Deformable wheel control method and deformable wheel

Abstract

The invention provides a deformable wheel control method and a deformable wheel, and the method comprises the steps that a target wheel in an abnormal motion state is determined according to the wheel rotating speed collected by each wheel speed sensor, and the abnormal motion state is used for representing that the friction force between the target wheel and the ground is abnormal; determining the road surface type of the current driving road surface of the mobile carrier, and determining the gas adjusting quantity of the target wheel according to the road surface type; and an inflation and deflation device is controlled to conduct inflation and deflation treatment on an inflation bin of the target wheel according to the gas adjusting amount, so that the friction force between the target wheel and the current driving road surface is adjusted by changing the shape of the wheel. By adopting the deformable wheel control method and the deformable wheel, the driving safety of the vehicle in a severe driving environment is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and more specifically, to a deformable wheel control method and a deformable wheel. Background Technology

[0002] With the continuous development of the automotive industry, vehicle quality and safety have become increasingly important. To ensure safe vehicle operation, the impact of adverse driving environments on driving safety should be reduced. For example, when driving in rainy, snowy, wet, or muddy conditions, the wheels are prone to slippage, increasing the risk of traffic accidents. Current technology typically addresses different adverse driving environments by adjusting driving modes.

[0003] However, changing the driving mode usually only alters the vehicle's power output characteristics, such as adjusting the torque output at start-up, advancing the upshift time, or reducing the duration of high RPM in low gears. It cannot fundamentally solve the problem of poor vehicle driving safety caused by vehicle slippage in harsh driving conditions. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a deformable wheel control method, device, electronic device and storage medium to overcome at least one of the above-mentioned defects.

[0005] In a first aspect, embodiments of this application provide a method for controlling deformable wheels, wherein multiple deformable wheels are mounted on a mobile vehicle, each deformable wheel is equipped with a wheel speed sensor, and each deformable wheel includes an inflation / deflation device and an inflation chamber, comprising: Based on the wheel speed collected by each wheel speed sensor, the target wheel in an abnormal motion state is identified. The abnormal motion state is used to characterize the abnormal friction between the target wheel and the ground. Determine the road surface type of the current road surface on which the mobile vehicle is traveling, and determine the gas regulation amount of the target wheels based on the road surface type; The inflation / deflation device controls the inflation / deflation of the target wheel's air chamber according to the gas regulation amount, thereby adjusting the friction between the target wheel and the current road surface by changing the wheel shape.

[0006] Optionally, based on the wheel rotation speed collected by each wheel speed sensor, the target wheel in an abnormal motion state is determined, including: for each deformable wheel, comparing the wheel rotation speed corresponding to the deformable wheel with a reference rotation speed, the reference rotation speed being determined based on the theoretical vehicle speed of the moving vehicle and the rotation speeds of other wheels; and based on the comparison result, determining whether the deformable wheel is in an abnormal motion state.

[0007] Optionally, the gas regulation amount for the target wheel is determined based on the road surface type, including: selecting the initial gas regulation amount corresponding to the road surface type of the current driving road from multiple preset gas regulation amounts based on the correspondence between different road surface types and multiple preset gas regulation amounts; adjusting the initial gas regulation amount based on the number of target wheels to determine the gas regulation amount for the target wheel.

[0008] Optionally, the target wheel includes at least one, and the initial gas regulation amount is adjusted by: for each target wheel, determining a gas regulation coefficient based on the number of target wheels and the wheel speed ranking of the target wheel among at least one target wheel; and adjusting the initial gas regulation amount using the gas regulation coefficient.

[0009] Optionally, the gas regulation amount includes the deflation regulation amount, and the method further includes: determining whether the target wheel meets the stop deflation condition, the stop deflation condition being determined based on the motion state of the target wheel and the maximum deflation amount; when the stop deflation condition is met, detecting and recording the cumulative time of the target wheel being in normal motion; when the cumulative time meets the set time condition, inflating the target wheel.

[0010] Optionally, the target wheel can be inflated by inflating it multiple times according to the deflation adjustment until the target wheel reaches its maximum inflation capacity.

[0011] Optionally, the reference speed can be determined by: determining the theoretical wheel speed based on the theoretical vehicle speed and wheel size; determining the deviation between the theoretical wheel speed and other wheel speeds, and determining the reference speed based on the deviation.

[0012] Secondly, this application embodiment also provides a deformable wheel, wherein the deformable wheel is controlled by a controller executing the above-mentioned deformable wheel control method, and the deformable wheel includes an inflation / deflation device, an inflation chamber, a gas chamber, and a gas channel; The inflation / deflation device is used to inflate and deflate the air chamber based on the controller's control commands, thereby changing the shape of the wheel; The gas chamber is used to connect the various inflation chambers through gas channels to equalize the air pressure between the various inflation chambers; The gas channel is used to connect the inflation chamber and the gas chamber.

[0013] Optionally, the deformable wheel also includes a tread and multiple support frames, each with a support block at the connection between the support frame and the tread; the multiple support frames are used to support the wheel; and the support blocks are used to buffer the impact between the support frames and the tread.

[0014] Optionally, the number of support frames corresponds to the number of inflatable chambers.

[0015] The embodiments of this application bring the following beneficial effects: This application provides a deformable wheel control method and a deformable wheel, which can set multiple deformable wheels on a mobile vehicle and inflate and deflate deformable wheels in abnormal motion according to a determined gas adjustment amount. By changing the shape of the wheel, the friction between the wheel and the current driving surface is changed, reducing the occurrence of wheel slippage. Compared with the deformable wheel control method in the prior art, it solves the problem of poor vehicle driving safety caused by wheel slippage in harsh driving environments.

[0016] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart of the deformable wheel control method provided in an embodiment of this application is shown; Figure 2 A flowchart illustrating the steps for determining the target wheel provided in an embodiment of this application is shown; Figure 3 A flowchart illustrating the steps for determining the gas regulation amount provided in an embodiment of this application is shown; Figure 4 A schematic diagram of the deformable wheel provided in an embodiment of this application is shown; Figure 5 A three-dimensional structural schematic diagram of the deformable wheel provided in an embodiment of this application is shown; Figure 6 This illustration shows a structural diagram of the deformable wheel provided in an embodiment of this application when it deforms. Figure 7 A schematic diagram of the structure of the electronic device provided in the embodiments of this application is shown. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. Based on the embodiments of this application, every other embodiment obtained by those skilled in the art without inventive effort falls within the scope of protection of this application.

[0020] Based on this, this application provides a deformable wheel control method to improve vehicle driving safety in harsh driving environments.

[0021] To facilitate understanding of this embodiment, the exemplary steps provided in this application embodiment will be described below.

[0022] Please see Figure 1 , Figure 1 This is a flowchart illustrating a deformable wheel control method provided in an embodiment of this application. Figure 1 As shown in the embodiment of this application, the deformable wheel control method includes: Step S101: Based on the wheel rotation speed collected by each wheel speed sensor, determine the target wheel in an abnormal motion state. Step S102: Determine the road surface type of the current road surface on which the mobile vehicle is traveling, and determine the gas regulation amount of the target wheel based on the road surface type. Step S103: Control the inflation / deflation device to inflate / deflate the air chamber of the target wheel according to the gas adjustment amount, so as to adjust the friction between the target wheel and the current road surface by changing the shape of the wheel.

[0023] Multiple deformable wheels are mounted on the mobile vehicle. Each deformable wheel is equipped with a wheel speed sensor, an inflation / deflation device, and an inflation chamber. Abnormal motion states are used to characterize abnormal friction between the target wheel and the ground.

[0024] The deformable wheel control method provided in this application embodiment can set multiple deformable wheels on a mobile vehicle and perform inflation and deflation treatment on deformable wheels in abnormal motion state according to a determined gas adjustment amount. By changing the shape of the wheel, the friction between the wheel and the current driving surface is changed, reducing the occurrence of wheel slippage and solving the problem of poor vehicle driving safety caused by wheel slippage in harsh driving environments.

[0025] To facilitate understanding of this embodiment, the following description uses the application of the deformable wheel control method provided in this application to the controller of a mobile vehicle as an example to illustrate the exemplary steps provided in this application embodiment.

[0026] In step S101, the target wheel in an abnormal motion state is determined based on the wheel rotation speed collected by each wheel speed sensor.

[0027] In a practical implementation, the mobile vehicle is equipped with multiple deformable wheels, each of which is equipped with a wheel speed sensor. The rotation speed sensor is used to detect the wheel speed of the deformable wheel in real time. As an example, the rotation speed sensor can be a Hall sensor or an electromagnetic induction sensor.

[0028] Each deformable wheel includes an inflation / deflation device, a gas chamber, and an inflation chamber. The inflation / deflation device is used to inflate or deflate the inflation chamber of the deformable wheel through the gas chamber.

[0029] A mobile vehicle can refer to a tool or device used to carry people, goods, equipment or to perform a specific task. For example, a mobile vehicle can be a car or a motorcycle.

[0030] Abnormal motion states are used to characterize abnormal friction between the target wheel and the ground. For example, if the friction between the target wheel and the ground is low and the target wheel slips, then the target wheel is determined to be in an abnormal motion state.

[0031] In this embodiment of the application, taking a car as an example, the car is equipped with four deformable wheels. A speed sensor is set on each deformable wheel to collect the wheel speed of the deformable wheel. The speed sensor sends the collected wheel speed to the controller of the mobile vehicle. The controller determines the target wheel in an abnormal motion state based on the wheel speed. There can be one or more target wheels in an abnormal motion state.

[0032] The following reference Figure 2 Let me introduce the process of determining the target wheel.

[0033] Figure 2 A flowchart illustrating the steps for determining the target wheel provided in an embodiment of this application is shown, as follows: Figure 2 As shown, the steps for determining the target wheel include: Step S201: For each deformable wheel, compare the wheel speed corresponding to the deformable wheel with the reference speed.

[0034] The reference rotational speed is determined based on the theoretical speed of the moving vehicle and the rotational speeds of other wheels. For example, the theoretical wheel rotational speed can be determined based on the theoretical speed and wheel size, then the deviation between the theoretical wheel rotational speed and the rotational speeds of other wheels can be determined, and the reference rotational speed can be determined based on the deviation. The rotational speeds of other wheels can refer to the rotational speeds of wheels other than the currently deformable wheel, and can also be called specified wheel rotational speeds.

[0035] For example, theoretical speed refers to the normal driving speed of a mobile vehicle on the current road surface. For instance, if the normal driving speed on a city road in rainy or snowy weather is 20 km / h, then the theoretical speed is 20 km / h. The theoretical wheel speed is determined based on the ratio of the theoretical speed to the wheel size of the deformable wheels on the mobile vehicle. .

[0036] For each deformable wheel, after determining the theoretical wheel speed, the root mean square deviation (RMS) of the theoretical wheel speed and the wheel speeds of the other three deformable wheels is determined. This MMS is the deviation value, and it is compared with a set variance threshold. If the MMS is greater than the set variance threshold, it indicates that there is a large difference between the wheel speeds of the other wheels and the theoretical wheel speed. Calculating the reference speed based on the wheel speeds of the other wheels is inaccurate; therefore, the theoretical wheel speed can be determined as the reference speed. If the MMS is less than or equal to the set variance threshold, it indicates that the difference between the wheel speeds of the other wheels and the theoretical wheel speed is small. The reference speed can be calculated based on the wheel speeds of the other wheels to obtain a reference speed that is closer to actual driving conditions. Therefore, the average of the wheel speeds of the other wheels is determined as the reference speed.

[0037] Step S202: Based on the comparison results, determine whether the deformable wheel is in an abnormal motion state.

[0038] The wheel speed of the deformable wheel is compared with the reference speed. If the ratio of the wheel speed of the deformable wheel to the reference speed is greater than the set ratio threshold, it indicates that the deformable wheel has slipped, and the deformable wheel is determined to be in an abnormal motion state. Conversely, if the ratio of the wheel speed of the deformable wheel to the reference speed is less than or equal to the set ratio threshold, it indicates that the deformable wheel has not slipped, and the deformable wheel is determined to be in a normal motion state.

[0039] The ratio threshold can be set to 2. The ratio threshold should not be too small, otherwise it will not be able to effectively determine whether the wheel is slipping.

[0040] In step S102, the road surface type of the current road surface on which the mobile vehicle is traveling is determined, and the gas regulation amount of the target wheel is determined according to the road surface type.

[0041] The road surface types currently being driven on include, but are not limited to: icy roads, snowy roads, gravel roads, and waterlogged roads.

[0042] When determining the road surface type, the slip ratio and driving torque of each deformable wheel can be measured. The slip ratio and driving torque are then input into a preset physical model, which is used to estimate the adhesion coefficient of the current road surface. Finally, the road surface type is determined based on the estimated adhesion coefficient. For example, the adhesion coefficient of snow is usually low, generally between 0.1 and 0.2, while the adhesion coefficient of gravel road surface is relatively high, usually between 0.3 and 0.5. This allows for the inference of the road surface type.

[0043] Gas regulation capacity refers to the volume of gas that is filled or released. Gas regulation capacity includes gas release regulation capacity and gas filling regulation capacity.

[0044] The target wheel can refer to a deformable wheel that is in an abnormal motion state, such as a deformable wheel that is slipping.

[0045] The following reference Figure 3 This section will introduce the process of determining the gas regulation amount.

[0046] Figure 3 A flowchart illustrating the steps for determining the gas regulation amount provided in an embodiment of this application is shown, as follows: Figure 3 As shown, the steps for determining the gas regulation amount include: Step S301: Based on the correspondence between different road surface types and multiple preset gas adjustment amounts, select the initial gas adjustment amount corresponding to the road surface type of the current driving road from the multiple preset gas adjustment amounts.

[0047] Specifically, the correspondence between different road surface types and multiple preset gas adjustment amounts can be as follows: on snowy roads, the preset gas adjustment amount for each deformable wheel in a single operation is 15% of the total tire gas capacity; on gravel roads, the preset gas adjustment amount for each deformable wheel in a single operation is 10% of the total tire gas capacity; and on icy roads, the preset gas adjustment amount for each deformable wheel in a single operation is 20% of the total tire gas capacity.

[0048] Taking a gravel road as an example, the initial air adjustment amount for each deformable wheel in a single adjustment is 10% of the total tire air capacity.

[0049] Step S302: Adjust the initial gas regulation amount based on the number of target wheels to determine the gas regulation amount for the target wheels.

[0050] In practice, there can be one or more target wheels that slip. That is, there is at least one target wheel. Different numbers of target wheels correspond to different slipping situations of the mobile vehicle. When there are many target wheels, in order to get the mobile vehicle out of trouble as soon as possible, the initial gas regulation amount needs to be optimized according to the number of target wheels.

[0051] For example, for each target wheel, a gas regulation coefficient is determined based on the number of target wheels and the wheel speed ranking of that target wheel in at least one target wheel. Then, the initial gas regulation amount is adjusted using the gas regulation coefficient.

[0052] As an example, the wheel speeds of all target wheels are sorted in descending order of numerical value. A higher ranking indicates more severe wheel slippage, while a lower ranking indicates less slippage. For each number of target wheels, a preset gas adjustment coefficient is set for each ranking within that number of target wheels. For example, when there are 3 target wheels, the preset gas adjustment coefficients are 1.1, 1.05, and 1.02 according to the ranking; when there are 2 target wheels, the preset gas adjustment coefficients are 1.04 and 1.02 according to the ranking. From at least one preset gas adjustment coefficient, the gas adjustment coefficient corresponding to the wheel speed ranking of the target wheel is selected. For example, when a target wheel ranks third in wheel speed, the determined gas adjustment coefficient is 1.02.

[0053] Then, the product of the gas regulation coefficient and the initial gas regulation amount is calculated, and the product of the gas regulation coefficient and the initial gas regulation amount is determined as the gas regulation amount of the target wheel.

[0054] In step S103, the inflation / deflation device is controlled to inflate and deflate the air chamber of the target wheel according to the gas adjustment amount, so as to adjust the friction between the target wheel and the current road surface by changing the shape of the wheel.

[0055] In practice, the controller sends control commands to the inflation / deflation device to inflate or deflate the air chamber of the target wheel according to the gas adjustment amount. The control commands include an inflation / deflation indicator and a gas adjustment amount. The inflation / deflation indicator indicates whether the device is inflating or deflating. If the indicator indicates inflating, the gas adjustment amount is the inflation adjustment amount; if the indicator indicates deflation, the gas adjustment amount is the deflation adjustment amount.

[0056] When the target wheel is in an abnormal motion state, the inflation / deflation indicator will be the deflation indicator, and the gas regulation amount will include the deflation regulation amount. At this time, the controller will control the inflation / deflation device to perform deflation processing to reduce the amount of gas in the inflation chamber.

[0057] The target wheel includes a support frame and a tire. After the amount of gas in the inflation chamber decreases, the target wheel will deform, the tire tread of the target wheel will become concave, and the support frame will protrude, thereby increasing the friction between the target wheel and the current road surface.

[0058] After one deflation process, it is determined whether the target wheel meets the conditions for stopping deflation. For example, the wheel speed of the target wheel is monitored in real time, and steps S101 to S103 are repeated. If the target wheel is still in an abnormal motion state, i.e., continues to slip, it is determined that the conditions for stopping deflation are not met. The controller continues to control the inflation and deflation device to deflate the target wheel until the target wheel is no longer in an abnormal motion state (i.e., no longer slipping) or reaches the maximum inflation volume of the target wheel. At this point, it is determined that the conditions for stopping deflation are met. The conditions for stopping deflation are determined based on the motion state of the target wheel and the maximum deflation volume.

[0059] When the deflation stop condition is met, the cumulative time the target wheel remains in normal motion is detected and recorded, i.e., the cumulative time without slippage is calculated. When the cumulative time meets a set time condition, the target wheel is inflated. For example, the target wheel is inflated multiple times according to the deflation adjustment amount. If the deflation adjustment amount during each deflation is 10% of the total tire gas capacity, then the inflation adjustment amount for each inflation is also 10% of the total tire gas capacity. After each inflation, the movement state of the target wheel is monitored in real time for any abnormalities. If an abnormality occurs, inflation is stopped; if no abnormality occurs, the next inflation process continues until the target wheel reaches its maximum inflation capacity.

[0060] Based on the same inventive concept, this application also provides a deformable wheel corresponding to the deformable wheel control method. Since the principle of the deformable wheel in this application is similar to the deformable wheel control method described above, the implementation of the deformable wheel can refer to the implementation of the method, and the repeated parts will not be described again.

[0061] Please see Figure 4 , Figure 4 This is a structural schematic diagram of a deformable wheel provided in an embodiment of this application. Figure 4 As shown, execution is carried out through the controller. Figure 1 The deformable wheel control method shown controls a deformable wheel 400, which includes an inflation / deflation device 410, an inflation chamber 420, a gas chamber 430, a gas channel 440, a support frame 450, and a tire tread 470. The support frame 450 includes multiple supports, and each support frame 450 is provided with a support block 460 at the connection between it and the tire tread 470.

[0062] The inflation / deflation device 410 is used to inflate / deflate the inflation chamber 420 based on the control commands of the controller, so as to change the shape of the wheel.

[0063] The gas chamber 430 is used to connect each inflation chamber 420 through the gas channel 440 to balance the air pressure between each inflation chamber 420.

[0064] Gas channel 440 is used to connect inflation chamber 420 and gas chamber 430.

[0065] The support frame 450 is used to support the deformable wheel 400.

[0066] The support block 460 is used to buffer the impact between the support frame 450 and the tire tread 470, wherein the number of support frames 450 corresponds to the number of air chambers 420.

[0067] Figure 4 This is a two-dimensional structural diagram of a deformable wheel when it is not deformed. To further illustrate the structure of the deformable wheel, please refer to the following... Figure 5 This section introduces the three-dimensional structure of a deformable wheel when it is not deformed.

[0068] Figure 5 A three-dimensional structural schematic diagram of the deformable wheel provided in an embodiment of this application is shown, as follows: Figure 5 As shown, the deformable wheel 400 includes an inflation / deflation device 410, an inflation chamber 420, a gas chamber 430, a gas channel 440, a support frame 450, a support block 460, a tire tread 470, and a channel 480 between the inflation / deflation device 410 and the gas chamber 430.

[0069] The following reference Figure 6 This section introduces the structure of a deformable wheel when it deforms after being deflated.

[0070] Figure 6 This invention provides a schematic diagram illustrating the structure of a deformable wheel as it deforms according to an embodiment of the present application. Figure 6 As shown, when the deformable wheel 400 deforms, the tire tread 470 is concave and the support frame 450 is convex, which increases the friction between the deformable wheel and the current road surface, thereby reducing the occurrence of wheel slippage.

[0071] Please see Figure 7 , Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 7 As shown, the electronic device 500 includes a processor 510, a memory 520, and a bus 530.

[0072] The memory 520 stores machine-readable instructions executable by the processor 510. When the electronic device 500 is running, the processor 510 and the memory 520 communicate via the bus 530. When the machine-readable instructions are executed by the processor 510, they can perform the operations described above. Figure 1 The steps of the deformable wheel control method in the illustrated method embodiment can be found in the method embodiment for specific implementation, and will not be repeated here.

[0073] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can perform the above-described actions. Figure 1 The steps of the deformable wheel control method in the illustrated method embodiment can be found in the method embodiment for specific implementation, and will not be repeated here.

[0074] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0075] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0076] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0077] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0078] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0079] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered 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.

Claims

1. A method for controlling a deformable wheel, characterized in that, Multiple deformable wheels are mounted on a mobile vehicle. Each deformable wheel is equipped with a wheel speed sensor. Each deformable wheel includes an inflation / deflation device and an inflation chamber. The method includes: Based on the wheel rotation speed collected by each wheel speed sensor, the target wheel in an abnormal motion state is determined. The abnormal motion state is used to characterize the abnormal friction between the target wheel and the ground. Determine the road surface type of the current travel surface of the mobile vehicle, and determine the gas regulation amount of the target wheel based on the road surface type; The inflation / deflation device is controlled to inflate and deflate the air chamber of the target wheel according to the gas adjustment amount, so as to adjust the friction between the target wheel and the current road surface by changing the shape of the wheel.

2. The method according to claim 1, characterized in that, The step of determining the target wheel in an abnormal motion state based on the wheel rotation speed collected by each wheel speed sensor includes: For each deformable wheel, the wheel speed corresponding to that deformable wheel is compared with a reference speed, which is determined based on the theoretical speed of the moving vehicle and the speeds of other wheels. Based on the comparison results, it was determined whether the deformable wheel was in an abnormal motion state.

3. The method according to claim 1, characterized in that, Determining the gas regulation amount of the target wheel based on the road surface type includes: Based on the correspondence between different road surface types and multiple preset gas adjustment amounts, the initial gas adjustment amount corresponding to the road surface type of the current driving road is selected from the multiple preset gas adjustment amounts. The initial gas regulation amount is adjusted based on the target number of wheels to determine the gas regulation amount for the target wheels.

4. The method according to claim 3, characterized in that, The target wheel includes at least one component, and the initial gas conditioning amount is adjusted in the following manner: For each target wheel, the gas regulation coefficient is determined based on the number of target wheels and the wheel speed ranking of the target wheel in at least one target wheel; The initial gas regulation amount is adjusted using the gas regulation coefficient.

5. The method according to claim 1, characterized in that, The gas regulation amount includes a gas release regulation amount, and the method further includes: Determine whether the target wheel meets the stop deflation condition, which is determined based on the motion state of the target wheel and the maximum deflation volume; When the conditions for stopping deflation are met, the cumulative time that the target wheel is in normal motion is detected and recorded; When the accumulated time meets the set time condition, the target wheel is inflated.

6. The method according to claim 5, characterized in that, The target wheel is inflated using the following method: The target wheel is inflated multiple times according to the deflation adjustment amount until the target wheel reaches its maximum inflation volume.

7. The method according to claim 2, characterized in that, The reference rotational speed is determined in the following manner: Based on the theoretical vehicle speed and wheel size, the theoretical wheel speed is determined; The deviation between the theoretical wheel speed and the other wheel speeds is determined, and a reference speed is determined based on the deviation.

8. A deformable wheel, characterized in that, The deformable wheel is controlled by a controller using the deformable wheel control method as described in any one of claims 1 to 7, wherein the deformable wheel includes an inflation / deflation device, an inflation chamber, a gas chamber, and a gas passage. The inflation / deflation device is used to inflate / deflate the air chamber based on the control command of the controller, so as to change the shape of the wheel; The gas chamber is used to connect each inflation chamber through the gas channel to balance the gas pressure between the inflation chambers; The gas channel is used to connect the inflation chamber and the gas chamber.

9. The deformable wheel according to claim 8, characterized in that, The deformable wheel also includes a tread and multiple support frames, with a support block provided at the connection between each support frame and the tread. The multiple support frames are used to support the wheels; The support block is used to buffer the impact between the support frame and the tire tread.

10. The deformable wheel according to claim 9, characterized in that, The number of the plurality of support frames corresponds to the number of the inflatable chambers.

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