Wheel-legged collaborative leveling and anti-rollover control device and method for wheel-legged vehicle

Abstract

The application discloses a wheel-leg coordinated leveling and anti-rollover control device and method for a wheel-legged vehicle. The device comprises a wheel-legged vehicle body, a posture detection module, a wheel-leg pose detection module, a ground load detection module, a terrain perception module, a coordinated control module, an execution driving module and a human-computer interaction module. The method collects vehicle body posture angle, wheel-leg pose information, ground load information and surrounding terrain information, calculates target compensation of each wheel-leg mechanism and instability risk index by the coordinated control module, adopts a double-layer control mechanism combining pre-leveling and real-time compensation, and performs dynamic compensation according to posture and load information, so as to realize active leveling and anti-rollover control of the vehicle body. The application constructs a closed-loop control system of terrain prediction, posture perception, load analysis and wheel-leg coordinated regulation, can identify and inhibit instability risk in advance, and significantly improves the passability and operation safety of the wheel-legged vehicle on complex terrains.

Description

Technical Field

[0001] This invention relates to the field of special vehicle attitude control and safety protection technology, specifically to a wheel-leg coordinated leveling and anti-rollover control device and method for a wheel-walking vehicle. Background Technology

[0002] Wheeled walking vehicles combine the rapid mobility of wheeled vehicles with the obstacle-crossing, hill-climbing, and complex terrain adaptability of walking vehicles, making them highly valuable for applications in mountain construction, forestry operations, emergency rescue, special transportation, and inspection in complex environments. Wheeled walking vehicles typically consist of a vehicle platform and multiple wheel-leg mechanisms distributed around the circumference of the vehicle body. During operation, the vehicle can adapt to different terrains by changing the posture, support height, and support position of the wheel-leg mechanisms.

[0003] However, in complex working conditions such as cross slopes, longitudinal slopes, ditches, soft ground, and obstacle terrain, wheel-foot vehicles are prone to problems such as excessive roll, pitch deviation, partial suspension, load imbalance, and increased risk of rollover. Existing technologies for wheel-foot platforms mainly focus on terrain analysis, attitude monitoring, or force monitoring. For example, existing solutions use radar, inertial measurement units, tilt sensors, and multi-dimensional torque sensors to perform slope-ground-passability analysis under complex terrain conditions; other solutions use embedded inertial detection components and composite force detection components to monitor platform attitude and force status to identify "virtual legs" and abnormal attitudes. While these solutions can perform terrain identification, attitude monitoring, or instability warning, they have not yet established a closed-loop control system for wheel-foot coordinated active leveling and anti-rollover based on terrain, attitude, and load information. This makes it difficult for wheel-foot vehicles to suppress instability trends in advance, actively correct attitude, and maintain load balance in complex terrain.

[0004] Therefore, there is an urgent need to provide a technical solution that can coordinate the actions of each wheel leg mechanism in real time based on the vehicle posture, wheel leg position, ground load and surrounding terrain information in complex terrain, actively correct the vehicle posture and suppress the tendency of instability, so as to improve the passability and operational safety of wheeled vehicles in complex environments. Summary of the Invention

[0005] The purpose of this invention is to provide a wheel-leg coordinated leveling and anti-rollover control device and method for wheel-walking vehicles, so as to solve the problem that in the prior art, wheel-walking vehicles can only achieve status monitoring or risk warning in complex terrain, but it is difficult to actively adjust the wheel-leg posture and suppress the rollover tendency according to real-time working conditions.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a wheel-leg coordinated leveling and anti-rollover control device for a wheel-walking vehicle, comprising a wheel-walking vehicle body, an attitude detection module, a wheel-leg posture detection module, a ground load detection module, a terrain perception module, a coordinated control module, an execution drive module, and a human-machine interaction module; An attitude detection module is installed on the wheeled vehicle body to collect the attitude angle, angular velocity and acceleration of the wheeled vehicle body as attitude information. The wheel leg posture detection module is set at the joint and / or telescopic drive parts of each wheel leg mechanism to collect the joint angle, swing angle, rotation angle and / or telescopic displacement information of each wheel leg mechanism as the posture information of the wheel leg mechanism. The ground load detection module is installed at the wheel axle connection, support foot connection and / or load-bearing hinge node of each wheel leg mechanism to collect the ground load information of each wheel leg mechanism. A terrain perception module is installed on the wheeled vehicle body to collect slope information, undulation information and / or obstacle information of the terrain around the wheeled vehicle body as terrain information. The collaborative control module is electrically connected to the attitude detection module, the wheel leg posture detection module, the ground load detection module, the terrain perception module, and the execution drive module, respectively, and is used to calculate the target compensation amount and anti-rollover control amount of each wheel leg mechanism based on the attitude angle, the wheel leg mechanism posture information, the ground load information, and the terrain information; The execution drive module is connected to each wheel leg mechanism and is used to drive each wheel leg mechanism to move according to the control commands output by the collaborative control module, so as to realize the active leveling and anti-rollover control of the wheel-walking vehicle body; The human-machine interaction module is connected to the collaborative control module and is used to output the posture status of the wheel-walking vehicle body, the force status of the wheel-leg mechanism, the leveling status, and alarm information.

[0007] Furthermore, the wheeled vehicle body includes a vehicle platform and multiple wheel leg mechanisms connected to the circumference of the vehicle platform. Each wheel leg mechanism has a wheel at its end, and at least some wheel leg mechanisms have an auxiliary support at their ends.

[0008] Furthermore, the collaborative control module is used to pre-calculate the target leveling attitude based on the terrain information obtained by the terrain perception module, and generate a pre-leveling control command before the wheeled vehicle body enters the target terrain; during the process of the wheeled vehicle body passing through the target terrain, a compensation control command is generated based on the attitude information and the ground load information, thus forming a two-layer control mechanism that combines pre-leveling and real-time compensation.

[0009] Furthermore, the collaborative control module is also used to construct vehicle stability evaluation indicators. When the combined index of the attitude change rate obtained from the attitude angle and the load change rate obtained from the ground load information exceeds a preset threshold, it is determined to be an instability risk state, and the execution drive module is triggered to perform active leveling control. At the same time, alarm information is output through the human-machine interaction module.

[0010] Secondly, the present invention provides a method for wheel-leg coordinated leveling and anti-rollover control of a wheel-walking vehicle, comprising the following steps: Step S1: Start the wheel-foot vehicle body, reset each wheel leg mechanism to its initial position, initialize the attitude detection module, wheel leg pose detection module, ground load detection module and terrain perception module, and complete zero-point calibration; Step S2: Collect the attitude angle, angular velocity, acceleration, wheel leg mechanism pose information of each wheel leg mechanism, ground load information of each wheel leg mechanism, and terrain information around the wheel leg vehicle body; Step S3: Based on the terrain information, perform slope recognition, obstacle recognition, and passage area division on the terrain in front of or around the wheeled vehicle body to obtain terrain recognition results; Step S4: Determine whether the attitude of the wheel-leg vehicle body is stable based on the attitude angle to obtain the attitude stability state; determine whether each wheel leg mechanism is effectively grounded based on the ground load information to obtain the wheel leg grounding state; and determine whether the ground load between each wheel leg mechanism is balanced to obtain the load distribution state. Step S5: Based on the terrain recognition results, the attitude stability state, the load distribution state, and the wheel-leg mechanism pose information, determine the roll attitude error and pitch attitude error, determine the load deviation of each wheel-leg mechanism, determine the terrain compensation amount for the corresponding area of ​​each wheel-leg mechanism, and calculate the target compensation amount for each wheel-leg mechanism; and construct an instability risk index based on the roll angle, pitch angle, roll angle change rate, pitch angle change rate, and load deviation of each wheel-leg mechanism; when the instability risk index exceeds a preset risk threshold, determine that the wheel-leg vehicle body is in an instability risk state, and generate anti-rollover control quantity; Step S6: Based on the target compensation amount and the anti-rollover control amount, drive the corresponding wheel leg mechanism to adjust the height, support width and / or support posture of the wheel-walking vehicle body; and based on the grounding status of the wheel leg, perform adjacent compensation support and / or re-grounding for the wheel leg mechanism with a risk of false grounding, so as to realize the active leveling and instability suppression of the wheel-walking vehicle body. Step S7: Repeat steps S2 to S6, and output alarm information when an instability risk state is detected.

[0011] Furthermore, in step S5, the target compensation amount for each wheel-leg mechanism is calculated according to the following formula: ; in, Let represent the target compensation amount of the i-th wheel leg mechanism. Indicates the roll attitude error. Indicates pitch attitude error. Indicates the first Load deviation of the wheel-leg mechanism Indicates the first Terrain compensation amount for the area corresponding to the wheel-leg mechanism. , , , These are the weighting coefficients for roll attitude error, pitch attitude error, load deviation, and terrain compensation, respectively.

[0012] Further, in step S5, an instability risk index is constructed, which is calculated according to the following formula: ; in, Indicators representing the risk of instability Indicates the roll angle. Indicates pitch angle, Indicates the rate of change of roll angle. Indicates the rate of change of pitch angle. Indicates the first The load deviation of the wheel-leg mechanism, where n represents the total number of wheel-leg mechanisms. , , , , These are the static weights for roll angle, pitch angle, dynamic weights for roll rate, dynamic weights for pitch rate, and load balance weights; when the instability risk index... When the risk threshold is exceeded, the wheeled vehicle body is determined to be in an unstable risk state.

[0013] Furthermore, in step S6, when the wheel-walking vehicle body is detected to be in a cross slope condition, the wheel leg mechanism on the uphill side is prioritized to extend and / or the wheel leg mechanism on the downhill side is prioritized to retract; when the wheel-walking vehicle body is detected to be in a longitudinal slope condition, the front wheel leg mechanism and the rear wheel leg mechanism are prioritized to perform height compensation in order to reduce pitch error.

[0014] Furthermore, when the ground load information of any wheel leg mechanism is detected to be lower than a set threshold, it is determined that the corresponding wheel leg mechanism has a risk of being suspended or a false grounding risk, and the adjacent wheel leg mechanism is controlled to provide compensation support and / or the wheel leg mechanism is controlled to re-ground.

[0015] Thirdly, the present invention provides an electronic device, including a processor, a memory, and a bus, wherein the processor and the memory are connected via the bus, the memory stores program code, and when the processor calls the program code, it executes the wheel-leg coordinated leveling and anti-rollover control method for a wheel-walking vehicle described in the second aspect of the present invention.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention employs a dual-layer control mechanism combining pre-leveling and real-time compensation. The collaborative control module pre-calculates the target leveling attitude based on terrain information acquired by the terrain perception module and generates pre-leveling control commands. Before the wheel-foot vehicle enters the target terrain, it actively adjusts the attitude of each wheel and leg mechanism. During the passage through the target terrain, compensation control commands are generated based on real-time attitude angles and ground load information for dynamic correction. This dual-layer mechanism combines feedforward and feedback control, enabling partial attitude adjustment before entering complex terrain, compared to a single control method relying solely on real-time feedback.

[0017] This invention employs differentiated control strategies for cross slope and longitudinal slope conditions, namely, uphill extension / downhill retraction and front and rear wheel leg height compensation. When the ground load of any of the wheel leg mechanisms is detected to be lower than a set threshold, the invention controls the adjacent wheel leg mechanism to provide compensation support and / or controls the wheel leg mechanism to re-penetrate, thus covering the directional control requirements in typical high-risk scenarios. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of a wheel-leg coordinated leveling and anti-rollover control device for a wheeled walking vehicle according to the present invention. Figure 2 This is a schematic diagram of the structure of a single wheel leg mechanism in a wheel-leg coordinated leveling and anti-rollover control device for a wheel-leg vehicle according to the present invention. Figure 3 This is a system block diagram of a wheel-leg coordinated leveling and anti-rollover control device for a wheel-walking vehicle according to the present invention; Figure 4 This is a flowchart of the method of the present invention.

[0019] In the diagram, 1 is the vehicle platform; 2 is the wheel leg mechanism; 21 is the wheel section; 22 is the auxiliary support section; 3 is the attitude detection module; 4 is the wheel leg posture detection module; 5 is the ground load detection module; 6 is the terrain perception module; 7 is the collaborative control module; 8 is the execution drive module; and 9 is the human-machine interaction module. Detailed Implementation

[0020] like Figures 1 to 3 As shown in the figure, this embodiment discloses a wheel-leg coordinated leveling and anti-rollover control device for a wheel-walking vehicle.

[0021] The device is constructed based on a wheeled walking vehicle body, which includes a vehicle platform 1 and multiple wheel-leg mechanisms 2 connected to the circumference of the vehicle platform 1. Each wheel-leg mechanism 2 has a wheel portion 21 at its end, and at least some wheel-leg mechanisms 2 have auxiliary support portions 22 at their ends to meet the combined requirements of wheeled travel and support operations. Each wheel-leg mechanism 2 can have multiple degrees of freedom, such as rotational freedom about a vertical axis, swing freedom about a horizontal axis, and extension and retraction freedom along its own axis, which can be achieved through hydraulic cylinders, electric push rods, or servo motors in conjunction with linkage mechanisms.

[0022] The attitude detection module 3 is located in the central area of ​​the vehicle platform 1 and is used to collect the attitude angles (including roll angle, pitch angle, and yaw angle), angular velocities (including the rate of change of roll angle and the rate of change of pitch angle), and linear acceleration information of the vehicle platform 1. Preferably, the attitude detection module 3 includes an inertial measurement unit and a tilt sensor, wherein the inertial measurement unit is used to acquire dynamic motion state data, and the tilt sensor is used to perform auxiliary detection and drift correction on the attitude angle data. In other embodiments, it can also be implemented using only a high-precision inertial measurement unit or a redundant inertial measurement unit configuration.

[0023] The wheel-leg posture detection module 4 is disposed at the joints and / or telescopic drive parts of each wheel-leg mechanism 2, and is used to collect the joint angles, swing angles, rotation angles, and / or telescopic displacement information of each wheel-leg mechanism 2 as wheel-leg mechanism posture information. The wheel-leg posture detection module 4 can be implemented using one or more of a joint angle encoder, a stroke sensor, or a displacement sensor. In one embodiment, the wheel-leg posture detection module 4 includes a joint angle encoder installed at each joint shaft, and a stroke sensor or a wire displacement sensor installed at the telescopic drive part.

[0024] The ground load detection module 5 is disposed at the wheel axle connection, support foot connection, and / or load-bearing hinge node of each wheel leg mechanism 2, and is used to collect ground load information (vertical load, lateral load, longitudinal load, and / or stress torque information) corresponding to each wheel leg mechanism 2. The ground load detection module 5 may employ one or more of the following: axle pin force sensor, pin load sensor, multi-dimensional force sensor, or wheel axle load sensor, to achieve real-time measurement of the grounding state and load distribution state of the wheel leg. In one embodiment, the ground load detection module 5 includes axle pin force sensor embedded in the wheel axle connection pin, used to measure the two-dimensional radial force perpendicular to the pin.

[0025] The terrain perception module 6 is located at the front, top, and / or circumferential positions of the vehicle platform 1, and is used to collect three-dimensional point cloud information, slope information, and obstacle contour information of the terrain in front of and / or around the wheeled vehicle body as terrain information. The terrain perception module 6 can be one or more of LiDAR, depth camera, millimeter-wave radar, or binocular vision module. In one embodiment, the terrain perception module 6 includes LiDAR and depth camera, and obtains a high-precision three-dimensional terrain model through data fusion. After the terrain data collected by the terrain perception module 6 is filtered and denoised, ground segmented, normal vector calculated, and slope angle estimated, local slope information, undulation information, and obstacle contour information are extracted, and passable areas are delineated.

[0026] The collaborative control module 7 is electrically connected to the attitude detection module 3, wheel leg posture detection module 4, ground load detection module 5, terrain perception module 6, execution drive module 8, and human-machine interaction module 9, respectively. As the core decision-making unit, the collaborative control module 7 calculates the target compensation amount and anti-rollover control amount for each wheel leg mechanism 2 based on the received attitude angles, wheel leg mechanism posture information, ground load parameters, and terrain information. The collaborative control module 7 can be implemented by an onboard controller, an embedded main control board, or an industrial computer.

[0027] The execution drive module 8 is connected to each wheel leg mechanism 2 and is used to drive each wheel leg mechanism 2 to perform extension, swing, lift, press down, unfold, or retract actions according to the control commands output by the coordination control module 7. The execution drive module 8 may include one or more of the following: hydraulic cylinder, electric push rod, servo motor, hydraulic motor, and joint actuator. In one embodiment, the execution drive module 8 includes a servo motor and an electric push rod.

[0028] The human-machine interface module 9 is connected to the collaborative control module 7 and is used to output the attitude status, wheel and leg force status, leveling status, and alarm information of the wheel-walking vehicle body. The human-machine interface module 9 can take the form of a display terminal, a remote monitoring terminal, and / or an audible and visual alarm, etc., so that operators can monitor the vehicle's stability status in real time and take necessary intervention measures.

[0029] like Figure 4 As shown, this embodiment provides a wheel-leg coordinated leveling and anti-rollover control method for a wheel-walking vehicle, implemented based on the aforementioned device. The method includes the following steps: Step S1: Start the wheel-foot vehicle body, reset each wheel leg mechanism 2 to its initial position (e.g., all telescopic mechanisms retract to the middle position), initialize the attitude detection module 3, wheel leg posture detection module 4, ground load detection module 5 and terrain perception module 6, and complete zero-point calibration.

[0030] Step S2: Collect the attitude angles (including roll angle and pitch angle), angular velocity (including roll angle change rate and pitch angle change rate), acceleration, position and posture information of each wheel leg mechanism 2 (including joint angle, swing angle, rotation angle and / or telescopic displacement information), ground load information of each wheel leg mechanism 2, and terrain information around the wheel leg vehicle body.

[0031] Step S3: Based on the terrain information, perform slope recognition, obstacle recognition, and passage area division on the terrain in front of or around the wheeled vehicle body to obtain terrain recognition results. Specifically, perform statistical filtering to denoise the terrain point cloud, use the random sampling consensus algorithm to segment the ground, calculate the local region normal vector to obtain the slope angle, and extract obstacle contours using the region growing method to form a passable area raster map.

[0032] Step S4: Determine whether the attitude of the wheel-leg vehicle body is stable based on the attitude angles to obtain a stable attitude state. Specifically, when both the roll angle and pitch angle are within their respective safety threshold ranges, the attitude is determined to be stable; when the roll angle or pitch angle exceeds the corresponding safety threshold, the attitude is determined to be unstable, and there is a risk of rollover. Simultaneously, based on the ground load information, determine whether each wheel-leg mechanism 2 is effectively grounded to obtain the wheel-leg grounding status; and determine whether the ground loads among each wheel-leg mechanism 2 are balanced to obtain the load distribution state. The load deviation of the nth wheel-leg mechanism is expressed as: ; in, Indicates the first Load deviation of the wheel-leg mechanism Indicates the first Real-time grounding load value of the wheel-leg mechanism This represents the average load value of all grounded wheel-leg mechanisms. When a certain wheel-leg mechanism... When the negative deviation exceeds the preset threshold, it indicates that the ground load of the wheel leg mechanism is significantly lower than the average level, and there is a risk of being suspended or having a false ground connection.

[0033] Step S5: Based on the terrain recognition results, the vehicle's current attitude stability state, and load distribution state, calculate the target compensation amount and anti-rollover control amount for each wheel leg mechanism 2. Based on the terrain recognition results, the attitude stability state, the load distribution state, and the wheel leg mechanism pose information, determine the roll attitude error (the difference between the target roll angle and the current roll angle) and the pitch attitude error (the difference between the target pitch angle and the current pitch angle), determine the load deviation of each wheel leg mechanism 2, determine the terrain compensation amount for the corresponding area of ​​each wheel leg mechanism 2, and calculate the target compensation amount for each wheel leg mechanism according to the following formula: ; in, Indicates the first The target compensation amount for the wheel-leg mechanism. Indicates the roll attitude error. Indicates pitch attitude error. Indicates the first Load deviation of the wheel-leg mechanism Indicates the first Terrain compensation amount for the area corresponding to the wheel-leg mechanism. , , , These are the weighting coefficients for roll attitude error, pitch attitude error, load deviation, and terrain compensation, respectively. Simultaneously, based on the roll angle, pitch angle, roll angle change rate, pitch angle change rate, and load deviation of each wheel-leg mechanism, an instability risk index is constructed according to the following formula: ; in, Indicators representing the risk of instability Indicates the roll angle. Indicates pitch angle, Indicates the rate of change of roll angle. Indicates the rate of change of pitch angle. Indicates the first Load deviation of the wheel-leg mechanism , , , , These are the static weights for roll angle, pitch angle, roll rate, pitch rate, and load balance. When representing an instability risk index... When the risk threshold is exceeded, the vehicle is determined to be in an unstable risk state.

[0034] When the instability risk indicator exceeds the preset risk threshold (e.g., instability risk indicator) When the value is greater than 0.7, the wheeled vehicle body is determined to be in an unstable risk state, and an anti-rollover control quantity is generated.

[0035] The anti-rollover control amount includes one or more of the following action commands: all wheel leg mechanisms 2 lower the vehicle height; in cross slope conditions, the uphill side wheel leg mechanism 2 extends and the downhill side wheel leg mechanism 2 retracts; all wheel leg mechanisms 2 extend outward to increase the support width; reduce vehicle speed; or emergency braking command. Specifically, the anti-rollover control amount can be based on the instability risk index. The degree of exceeding the limit is determined by classification, for example Reduce vehicle speed when >0.5. When the value is greater than 0.7, all wheel-leg mechanisms 2 are forced to descend to their lowest height and extend outward.

[0036] Step S6: Drive the corresponding wheel leg mechanism 2 to move according to the control quantity obtained in step S5, so as to adjust the vehicle height, support width and / or support posture, and realize vehicle leveling and instability suppression.

[0037] When the vehicle is detected to be in a cross slope condition, the uphill side wheel leg mechanism 2 is extended and / or the downhill side wheel leg mechanism 2 is retracted. When the vehicle is detected to be in a longitudinal slope condition, the front wheel leg mechanism 2 and the rear wheel leg mechanism 2 are controlled to perform height compensation in order to reduce the vehicle pitch error. When the ground load of any wheel leg mechanism 2 is detected to be lower than the set threshold, it is determined that the corresponding wheel leg mechanism 2 has a risk of being suspended or a false ground, and the adjacent wheel leg mechanism 2 is controlled to perform compensation support and / or the wheel leg mechanism 2 is controlled to re-ground.

[0038] Step S7: Repeat steps S2 to S6, and output alarm information through the human-machine interaction module 9 when an unstable risk state is detected.

[0039] This invention discloses a wheel-leg coordinated leveling and anti-rollover control device and method for wheel-walking vehicles, constructing a closed-loop control mechanism that combines terrain prediction, attitude perception, load analysis, and wheel-leg coordinated adjustment. Utilizing a dual-layer control architecture of pre-leveling and real-time compensation, the device can proactively adjust the wheel-leg attitude before the vehicle enters slopes, ditches, soft ground, and obstacle terrain, and dynamically correct instability trends during passage. Compared to a single control method relying solely on real-time feedback, this invention effectively shortens the dynamic adjustment time after entering complex terrain, reduces the risk of rollover and suspension, thereby improving the passability and operational safety of wheel-walking vehicles in complex working conditions.

[0040] The above description is merely a preferred embodiment of the present invention and does not limit the scope of the patent. Those skilled in the art can make various improvements and substitutions without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A wheel-leg coordinated leveling and anti-rollover control device for a wheeled walking vehicle, characterized in that, include: Wheeled vehicle body; An attitude detection module is installed on the wheeled vehicle body to collect the attitude angle, angular velocity and acceleration of the wheeled vehicle body as attitude information. The wheel leg posture detection module is set at the joint and / or telescopic drive parts of each wheel leg mechanism to collect the joint angle, swing angle, rotation angle and / or telescopic displacement information of each wheel leg mechanism as the posture information of the wheel leg mechanism. The ground load detection module is installed at the wheel axle connection, support foot connection and / or load-bearing hinge node of each wheel leg mechanism to collect the ground load information of each wheel leg mechanism. A terrain perception module is installed on the wheeled vehicle body to collect slope information, undulation information and / or obstacle information of the terrain around the wheeled vehicle body as terrain information. The collaborative control module is electrically connected to the attitude detection module, the wheel leg posture detection module, the ground load detection module, the terrain perception module, and the execution drive module, respectively, and is used to calculate the target compensation amount and anti-rollover control amount of each wheel leg mechanism based on the attitude angle, the wheel leg mechanism posture information, the ground load information, and the terrain information; The execution drive module is connected to each wheel leg mechanism and is used to drive each wheel leg mechanism to move according to the control commands output by the collaborative control module, so as to realize the active leveling and anti-rollover control of the wheel-walking vehicle body; The human-machine interaction module is connected to the collaborative control module and is used to output the posture status of the wheel-walking vehicle body, the force status of the wheel-leg mechanism, the leveling status, and alarm information.

2. The wheel-leg coordinated leveling and anti-rollover control device for a wheeled vehicle according to claim 1, characterized in that, The wheeled vehicle body includes a vehicle platform and multiple wheel leg mechanisms connected to the circumference of the vehicle platform. Each wheel leg mechanism has a wheel at its end, and at least some wheel leg mechanisms have an auxiliary support at their ends.

3. The wheel-leg coordinated leveling and anti-rollover control device for a wheeled vehicle according to claim 1, characterized in that, The collaborative control module is used to pre-calculate the target leveling attitude based on the terrain information obtained by the terrain perception module, and generate a pre-leveling control command before the wheeled vehicle body enters the target terrain; during the process of the wheeled vehicle body passing through the target terrain, a compensation control command is generated based on the attitude information and the ground load information, forming a two-layer control mechanism that combines pre-leveling and real-time compensation.

4. The wheel-leg coordinated leveling and anti-rollover control device for a wheeled vehicle according to claim 1, characterized in that, The collaborative control module is also used to construct vehicle stability evaluation indicators. When the combined index of the attitude change rate obtained from the attitude angle and the load change rate obtained from the ground load information exceeds a preset threshold, it is determined to be an instability risk state, and the execution drive module is triggered to perform active leveling control. At the same time, alarm information is output through the human-machine interaction module.

5. A method for wheel-leg coordinated leveling and anti-rollover control of a wheeled walking vehicle, characterized in that, The device based on any one of claims 1 to 4 is implemented by the following steps: Step S1: Start the wheel-foot vehicle body, reset each wheel leg mechanism to its initial position, initialize the attitude detection module, wheel leg pose detection module, ground load detection module and terrain perception module, and complete zero-point calibration; Step S2: Collect the attitude angle, angular velocity, acceleration, wheel leg mechanism pose information of each wheel leg mechanism, ground load information of each wheel leg mechanism, and terrain information around the wheel leg vehicle body; Step S3: Based on the terrain information, perform slope recognition, obstacle recognition, and passage area division on the terrain in front of or around the wheeled vehicle body to obtain terrain recognition results; Step S4: Determine whether the attitude of the wheel-leg vehicle body is stable based on the attitude angle to obtain the attitude stability state; determine whether each wheel leg mechanism is effectively grounded based on the ground load information to obtain the wheel leg grounding state; and determine whether the ground load between each wheel leg mechanism is balanced to obtain the load distribution state. Step S5: Based on the terrain recognition results, the attitude stability state, the load distribution state, and the wheel-leg mechanism pose information, determine the roll attitude error and pitch attitude error, determine the load deviation of each wheel-leg mechanism, determine the terrain compensation amount for the corresponding area of ​​each wheel-leg mechanism, and calculate the target compensation amount for each wheel-leg mechanism; and construct an instability risk index based on the roll angle, pitch angle, roll angle change rate, pitch angle change rate, and load deviation of each wheel-leg mechanism; when the instability risk index exceeds a preset risk threshold, determine that the wheel-leg vehicle body is in an instability risk state, and generate anti-rollover control quantity; Step S6: Based on the target compensation amount and anti-rollover control amount, drive the corresponding wheel leg mechanism to adjust the height, support width and / or support posture of the wheel-step vehicle body; Based on the grounding status of the wheel legs, adjacent compensation support and / or re-grounding are performed on the wheel leg mechanisms that have a risk of false grounding, thereby achieving active leveling and instability suppression of the wheel-walking vehicle body; Step S7: Repeat steps S2 to S6, and output alarm information when an instability risk state is detected.

6. The method for wheel-leg coordinated leveling and anti-rollover control of a wheeled walking vehicle according to claim 5, characterized in that, In step S5, the target compensation amount for each wheel-leg mechanism is calculated according to the following formula: ； in, This represents the target compensation amount for the i-th wheel leg mechanism. Indicates the roll attitude error. Indicates pitch attitude error. Indicates the first Load deviation of the wheel-leg mechanism Indicates the first Terrain compensation amount for the area corresponding to the wheel-leg mechanism. , , , These are the weighting coefficients for roll attitude error, pitch attitude error, load deviation, and terrain compensation, respectively.

7. The wheel-leg coordinated leveling and anti-rollover control method for a wheel-walking vehicle according to claim 5, characterized in that... In step S5, an instability risk index is constructed, which is calculated according to the following formula: ； in, Indicators representing the risk of instability Indicates the roll angle. Indicates pitch angle, Indicates the rate of change of roll angle. Indicates the rate of change of pitch angle. Indicates the first The load deviation of the wheel-leg mechanism, where n represents the total number of wheel-leg mechanisms. , , , , These are the static weights for roll angle, pitch angle, dynamic weights for roll rate, dynamic weights for pitch rate, and load balance weights; when the instability risk index... When the risk threshold is exceeded, the wheeled vehicle body is determined to be in an unstable risk state.

8. The method for wheel-leg coordinated leveling and anti-rollover control of a wheeled vehicle according to claim 5, characterized in that, In step S6, when the wheel-walking vehicle body is detected to be in a cross slope condition, the wheel leg mechanism on the uphill side is prioritized to extend and / or the wheel leg mechanism on the downhill side is prioritized to retract; when the wheel-walking vehicle body is detected to be in a longitudinal slope condition, the front wheel leg mechanism and the rear wheel leg mechanism are prioritized to perform height compensation in order to reduce pitch error.

9. A method for wheel-leg coordinated leveling and anti-rollover control of a wheeled vehicle according to claim 5, characterized in that, In step S6, when the ground load information of any wheel leg mechanism is detected to be lower than the set threshold, it is determined that the corresponding wheel leg mechanism has a risk of being suspended or a false grounding risk, and the adjacent wheel leg mechanism is controlled to perform compensation support and / or the wheel leg mechanism is controlled to re-ground.

10. An electronic device, characterized in that, The system includes a processor, a memory, and a bus, wherein the processor and the memory are connected via the bus, the memory stores program code, and the processor executes the method as described in any one of claims 5 to 9 when it calls the program code.

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