Steering power supply system based on redundancy control of omnidirectional wheel vehicle

Abstract

The utility model discloses a steering power supply system based on redundancy control of an omnidirectional wheel vehicle. Comprising a central control module, a power module, a steering module, a driving module, a 12V converter, a 24V converter, a 12V storage battery, a 24V storage battery and a redundancy switching module, the central control module is in communication connection with the steering module and the driving module, the central control module is in communication connection with the 12V converter and the 24V converter, and the 12V converter is electrically connected with the 12V storage battery and used for supplying power to the 12V storage battery; the 24V converter is electrically connected with the 24V storage battery and is used for supplying power to the 24V storage battery; the 12V storage battery and the 24V storage battery are electrically connected with all the steering modules through the redundancy switching module. When a steering system of the omni-directional wheel vehicle fails, the vehicle can still keep partial or complete original steering function, so that the vehicle can run continuously, steering multi-redundancy backup is achieved, and the risk rate of safety accidents is reduced.

Description

Technical Field

[0001] The utility model belongs to the field of vehicle chassis electrical control circuits, and particularly relates to a steering power supply system based on redundant control of an omnidirectional wheel vehicle. Background Art

[0002] With the rapid development of vehicle chassis electrical technology, vehicles equipped with omnidirectional wheels have gradually emerged on the market. This special vehicle has characteristics such as high mobility, flexibility, and high degree of electrification, and can achieve front-rear same-direction steering mode, in-place steering mode, front-rear different-direction steering mode, parking mode, etc. It can operate flexibly in complex road conditions, narrow sections and other scenarios under the coexistence of multiple modes. However, since a variety of electronic control technologies are adopted in the steering part of the omnidirectional wheel vehicle, this also makes the system have unstable factors, resulting in a decrease in reliability. When a certain electronic power supply system fails, the vehicle will instantly lose control of all steering wheels, which may bring potential safety hazards or even major accident problems. Summary of the Utility Model

[0003] In order to solve the problems existing in the background art, the utility model provides a steering power supply system based on redundant control of an omnidirectional wheel vehicle. The utility model is to solve the problem that when the steering system of an omnidirectional wheel vehicle fails, the vehicle can still maintain part or all of the original steering functions to enable the vehicle to continue driving.

[0004] The utility model conducts a safety redundancy design on the omnidirectional wheel steering system, which can improve the stability of the steering system. Through the backup and self-locking design of the power supply of the independent steering system, vehicle steering can still be achieved under system fault conditions, thereby reducing the risk of potential safety hazards.

[0005] The technical solution adopted by the utility model is as follows:

[0006] The utility model includes a central control module, a power supply module, a steering module, a drive module, a 12V converter, a 24V converter, a 12V battery, a 24V battery and a redundant switching module. The central control module is respectively communicatively connected to the steering module and the drive module. The central control module is respectively communicatively connected to the 12V converter and the 24V converter. The 12V converter is electrically connected to the 12V battery for supplying power to the 12V battery. The 24V converter is electrically connected to the 24V battery for supplying power to the 24V battery. The 12V battery and the 24V battery are both electrically connected to each steering module through the redundant switching module.

[0007] The utility model switches and controls the power supply to each steering module by one of the 12V battery and the 24V battery through the redundant switching module, and the redundant switching module is realized through a logic circuit.

[0008] The 12V battery and the 24V battery are both electrically connected to two input terminals of the redundancy switching module, and the output terminal of the redundancy switching module is electrically connected to each steering module.

[0009] The 12V converter and the 24V converter are both voltage converters.

[0010] The steering module includes a left front steering module, a left rear steering module, a right front steering module, and a right rear steering module, which are respectively located at the four wheels of the omnidirectional wheel vehicle.

[0011] The drive module includes a left front drive module, a left rear drive module, a right front drive module, and a right rear drive module, which are respectively located at the four wheels of the omnidirectional wheel vehicle.

[0012] The beneficial effects of the present utility model are as follows:

[0013] The present utility model is provided with a redundancy switching module. For the fully wire-controlled omnidirectional wheel chassis vehicle, from an electrical perspective, the power supply of the steering system is backed up by a dual power supply, realizing power redundancy backup. A power redundancy switching module is added to the power supply circuit of the steering module. The two groups of power supplies of 24V and 12V can be seamlessly switched through a control instruction from the central control module, and the switching time < 10ms, thereby realizing multi-redundancy backup for steering and reducing the risk rate of safety accidents.

[0014] Furthermore, on the basis of the redundancy backup of the steering power supply, the present utility model also performs self-locking control on the omnidirectional wheels to realize differential steering, solving the problem that the vehicle cannot move after a steering failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is the overall logical connection diagram of the system of the present utility model. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0016] The present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0017] As Figure 1 shown, the system includes a central control module, a power supply module, each steering module, each drive module, a 12V converter, a 24V converter, a 12V battery, a 24V battery, and a redundancy switching module. The central control module is respectively communicatively electrically connected to the steering module and the drive module. The central control module is respectively communicatively electrically connected to the 12V converter and the 24V converter. The 12V converter is power supply-connected to the 12V battery for supplying power to the 12V battery. The 24V converter is power supply-connected to the 24V battery for supplying power to the 24V battery. The 12V battery and the 24V battery are both electrically connected to each steering module through the redundancy switching module.

[0018] Among them, the 12V battery and the 24V battery are both connected to the two input terminals of the redundant switching module for power supply, and the output terminal of the redundant switching module is respectively connected to each steering module for power supply.

[0019] In specific implementation, both the 12V converter and the 24V converter are voltage converters. The input terminal is connected to the vehicle battery of the omnidirectional wheel vehicle, and the output terminal is connected to the battery.

[0020] The steering module includes a left front steering module, a left rear steering module, a right front steering module, and a right rear steering module respectively located at the four wheels of the omnidirectional wheel vehicle. The communication terminals of the left front steering module, the left rear steering module, the right front steering module, and the right rear steering module are all connected to the central control module, and the power supply terminals are all connected to the redundant switching module, rather than directly connected to the battery.

[0021] The drive module includes a left front drive module, a left rear drive module, a right front drive module, and a right rear drive module respectively located at the four wheels of the omnidirectional wheel vehicle. The communication terminals of the left front drive module, the left rear drive module, the right front drive module, and the right rear drive module are all connected to the central control module.

[0022] In the present utility model, a power supply module is constituted by the 24V converter, the 24V battery, the 12V converter, and the 12V battery. The power supply module is mainly used for the power supply and power storage functions of the steering system.

[0023] The 12V converter and the 24V converter respectively provide regulated power to the 12V battery and the 24V battery for charging the battery to ensure voltage stability. Both the 12V battery and the 24V battery are input to the power supply terminal of the redundant switching module, and the redundant switching module finally outputs the power supply voltage to the four steering modules.

[0024] The redundant switching module is mainly used to receive the high and low level signals of the central control module, and switch the power supply source for the steering module according to the high and low level signals to determine that one of the 24V battery, the 12V converter, and the 12V battery supplies power to the steering module. In specific implementation, the redundant switching module can be implemented by logic circuits such as NAND gates.

[0025] The steering module is mainly used to control the steering operation of the wheel assembly of the omnidirectional wheel vehicle;

[0026] The drive module is mainly used to rotate the wheel hub and tire of the wheel of the omnidirectional wheel vehicle;

[0027] Under the coordinated interaction of the above-mentioned modules, it is ensured that the vehicle still has a special steering function under different fault levels.

[0028] In specific implementation, the switching process of the steering power supply system is as follows:

[0029] After communicating with the 24V converter through the central processor, if the 24V converter detects that the lower limit of the 24V battery voltage is above 20V and there is no fault of "overtemperature, overvoltage, overcurrent, abnormal fan, communication abnormality" in its own detection, the central control module outputs a high and low level control signal for 24V power supply, enabling the redundant switching module to maintain the 24V power supply in an enabled state. In this way, each steering module is in a high-power power supply state with 24V power supply, and the vehicle enters the multi-mode steering control (power supply state mode one);

[0030] If the 24V converter detects that the lower limit of the 24V battery voltage is not above 20V, that is, when the self-check of the 24V converter fails, the central control module outputs a high and low level control signal for 12V power supply, enabling the redundant switching module to switch to the 12V power supply and enter the standby state;

[0031] At the same time, communicate with the 12V converter through the central control module. If the 12V converter detects that the lower limit of the 12V battery voltage is above 10V and there is no fault of "overtemperature, overvoltage, overcurrent, abnormal fan, communication abnormality" in its own detection, the central control module controls the 12V power supply in the redundant switching module to be enabled. In this way, the steering module is in a low-power power supply state with 12V power supply, and the vehicle enters the multi-mode steering control with low power (power supply state mode two), and reports the 24V system fault to the driver background.

[0032] If the 12V converter detects that the lower limit of the 12V battery voltage is not above 10V, that is, when the self-check of the 12V converter fails, each steering module is maintained in a low-power power supply state, and the central control module sends a high and low level control signal with self-locking to each steering module, enabling each steering module to remain in the zero position and in a self-locking state. The vehicle enters the differential steering mode control (power supply state mode three), and reports the dual-power supply system fault to the driver background.

[0033] In power supply state modes one and two, it is through communication output to the four steering modules to control the swing angle of the wheels to rotate, and then the drive module controls the rotation of each wheel, thereby realizing the multi-mode steering of the vehicle.

[0034] In the differential steering mode of power supply state mode three, it is through communication output to the four steering modules and the drive module. The steering module controls to keep the swing angle of the wheels at zero, and the drive module controls each wheel to rotate at a rotational speed with a rotational speed difference. Through the form of positive and negative rotation differential of the wheels, the steering function of the vehicle is realized.

[0035] Example usage instructions for steering redundancy switching:

[0036] When the vehicle is traveling at a certain speed and the steering is in Mode 1, if the 24V system fails and is damaged at a certain moment, the vehicle can automatically and quickly switch to Mode 2 to take over the steering with the backup power supply, thus ensuring that the vehicle will not get out of control due to sudden loss of steering control. If it is detected that the 24V system returns to normal while operating in Mode 2, the vehicle can quickly switch back to Mode 1 and thus return to the normal state;

[0037] When both Mode 1 and Mode 2 of the vehicle fail and the vehicle needs to be relocated and transported, the vehicle can be differentially moved through Mode 3.

Claims

1. A steering power supply system based on redundant control of an omnidirectional wheel vehicle, characterized in that: It includes a central control module, a power supply module, a steering module, a driving module, a 12V converter, a 24V converter, a 12V storage battery, a 24V storage battery and a redundant switching module. The central control module is respectively communicatively connected to the steering module and the driving module. The central control module is respectively communicatively connected to the 12V converter and the 24V converter. The 12V converter is electrically connected to the 12V storage battery for supplying power to the 12V storage battery. The 24V converter is electrically connected to the 24V storage battery for supplying power to the 24V storage battery. Both the 12V storage battery and the 24V storage battery are electrically connected to each steering module through the redundant switching module.

2. The steering power supply system based on the redundant control of an omnidirectional wheel vehicle according to claim 1, characterized in that: Both the 12V storage battery and the 24V storage battery are electrically connected to two input ends of the redundant switching module, and the output end of the redundant switching module is respectively electrically connected to each steering module.

3. The steering power supply system based on the redundant control of an omnidirectional wheel vehicle according to claim 1, characterized in that: Both the 12V converter and the 24V converter are voltage converters.

4. A steering power supply system based on redundant control of an omnidirectional wheel vehicle according to claim 1, characterized in that: The steering module includes a left front steering module, a left rear steering module, a right front steering module and a right rear steering module which are respectively located at the four wheels of the omnidirectional wheel vehicle.

5. A steering power supply system based on redundant control of an omnidirectional wheel vehicle according to claim 1, characterized in that: The driving module includes a left front driving module, a left rear driving module, a right front driving module and a right rear driving module which are respectively located at the four wheels of the omnidirectional wheel vehicle.

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