provide a wheeled chassis, equipment, motion control method, and storage medium, aiming to solve the technical problem of effectively improving the ability of wheeled chassis to perform longitudinal movements such as obstacle crossing and climbing.

[0007] To achieve the above objectives, this application proposes a wheeled chassis, equipment, motion control method, and storage medium. The wheeled chassis includes: a base; a drive device, a first wheel unit, a second wheel unit, a first support arm, a second support arm, and a driven wheel, paired and disposed on both sides of the base; wherein, on either side of the base: the drive device is disposed between the first wheel unit and the second wheel unit, and includes an output shaft; one end of the first support arm is connected to the first wheel unit, and the other end is coaxially fixed to the output shaft, so that the first support arm rotates synchronously with the output shaft; the second support arm is used to connect the drive device and the second wheel unit; the driven wheel is installed between the first wheel unit and the second wheel unit through a driven shaft independent of the output shaft, and can rotate around the driven shaft; wherein, both the first wheel unit and the second wheel unit are provided with independent power sources to drive their rotation.

[0008] In some embodiments, the drive device further includes a housing, on which an arcuate guide rail is coaxially arranged with the output shaft, and a guide follower assembly located in the arcuate guide rail and capable of rolling along the arcuate guide rail. The first support arm includes an inner arm and a folded outer arm fixed on the inner arm. The other end of the first support arm is coaxially fixed to the output shaft, including: one end of the folded outer arm is coaxially fixed to the output shaft, and one end of the inner arm is fixedly connected to the guide follower assembly.

[0009] In some embodiments, the driven shaft is coaxially arranged with the output shaft, and a receiving space is formed between the folding outer arm and the inner arm. The driven wheel is installed between the first wheel unit and the second wheel unit via a driven shaft independent of the output shaft, including: the driven wheel is located in the receiving space and coaxially sleeved on the driven shaft.

[0010] In some embodiments, the driven shaft is the outer ring of the bearing of the drive device.

[0011] In some embodiments, a frame is also included for supporting the drive unit, and the frame is further provided with a center of gravity adjustment device mounting position for mounting and fixing the center of gravity adjustment device.

[0012] In some embodiments, the first wheel unit and the second wheel unit each include a shock-absorbing component and a drive wheel. The shock-absorbing component is installed on one side of the drive wheel and connected to the first support arm and the second support arm, respectively, to reduce the impact vibration during the driving process of the wheel chassis.

[0013] In a second aspect, to achieve the above objectives, this application also provides a device including a center of gravity adjustment device and a wheeled chassis as described in any of the preceding claims. The center of gravity adjustment device is mounted on the wheeled chassis and is used to adjust its own running posture according to control commands, thereby adjusting its own center of gravity to maintain the stability of the device's operation.

[0014] In a third aspect, to achieve the above objectives, this application also provides a method for controlling the operation of a device, comprising: acquiring road condition information and device body information including terrain features and / or obstacle parameters; planning an action sequence for performing an obstacle-crossing task based on the road condition information and the device body information and outputting corresponding control commands; and dynamically adjusting the overall operating posture of the device in response to the control commands to execute the action sequence and complete the obstacle-crossing task, wherein the dynamic adjustment of the overall operating posture of the device includes dynamically adjusting the operating posture of the wheeled chassis and / or the center of gravity adjustment device.

[0015] In some embodiments, the operating posture of the wheeled chassis includes the following postures being simultaneously completed on both sides of the base: the first wheel unit and the second wheel unit are simultaneously grounded; the first wheel unit, the driven wheel, and the second wheel unit are simultaneously grounded; the driven wheel and the first wheel unit are simultaneously grounded; the driven wheel and the second wheel unit are simultaneously grounded; the adjustment of the operating posture of the wheeled chassis includes at least one of the following steps: adjusting the speed and / or steering of the drive device; adjusting the travel state of the first wheel unit and / or the second wheel unit; adjusting the operating posture of the center of gravity adjustment device.

[0016] In a fourth aspect, to achieve the above objectives, this application also provides a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and which, when executed by a processor, implements the steps of the operation and control method as described in any of the preceding claims.

[0017] This application proposes a wheeled chassis comprising a base and a pair of drive units, a first wheel unit, a second wheel unit, a first support arm, a second support arm, and a driven wheel, all located on either side of the base. The drive unit is positioned between the first and second wheel units. The first support arm connects the first wheel unit to the drive unit, and the second support arm connects the second wheel unit to the drive unit. The driven wheel is mounted between the first and second wheel units via a driven shaft independent of the output shaft and can rotate around the driven shaft. Both the first and second wheel units have independent power sources to drive their rotation. One end of the first support arm is coaxially fixed to the output shaft of the drive unit. When the output shaft rotates, the first support arm rotates synchronously, causing a change in its relative posture to the second support arm, which in turn changes the overall height and shape of the chassis. In this way, when facing longitudinal movement scenarios such as obstacle crossing and climbing, the chassis structure can adaptively adjust its shape, effectively improving the wheeled chassis's longitudinal movement capabilities. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0019] 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, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of a wheeled chassis structure provided in an embodiment of this application;

[0021] Figure 2 A top view of the wheeled chassis provided in an embodiment of this application;

[0022] Figure 3 This is a front view of a wheeled chassis provided in an embodiment of this application;

[0023] Figure 4 A side view of a wheeled chassis provided in an embodiment of this application;

[0024] Figure 5 This is a schematic diagram of the drive device in a wheeled chassis provided in an embodiment of this application;

[0025] Figure 6 This is a schematic diagram of the structure of the first support arm in the wheeled chassis provided in an embodiment of this application;

[0026] Figure 7 This is a schematic diagram of the structure of the load-bearing plate in the wheeled chassis provided in an embodiment of this application;

[0027] Figure 8 A schematic diagram of the structure of the first (and second) wheel units in a wheeled chassis provided in an embodiment of this application;

[0028] Figure 9 This is a schematic diagram of an obstacle-crossing wheeled chassis provided in an embodiment of this application;

[0029] Figure 10 A flowchart illustrating the operation and control method of the device provided in this application embodiment.

[0030] In the diagram: 10, base; 20, drive unit; 21, output shaft; 22, housing; 221, arc guide rail; 222, guide follower assembly; 223, center of gravity adjustment device mounting position; 30, first wheel unit; 31, shock absorption assembly; 32, drive wheel; 40, second wheel unit; 50, first support arm; 51, inner arm; 52, folding outer arm; 60, second support arm; 70, driven wheel; 80, bearing plate.

[0031] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0032] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0033] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this application. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive. The terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing description of the drawings, are intended to cover non-exclusive inclusion.

[0034] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0036] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0037] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0038] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0039] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0040] Reference Figure 1 , Figure 2 and Figure 3 This application describes a wheeled chassis. The wheeled chassis includes a base 10, a drive unit 20, a first wheel unit 30, a second wheel unit 40, a first support arm 50, a second support arm 60, and a driven wheel 70, all paired and disposed on opposite sides of the base 10. On either side of the base 10, the drive unit 20 is positioned between the first wheel unit 30 and the second wheel unit 40, and includes an output shaft 21. One end of the first support arm 50 is connected to the first wheel unit 30, and the other end is coaxially fixed to the output shaft 21 of the drive unit 20, so that the first support arm 50 rotates synchronously with the output shaft 21. The second support arm 60 connects the drive unit 20 and the second wheel unit 40.

[0041] In this embodiment, the wheeled chassis can be considered as the "lower limbs" of intelligent devices such as robots. It employs a design structure that combines mobility stability and high load-bearing capacity to ensure reliable execution of tasks such as device movement and obstacle crossing. The base 10 is part of the wheeled chassis frame, located below the drive unit 20, and is used to support and fix the drive unit 20. Simultaneously, the base 10 connects the wheel sets on both sides, maintaining the complete and stable form of the wheeled chassis. Figure 3As shown, two drive units 20 are symmetrically installed at both ends of the base 10. This layout ensures the parallelism of their installation and the coaxiality of their transmission through rigid constraints, which can effectively suppress uneven wear and ensure the synchronicity of the movement of the wheel set structure on both sides of the base 10.

[0042] The drive unit 20 can be considered as the joint motor of the wheeled chassis. It is located between the first support arm 50 and the second support arm 60 and is directly connected to both. The drive unit 20 is used to drive the relative movement between the support arms, precisely controlling the relative position of the first support arm 50 and the second support arm 60, thereby changing the overall running posture of the chassis. (Refer to...) Figure 1 , Figure 2 and Figure 5 The drive unit 20 includes an output shaft 21, bearings, a rotor, a stator, and a housing 22. The housing 22 serves as a support structure for the drive unit 20 and is fixed to the base 10. The stator is fixed to the inner wall of the housing 22 via an interference fit or screws. The rotor is located inside the stator. The output shaft 21 is fixedly connected to the rotor and rotates synchronously with it, with one end extending out of the housing 22 as the power output end. The bearing is sleeved on the outside of the output shaft 21, with its inner ring tightly fitted to the output shaft 21, supporting the rotation of the output shaft 21. The stator, rotor, bearings, and output shaft 21 are all coaxially arranged, providing mechanical assurance for stable torque output.

[0043] Furthermore, the first support arm 50 is used to connect the first wheel unit 30 and the drive unit 20, and the second support arm 60 is used to connect the second wheel unit 40 and the drive unit 20. For example... Figure 1 and Figure 2 As shown, the first support arm 50 is radially arranged along the output shaft 21, with one end connected to the first wheel unit 30 and the other end coaxially fixed to the output shaft 21 of the drive device 20. When the output shaft 21 rotates, the first support arm 50 will rotate synchronously with the output shaft 21 (that is, rotate around the axis of the output shaft 21). The second support arm 60 is also radially arranged along the output end, with one end connected to the second wheel unit 40 and the other end fixed to the side wall of the housing 22 by an L-shaped connector, meaning that the posture of the second support arm 60 relative to the drive device 20 will not change. The wheel assembly structure, consisting of the drive device 20, the first support arm 50, the second support arm 60, the first wheel unit 30, and the second wheel unit 40, is symmetrically distributed on both sides of the base 10, together forming the core walking mechanism of the wheeled chassis.

[0044] To better explain the attitude changes of the wheeled chassis and the relative movement between the first support arm 50 and the second support arm 60, the drive unit 20 and the second support arm 60 will be regarded as an integral structure, that is, the relative movement between the first support arm 50 and the drive unit 20 is equivalent to the relative movement between the first support arm 50 and the second support arm 60.

[0045] When running on flat ground, the wheeled chassis maintains the following characteristics: Figure 1 The operating posture shown indicates that the first wheel unit 30 and the second wheel unit 40 are simultaneously grounded, the first support arm 50 and the second support arm 60 have a certain angle between them, and the drive unit 20 is off the ground. (Refer to...) Figure 1 and Figure 4 When the wheeled chassis needs to adjust its running posture, under the drive of the drive unit 20, the first support arm 50 rotates relative to the second support arm 60 around the output shaft axis. For example... Figure 1 and Figure 4 As shown in (A), when the drive unit drives the first support arm 50 to rise in the direction indicated by the curved arrow, the angle between the first support arm 50 and the second support arm 60 will increase. Since the first wheel unit 30 connected to the first support arm 50 and the second wheel unit 40 connected to the second support arm 60 remain grounded, the height of the drive unit 20 will ultimately decrease (as shown by the straight arrow). Similarly, as... Figure 1 and Figure 4 As shown in (B), when the drive device drives the first arm to descend in the direction indicated by the curved arrow, the angle between the first arm 50 and the second arm 60 will decrease, causing the height of the drive device 20 to rise (as shown by the straight arrow).

[0046] Continue to refer to Figure 1 and Figure 2 The wheeled chassis also includes a driven wheel 70, which is mounted between the first wheel unit 30 and the second wheel unit 40 via a driven shaft independent of the output shaft 21, and can rotate around the driven shaft. In this embodiment, the driven wheel 70 is a centrally located wheel between the first wheel unit 30 and the second wheel unit 40, mounted on a driven shaft independent of the drive shaft, and is not driven by the drive device 20, but only passively follows and rotates under the traction of the first wheel unit 30 and the second wheel unit 40. In flat ground driving mode, the driven wheel 70 is also not in contact with the ground. However, when it is necessary to cross obstacles, the running posture of the wheeled chassis will change, and the driven wheel 70 can serve as an auxiliary support point for the wheeled chassis when in contact with the ground, helping the wheeled chassis to complete tasks such as... Figure 9 (C) shows the first arm 50 lifting the first wheel unit 30 off the ground. Figure 9 (I) shows the action of the second arm 60 lifting the second wheel unit 40 off the ground.

[0047] In one feasible embodiment, the driven shaft and the output shaft 21 of the drive device 20 are coaxially arranged, and the driven wheel 70 is mounted on the driven shaft, forming a layout in which the output shaft 21, driven shaft, driven wheel 70, and first support arm 50 are all coaxially arranged. Optionally, in other feasible embodiments, the driven shaft and driven wheel 70 may also be located at the first support arm 50 or the base 10. For example, when the driven wheel 70 is located on the base 10, the driven shaft is arranged parallel to the drive shaft and fixed to the bottom surface of the base 10 by welding or bolts, and the driven wheel 70 is mounted on the driven shaft via a bearing assembly. The base 10 is also provided with a specially opened receiving hole for the driven wheel 70, in which part of the wheel body of the driven wheel 70 is embedded, and the remaining wheel body is exposed on the bottom surface of the base 10, ensuring that when the base 10 is lowered to a certain height, the driven wheel 70 can contact the ground. Understandably, the installation position, size, and diameter of the driven wheel 70 can be adaptively adjusted according to the spatial layout and load distribution of the wheeled chassis. Furthermore, auxiliary wheel sets can be added to the wheeled chassis to maintain overall stability and mobility.

[0048] Furthermore, both the first wheel unit 30 and the second wheel unit 40 are equipped with independent power sources to drive their rotation. In this embodiment, the first wheel unit 30 is the front-drive wheel unit of the chassis, and the second wheel unit 40 is the rear-drive wheel unit of the chassis. They are paired and located on both sides of the base 10, respectively forming a front-drive wheel assembly and a rear-drive wheel assembly, providing direct power for the chassis to move and overcome obstacles. The first (and second) wheel units include drive wheels, on which hub motors (i.e., independent power sources) are mounted. Figure 1 As shown, the four hub motors can independently control the wheel speed and steering, so the chassis can move forward and backward, and achieve flexible steering through four-wheel differential steering.

[0049] In this embodiment, the wheeled chassis with the above-described structural design not only ensures high mobility on flat ground, but also allows the chassis structure to adapt its shape to longitudinal movement scenarios such as obstacle crossing and climbing, effectively enhancing the wheeled chassis's ability to move longitudinally.

[0050] Reference Figure 1 , Figure 2 and Figure 5 In a preferred embodiment, the drive device 20 shown has a housing 22 with an arcuate guide rail 221 coaxially arranged with the output shaft 21, and a guide follower component 222 located in the arcuate guide rail 221 and capable of rolling along the arcuate guide rail 221. Furthermore, referring to… Figure 2 and Figure 6The first arm 50 includes an inner arm 51 and a folding outer arm 52 fixed on the inner arm 51. Based on this, the connection between the first arm 50 and the output shaft 21 of the drive device 20 is designed as follows: one end of the folding outer arm 52 is coaxially fixed to the output shaft 21 of the drive device 20, and one end of the inner arm 51 is fixedly connected to the guide follower assembly 222.

[0051] In this embodiment, as Figure 6 As shown, the first arm 50 includes an inner arm 51 and a folding outer arm 52. The folding outer arm 52 is L-shaped and includes a fixed end and an extension end. The fixed end is fixedly connected to one side of the inner arm 51, and the extension end remains parallel to the inner arm 51. Furthermore, a flange is integrated into the extension end near the output shaft 21, and the folding outer arm 52 maintains a fixed coaxial connection with the output shaft 21 through the flange. Further, refer to 1. Figure 2 and Figure 5 The housing 22 of the drive unit 20, near the first support arm 50, has an arc-shaped guide rail 221, the center of which coincides with the axis of the output shaft 21. Two guide follower assemblies 222 are also configured with the arc-shaped guide rail 221; each assembly consists of rollers and needle roller bearings embedded in the rollers. Figure 5 and Figure 6 As shown, the roller is located in the arc guide rail 221 and can roll around the arc guide rail 221, while the needle roller bearing is fixed to the end of the inner arm 51 near the output shaft 21 through the hole in the inner arm 51.

[0052] Alternatively, in other embodiments, the folding outer arm 52 may also be coaxially sleeved on the output shaft 21 and fixed in an appropriate manner to ensure that the folding outer arm 52 can rotate synchronously with the output shaft 21.

[0053] In this embodiment, the folding outer arm 52 is coaxially fixed to the output shaft 21, ensuring that the driving torque is efficiently transmitted to the entire arm body, so that the first arm 50 and the output shaft 21 rotate synchronously. During rotation, the rotational motion of the inner arm 51 is converted into linear motion along the arc guide rail 221 by the guide follower component 222. The arc guide rail 221 forms a rigid circumferential limit on the guide component, which can suppress the radial displacement of the output shaft 21 caused by vibration or load fluctuation. For example, when the wheel encounters an obstacle, the impact force is transmitted through the inner arm 51 to the entire circumference of the arc guide rail 221 and absorbed by the housing 22 of the drive device 20, which greatly reduces the radial load on the output shaft 21, thereby avoiding bending deformation of the output shaft 21 to a certain extent and reducing the risk of damage.

[0054] Furthermore, continue to refer to Figure 2 and Figure 6In a preferred embodiment, the extended end of the folding outer arm 52 is parallel to the inner arm 51, forming a receiving space between them. The driven shaft and the output shaft 21 of the drive device 20 are arranged coaxially. As a feasible implementation, the driven shaft is directly implemented through the outer ring of the bearing of the drive device 20, and the driven wheel 70 is disposed in the receiving space and coaxially mounted on the driven shaft (i.e., the outer ring of the bearing) through its central hole. In this embodiment, by adopting this layout of the driven wheel 70 and the driven shaft, the gap space between the folding outer arm 52 and the inner arm 51 can be fully utilized, achieving a highly compact layout of the chassis structure. By reusing the outer ring of the bearing as the driven shaft, the number of parts is effectively reduced, the manufacturing cost is lowered, and the assembly difficulty of the wheeled chassis is weakened. At the same time, the spacing between the driven wheels 70 is similar to the width of the chassis, thereby ensuring the stability of the driving state when the driven wheels 70 and the front drive wheel set or the rear drive wheel set are simultaneously grounded (i.e., four-wheel grounding mode).

[0055] In a preferred embodiment, refer to Figure 2 The wheeled chassis also includes a frame for supporting the drive unit 20, and a center-of-gravity adjustment device mounting position 223 for mounting and fixing the center-of-gravity adjustment device. In this embodiment, the frame is the basic skeleton of the entire wheeled chassis, mainly used to provide structural support, mounting reference, and mechanical load-bearing for the chassis. Besides the base 10, the frame also includes a support plate 80 and a drive unit housing 22. The base 10 supports the drive unit 20, and the support plate 80 is located between the rear drive wheel sets, used to mount and support electronic components such as the control board and battery. Figure 7 As shown, the bearing plate 80 has screw holes on both sides and the bottom of the second support arm 60 that match the position, and the bearing plate 80 and the second support arm 60 are assembled and fixed by bolts.

[0056] Furthermore, the center of gravity adjustment device mounting position 223 (hereinafter referred to as the mounting position) is located on the top of the housing 22 of the drive device 20. The center of gravity adjustment device can be fixed to the wheeled chassis by bolts and screw holes provided on the mounting position 223. Optionally, in other embodiments, the mounting position can also be designed as a rotary bearing or linear slide rail structure, and the center of gravity adjustment device can be installed through a suitable mechanical interface (such as a flange, slider, etc.).

[0057] A center-of-gravity adjustment device can be understood as a device that changes its center of gravity by adjusting its own position and running posture. As a feasible implementation, the center-of-gravity adjustment device is the upper body of the robot, which may include multiple components such as the torso, arms, and head. When the center of gravity needs to be adjusted, the robot's upper body can coordinate the tilting, rotating, folding, and swinging postures of its various components. After installing the center-of-gravity adjustment device on a wheeled chassis, its center-of-gravity adjustment function not only maintains overall stability but also assists the wheeled chassis in adjusting its running posture when traversing obstacles.

[0058] Specifically, refer to Figure 9 (B) to Figure 9 (C) Changes in chassis operating posture Figure 9 (B) The front drive wheel assembly, driven wheel 70, and rear drive wheel assembly are simultaneously grounded. Then, Figure 9 (C) The center of gravity adjustment device shifts the center of gravity backward and applies it to the rear drive wheel assembly. This adjustment essentially provides a gravitational constraint to the rear drive wheel assembly, ensuring that the rear drive wheel assembly and driven wheel 70 remain grounded at all times. Subsequently, the output shaft 21 of the drive unit 20 continues to rotate, driving the first support arm 50 to continue to rise, causing the front drive wheel assembly to lift off the ground and maintain a height above the obstacle. (Continue referring to...) Figure 9 (H) to Figure 9 (I) Changes in chassis running posture Figure 9 In (H), both the front drive wheel assembly and the driven wheel 70 have crossed the obstacle and maintained contact with the ground. Next, Figure 9 (I) The center of gravity adjustment device shifts the center of gravity forward again and applies it to the front drive wheel assembly, thus providing a gravitational constraint to the front drive wheel assembly and ensuring that the front drive wheel assembly and driven wheel 70 remain grounded. Subsequently, the drive unit 20 continues to drive in the original direction of lifting the first support arm 50. However, due to the gravitational constraint applied by the center of gravity adjustment device, the drive of the first support arm 50 is also hindered, meaning that the first support arm 50 cannot be driven, causing the output shaft 21, which is fixed to the first support arm 50, to also be unable to rotate. At the same time, the stator of the drive unit 20 will be subjected to a reaction torque that is the same in magnitude but opposite in direction to the torque applied to the first support arm 50 by the output shaft 21. This reaction torque ultimately drives the stator, the housing 22 fixed to the stator, and the second support arm 60 fixed to the housing 22 to rotate relative to the first support arm 50 about the axis of the output shaft 21. Understandably, the rotation direction of the second arm 60 is opposite to that of the first arm 50. This reverse rotational motion causes the second arm 60 to lift off the ground, resulting in the rear drive wheel assembly being lifted off the ground.

[0059] It should be noted that, to avoid misleading the specific shape and adjustment method of the center of gravity adjustment device as shown in the schematic diagram, Figure 9 The device is shown only in three key diagrams (C), (F), and (I), and is omitted in other diagrams. In practical applications, the center of gravity adjustment device can always be mounted on the chassis and work in conjunction with the chassis to complete the obstacle-crossing operation of the equipment.

[0060] In this embodiment, by adding mounting positions on the chassis frame, the chassis can be equipped with a load center adjustment device or other components, thereby improving the practicality and reliability of the chassis.

[0061] In a preferred embodiment, refer to Figure 3 and Figure 8Both the first wheel unit 30 and the second wheel unit 40 include a shock-absorbing assembly 31 and a drive wheel 32. The shock-absorbing assembly 31 is installed on one side of the drive wheel 32 and connected to the first support arm 50 and the second support arm 60, respectively, to reduce the impact vibration during the driving process of the wheeled chassis. In this embodiment, the drive wheels 32 in both the first wheel unit 30 and the second wheel unit 40 are driven by their own hub motors. The shock-absorbing assembly 31 consists of a fixing member, a support member opposite to the fixing member, and a shock absorber and a shock-absorbing spring connecting the two. The shock-absorbing spring is fitted outside the shock absorber. The fixing member is fixedly installed on the outside of the first (and second) support arms, and the support member has axle mounting holes for mounting the axles of the drive wheels. When the chassis encounters impact vibration during driving, the shock-absorbing spring and the shock absorber provide buffering and vibration absorption. The two work together to effectively reduce the vibration impact transmitted to the chassis. In addition, it should be noted that the shock absorber assembly 31 is hinged to the axle through the axle mounting hole. When the chassis changes its running posture, the shock absorber assembly 31 and its fixed first (or second) support arm can rotate around the axle axis to adapt to the chassis posture adjustment.

[0062] In a preferred embodiment, this application also provides a device including a center of gravity adjustment device and the aforementioned wheeled chassis. The center of gravity adjustment device is mounted on the wheeled chassis and can adjust its own running posture according to control commands, thereby adjusting its own center of gravity to maintain the stability of the device's movement.

[0063] In this embodiment, the center of gravity adjustment device (such as the upper body of a robot) can precisely adjust its center of gravity through posture changes (such as pitch, folding, etc.) or internal mass distribution to maintain the stability of the device in various motion states such as obstacle crossing and climbing. As a feasible implementation, the center of gravity adjustment device can be equipped with joint modules / drive mechanisms (such as high-torque servo motors and precision reducers) to drive its movement, a lightweight frame to provide structural support, posture sensing elements (such as high-precision inertial measurement units), joint position sensors, and hardware facilities such as embedded controllers / drive boards / communication interfaces for data processing, algorithm execution, and command issuance. Optionally, if the center of gravity distribution is adjusted by internal mass distribution, a weight-moving structure (such as a slide rail counterweight) can also be installed inside the center of gravity adjustment device.

[0064] For wheeled chassis, the hub motors (i.e., independent power sources) of the first (and second) wheel units must have sufficiently high torque, and the wheel structure of the drive wheel 32 must have grip and obstacle-crossing capabilities to provide basic guarantees for the equipment to achieve basic driving, obstacle-crossing and climbing functions.

[0065] In addition, to ensure the stability and environmental adaptability of the equipment, it can also be equipped with a sensing unit, a power unit, and a central computing unit. The sensing unit includes an IMU (Inertial Measurement Unit) for navigation and positioning, joint encoders, and wheel encoders, and can also integrate environmental sensing components (such as LiDAR, depth cameras, etc.) and ground / tilt sensors to enhance state awareness. The power unit needs to use high-energy-density batteries and be equipped with a power management system to provide stable power to all hardware. The central computing unit is responsible for performing real-time sensor data fusion, path planning, and motion sequence generation, and coordinates the control of chassis movement and center of gravity adjustment.

[0066] In this embodiment, the wheeled chassis equipment equipped with a center of gravity adjustment device can effectively overcome the stability bottleneck of previous wheeled intelligent equipment in longitudinal movement (such as climbing slopes and overcoming obstacles), and significantly improve its application potential in industries, agriculture and service industries.

[0067] Reference Figure 10 The operation and control method of the device described in this application will now be introduced. It is understood that this operation and control method is implemented based on the device described above. Therefore, the same or similar content can be referred to the preceding text, and will not be repeated in this embodiment.

[0068] Step S101: Obtain road condition information and equipment body information including terrain features and / or obstacle parameters.

[0069] In this embodiment, acquiring road condition information and equipment body information is a prerequisite for the equipment to perform tasks such as obstacle crossing and climbing. Road condition information refers to specific data about the external environment of the equipment on the road it is traveling on, including terrain features and / or obstacle parameters. Terrain features can reflect information such as terrain slope, ground flatness, ground continuity, and ground material, while obstacle parameters can reflect information such as obstacle type, obstacle size, material, direction, and location. Equipment body information refers to the equipment's own physical parameters (such as equipment mass, equipment size, etc.), capability limitations (traction / torque limits, crossing height / width limits, maximum climbing / diving angle, etc.), and real-time status (such as real-time pose / attitude, current center of gravity distribution, battery level, operating speed, joint angles, current position and orientation of the equipment, etc.).

[0070] As a feasible implementation method, the environment is scanned by environmental sensing components (such as LiDAR, depth cameras, and ultrasonic radar) on the equipment, and 3D reconstruction is performed using technologies such as SLAM to obtain real-time road condition information. For equipment body information, real-time sensing relies on embedded sensors. For example, equipment attitude data (including center of gravity distribution) is obtained through IMU, wheel encoders, and joint encoders; torque / current sensors synchronously monitor the equipment's drive load and torque; ground / tilt sensors sense the wheel-to-ground contact state; and a system status monitoring module obtains key operating parameters such as equipment power status and temperature.

[0071] In this embodiment, by acquiring the above two types of information, the device can integrate its understanding of both internal (i.e., device body state information) and external (i.e., road condition information) conditions to determine the feasibility of obstacle-crossing tasks, plan strategies or obstacle avoidance paths, and corresponding action sequences for executing these tasks, preventing collisions, overturning, or slippage. Furthermore, by dynamically adjusting the data in real time using these two types of information, the device can perform stable and reliable obstacle-crossing tasks.

[0072] Step S102: Based on road condition information and equipment information, plan the action sequence for performing obstacle crossing tasks and output corresponding control commands.

[0073] In this embodiment, the action sequence refers to a series of coherent and orderly basic actions that the device must perform to complete the obstacle-crossing task, while the generation of control commands is the process of converting the action sequence into physical commands that can be executed by the device's underlying hardware. When planning the action sequence based on road condition information and device information, relevant path prediction algorithms, pre-trained action sequence generation models, and optimization algorithms can be used.

[0074] Specifically, firstly, based on the map and road condition information constructed using SLAM, and combined with relevant parameters of the device itself, a path prediction algorithm is used to generate an initial path for obstacle crossing. This initial path is mainly used to avoid impassable areas and to mark key nodes that require active obstacle crossing (such as obstacle crossing points and obstacle avoidance points). When the device travels along this path and approaches an obstacle crossing point, a motion sequence generation model is used to fuse various sensor data in real time. Combining the current obstacle characteristics and the device's real-time status (center of gravity position, wheel-to-ground contact force, remaining battery power, etc.), the obstacle crossing strategy for this task is selected (e.g., climbing, crossing, or detouring).

[0075] Next, the selected obstacle-crossing strategy is decomposed into a time-sequential sequence of actions using an action sequence generation model. Examples include: adjusting the device's orientation to align with the obstacle; controlling the front-drive wheel assembly to rise to the target height; applying propulsion torque to the rear-drive wheel assembly; controlling the center-of-gravity adjustment device to maintain device balance; and the rear-drive wheel assembly following to complete the obstacle crossing. Subsequently, an optimization algorithm, combined with the device's capability limitations and its own dynamic model, transforms the above action sequence into a smooth motion trajectory that can be executed by each actuator of the device (such as the hub motors of the chassis, drive unit 20, and joint motors of the center-of-gravity adjustment device). This motion trajectory constrains the precise position, speed, and torque trajectory of the actuators to ensure that the action sequence is ultimately executed efficiently and stably. Finally, the optimized action sequence is converted into control commands that each actuator can directly respond to, driving the device to execute the action sequence used for the obstacle-crossing task.

[0076] Step S103: In response to the control command, dynamically adjust the overall operating posture of the equipment to execute the action sequence and complete the obstacle crossing task.

[0077] In this embodiment, driven by control commands, the various actuators of the equipment coordinately execute a sequence of actions, while dynamically adjusting the overall operating posture of the machine to overcome obstacles. Dynamically adjusting the overall operating posture of the equipment includes adjusting the operating posture of the wheeled chassis and / or the center of gravity adjustment device. The operating posture of the wheeled chassis is divided into the following four types: the first wheel unit 30 and the second wheel unit 40 are simultaneously grounded; the first wheel unit 30, the driven wheel 70, and the second wheel unit 40 are simultaneously grounded; the driven wheel 70 and the first wheel unit 30 are simultaneously grounded; and the driven wheel 70 and the second wheel unit 40 are simultaneously grounded. It can be understood that the above operating postures are all synchronously completed by the wheel sets on both sides of the wheeled chassis base 10, and the specific operating posture adopted by the wheeled chassis and the execution sequence of the operating posture are entirely based on the previously generated action sequence.

[0078] Furthermore, the adjustment of the running posture of the wheeled chassis can be achieved through at least one of the following steps: adjusting the speed and / or steering of the drive unit 20; adjusting the traveling state of the first wheel unit 30 and / or the second wheel unit 40; adjusting the running posture of the center of gravity adjustment device. For example, from when it is necessary to... Figure 9 (A) Adjusted to Figure 9 The operating posture shown in (B) requires adjustment of the speed and direction of the drive unit 20; from Figure 9 (B) Adjusted to Figure 9 The operating posture shown in (C) requires adjustment of the speed of the drive unit 20 and the operating posture of the center of gravity adjustment device; while from Figure 9 (D) Adjusted to Figure 9 The running posture shown in (F) requires adjustment of the rotational speed of the drive unit 20, the running posture of the center of gravity adjustment device, and the travel status of the second wheel unit 40.

[0079] To facilitate understanding of the technical solution of this application, a specific obstacle-crossing example is provided below for explanation. (Refer to...) Figure 9 (A) to Figure 9 (L) The device, by acquiring current road condition information and its own information, determines that the obstacle-crossing strategy to be adopted this time is climbing, and plans a series of action sequences to perform this obstacle-crossing task, so that the device performs the following operations: Figure 9 (A) to Figure 9 (B) When the equipment reaches the obstacle, the chassis's running posture is switched from grounding the first wheel unit 30 and the second wheel unit 40 to grounding the first wheel unit 30, the second wheel unit 40, and the driven wheel 70 simultaneously. Next, as... Figure 9 As shown in (C), the center of gravity adjustment device shifts the center of gravity backward and applies it to the second support arm 60 and the second wheel unit 40. The chassis drive device 20 continues to drive the first support arm 50, causing the first support arm 50 to rise to the obstacle-crossing height and the first wheel unit 30 to leave the ground. Figure 9 In (D), driven by the second wheel unit 40, the chassis continues to move forward in an attitude where the driven wheel 70 and the second wheel unit 40 are on the ground, until the first wheel unit 30 reaches the preset landing point. Then, as... Figure 9 As shown in (E) to (F), the chassis drive unit 20 reverses the direction of the first support arm 50, causing the first wheel unit 30 to touch the ground. The center of gravity adjustment device changes the running posture, keeping the center of gravity relatively neutral, while the chassis switches back to the running posture with the first wheel unit 30 and the second wheel unit 40 on the ground. (Continue referring to...) Figure 9 (G) to Figure 9 (H) Under the simultaneous drive of the first wheel unit 30 and the second wheel unit 40, the driven wheel 70 reaches the preset landing point and touches the ground again. Further, as... Figure 9 As shown in (I), the center of gravity adjustment device readjusts the operating posture, shifting the center of gravity forward and applying it to the first support arm 50 and the first wheel unit 30. The drive unit 20 attempts to lift the first support arm 50, and the resulting reaction torque causes the second support arm 60 to rotate and lift relative to the first support arm 50, causing the second wheel unit 40 to lift off the ground. Finally, as... Figure 9 (J) to Figure 9 As shown in (L), driven by the first wheel unit 30 and the second wheel unit 40, the equipment completes the obstacle crossing and returns to its initial operating posture.

[0080] In this embodiment, the wheeled chassis structure itself provides basic stability, while the integrated center of gravity adjustment device significantly enhances the stability during obstacle crossing. By adopting this combination scheme and combining it with the above-mentioned motion control method, the equipment can maintain the overall stability of the equipment while efficiently completing obstacle crossing tasks without using an extremely complex chassis structure.

[0081] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0082] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0083] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., computer programs) for executing the operation and control method of the above-described device, which can solve the technical problem of improving the ability of wheeled chassis to perform longitudinal movements such as obstacle crossing and climbing. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the operation and control method of the device provided in the above embodiments, and will not be repeated here.

[0084] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0085] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0086] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0087] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A wheeled chassis, characterized in that, include: Base; A pair of drive units, a first wheel unit, a second wheel unit, a first support arm, a second support arm, and a driven wheel are provided on both sides of the base; Wherein, on either side of the base: The drive device is disposed between the first wheel unit and the second wheel unit, and includes an output shaft; One end of the first support arm is connected to the first wheel unit, and the other end is coaxially fixed to the output shaft, so that the first support arm rotates synchronously with the output shaft. The second arm is used to connect the drive unit and the second wheel unit; The driven wheel is mounted between the first wheel unit and the second wheel unit via a driven shaft independent of the output shaft, and can rotate around the driven shaft; Both the first wheel unit and the second wheel unit are equipped with independent power sources to drive their rotation.

2. The wheeled chassis according to claim 1, characterized in that, The drive device further includes a housing, on which an arc-shaped guide rail is coaxially arranged with the output shaft, and a guide follower assembly located in the arc-shaped guide rail and capable of rolling along the arc-shaped guide rail. The first support arm includes an inner arm and a folded outer arm fixed to the inner arm. The other end of the first support arm is coaxially fixed to the output shaft, including: One end of the folding outer arm is coaxially fixed to the output shaft, and one end of the inner arm is fixedly connected to the guide follower assembly.

3. The wheeled chassis according to claim 2, characterized in that, The driven shaft is coaxially arranged with the output shaft, and a receiving space is formed between the folding outer arm and the inner arm. The driven wheel is installed between the first wheel unit and the second wheel unit via a driven shaft independent of the output shaft. The driven wheel is located in the receiving space and is coaxially sleeved on the driven shaft.

4. The wheeled chassis according to claim 3, characterized in that, The driven shaft is the outer ring of the bearing of the drive device.

5. The wheeled chassis according to claim 1, characterized in that, It also includes a frame for supporting the drive unit, and the frame is provided with a center of gravity adjustment device mounting position for installing and fixing the center of gravity adjustment device.

6. The wheeled chassis according to claim 1, characterized in that, Both the first wheel unit and the second wheel unit include a shock-absorbing component and a drive wheel. The shock-absorbing component is installed on one side of the drive wheel and is connected to the first support arm and the second support arm respectively, so as to reduce the impact vibration during the driving process of the wheel chassis.

7. A device, characterized in that, It includes a center of gravity adjustment device and a wheeled chassis as described in any one of claims 1 to 6. The center of gravity adjustment device is mounted on the wheeled chassis and is used to adjust its own running posture according to control commands, thereby adjusting its own center of gravity to maintain the stability of the equipment.

8. A method for controlling the operation of the equipment as described in claim 7, characterized in that, include: Acquire road condition information and equipment information, including terrain features and / or obstacle parameters; Based on the road condition information and the equipment body information, plan the action sequence for performing the obstacle crossing task and output the corresponding control commands; In response to the control command, the overall operating posture of the equipment is dynamically adjusted to execute the action sequence and complete the obstacle crossing task. The dynamic adjustment of the overall operating posture of the equipment includes dynamically adjusting the operating posture of the wheeled chassis and / or the center of gravity adjustment device.

9. The operation control method according to claim 8, characterized in that, The operating posture of the wheeled chassis includes the following postures being completed simultaneously on both sides of the base: the first wheel unit and the second wheel unit are simultaneously grounded; the first wheel unit, the driven wheel, and the second wheel unit are simultaneously grounded; the driven wheel and the first wheel unit are simultaneously grounded; the driven wheel and the second wheel unit are simultaneously grounded. Adjusting the running posture of the wheeled chassis includes at least one of the following steps: Adjust the speed and / or direction of the drive unit; Adjust the travel status of the first wheel unit and / or the second wheel unit; Adjust the operating posture of the center of gravity adjustment device.

10. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the operation and control method as described in any one of claims 8 to 9.

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