CN110254246B - Driving wheel control method and device on motion chassis, chassis and robot - Google Patents
Driving wheel control method and device on motion chassis, chassis and robot Download PDFInfo
- Publication number
- CN110254246B CN110254246B CN201910464678.8A CN201910464678A CN110254246B CN 110254246 B CN110254246 B CN 110254246B CN 201910464678 A CN201910464678 A CN 201910464678A CN 110254246 B CN110254246 B CN 110254246B
- Authority
- CN
- China
- Prior art keywords
- driving wheel
- rotating speed
- speed ratio
- wheel
- ideal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The application relates to a driving wheel control method and device on a motion chassis, the chassis and a robot. The method comprises the following steps: the method comprises the steps of obtaining the rotating angle of a steering motor on a moving chassis, calculating an ideal rotating speed ratio of a left driving wheel and a right driving wheel on the moving chassis according to the rotating angle and the parameters of a link mechanism of the moving chassis, measuring the rotating speed of the left driving wheel and the right driving wheel through a moving state monitoring system, obtaining an actual rotating speed ratio of the left driving wheel and the right driving wheel, comparing the ideal rotating speed ratio with the actual rotating speed ratio, and if the ideal rotating speed ratio is not equal to the actual rotating speed ratio, adjusting the rotating speed of the left driving wheel and the right driving wheel through a driving wheel rotating speed adjusting system until the ideal rotating speed ratio is equal to the. By adopting the method, the rotating speed of the left driving wheel and the right driving wheel can be adjusted in time when the driving wheels slip, and the deviation degree of the actual advancing track of the moving chassis relative to the planned path of the system is effectively reduced.
Description
Technical Field
The application relates to the technical field of automation, in particular to a driving wheel control method and device on a motion chassis, the chassis and a robot.
Background
The motion chassis (such as a motion chassis of a robot and a motion chassis of an automobile) adopts a differential motor to control the driving wheels, the differential motor is provided with a differential, and the power output by the differential motor is distributed to the driving wheels through the differential. When the driving wheel crosses the obstacle and crosses the bank or the road surface and slips easily, the differential mechanism applies power to the side with smaller resistance once the driving wheel slips, so that the rotating speed of the side with smaller resistance is faster than the instruction issued by the motion system, and the rotating speed of the side with larger resistance is slower than the instruction issued by the motion system, thereby causing the actual advancing track of the machine to deviate from the path planned by the motion system and influencing the navigation precision.
Disclosure of Invention
In view of the above, it is necessary to provide a method and a device for controlling a driving wheel on a moving chassis, a chassis, and a robot, which solve the technical problem that an actual traveling track of a machine deviates when the driving wheel slips.
A control method for a driving wheel on a motion chassis, wherein a motion state monitoring system and a driving wheel rotating speed adjusting system are arranged on the motion chassis, and the method comprises the following steps:
acquiring a rotation angle of a steering motor on the motion chassis, and calculating an ideal rotation speed ratio of a left driving wheel and a right driving wheel on the motion chassis according to the rotation angle and link mechanism parameters of the motion chassis;
measuring the rotating speed of the left driving wheel and the right driving wheel through the motion state monitoring system to obtain the actual rotating speed ratio of the left driving wheel and the right driving wheel;
comparing the desired speed ratio to the actual speed ratio;
and if the ideal rotating speed ratio is not equal to the actual rotating speed ratio, rotating speed adjustment is carried out on the left driving wheel and the right driving wheel through the driving wheel rotating speed adjusting system until the ideal rotating speed ratio is equal to the actual rotating speed ratio.
In one embodiment, the step of calculating the desired ratio of the rotational speeds of the left and right drive wheels on the motion chassis comprises:
calculating an ideal steering angle of the left steering wheel and an ideal steering angle of the right steering wheel when the steering motor rotates by a rotation angle according to the parameters of the link mechanism in a coordinate system of the motion chassis;
calculating an ideal rotation speed ratio of the left driving wheel and the right driving wheel when the steering motor rotates by a rotation angle according to the ideal steering angle of the left steering wheel, the ideal steering angle of the right steering wheel and the parameters of the link mechanism in the coordinate system;
the coordinate system of the motion chassis is constructed by taking the rotation center of the steering motor as an origin according to a steering structure on the motion chassis and an Ackerman principle.
In one embodiment, the linkage parameters include a geometric relationship between a center of rotation and a center of articulation of the steering motor, a center of articulation of the left steering wheel, a center of articulation of the right steering wheel, a center of articulation of the left drive wheel, a center of articulation of the right drive wheel, and a center of rear axle on the motion chassis.
In one embodiment, the motion state monitoring system comprises a hollow shaft encoder; the step of measuring the rotation speed of the left driving wheel and the right driving wheel by the motion state monitoring system includes:
and measuring the rotating speed of the left driving wheel and the right driving wheel through the hollow shaft encoder.
In one embodiment, the step of adjusting the rotation speed of the left driving wheel and the right driving wheel by the driving wheel rotation speed adjustment system includes:
if the ideal speed ratio exceeds the actual speed ratio, increasing the resistance of the left driving wheel and reducing the resistance of the right driving wheel through the driving wheel speed adjusting system;
if the desired speed ratio is lower than the actual speed ratio, the resistance of the left drive wheel is reduced and the resistance of the right drive wheel is increased by the drive wheel speed adjustment system.
In one embodiment, the step of increasing the resistance of the left drive wheel and decreasing the resistance of the right drive wheel by the drive wheel speed adjustment system comprises:
and controlling the brake pad of the left driving wheel to be clamped and the brake pad of the right driving wheel to be loosened by the driving wheel rotating speed adjusting system.
In one embodiment, the driving wheel rotating speed adjusting system comprises an adjusting motor and a ball screw assembly, wherein a brake cable fixing structure for fixing one end of a brake cable is arranged on the ball screw assembly; through drive wheel rotational speed governing system control the brake block of left side drive wheel is tight with the step that the brake block of right side drive wheel relaxes includes:
through the driving of the adjusting motor, the brake cable fixing structure tightens the brake cable connected with the brake pad of the left driving wheel and loosens the brake cable connected with the brake pad of the right driving wheel.
In one embodiment, the method further comprises:
and if the ideal rotating speed ratio is equal to the actual rotating speed ratio, controlling the brake pad of the left driving wheel and the brake pad of the right driving wheel to reset through the driving wheel rotating speed adjusting system.
A driving wheel control device on a motion chassis, wherein a motion state monitoring system and a driving wheel rotating speed adjusting system are arranged on the motion chassis, and the device comprises:
the ideal rotating speed ratio calculating module is used for acquiring the rotating angle of a steering motor on the moving chassis and calculating the ideal rotating speed ratio of a left driving wheel and a right driving wheel on the moving chassis according to the rotating angle and the parameters of a link mechanism of the moving chassis;
the actual rotating speed ratio measuring module is used for measuring the rotating speeds of the left driving wheel and the right driving wheel through the motion state monitoring system to obtain the actual rotating speed ratio of the left driving wheel and the right driving wheel;
the rotating speed comparison module is used for comparing the ideal rotating speed ratio with the actual rotating speed ratio; and the rotating speed adjusting module is used for adjusting the rotating speed of the left driving wheel and the right driving wheel through the driving wheel rotating speed adjusting system if the ideal rotating speed ratio is not equal to the actual rotating speed ratio until the ideal rotating speed ratio is equal to the actual rotating speed ratio.
A motion chassis, comprising:
the motion state monitoring system is used for measuring the rotating speeds of a left driving wheel and a right driving wheel on the motion chassis;
the driving wheel rotating speed adjusting system is used for adjusting the rotating speeds of the left driving wheel and the right driving wheel; and
and the processor is connected with the motion state monitoring system and the driving wheel rotating speed adjusting system and stores a computer program, and the processor executes the steps in the driving wheel control method on the motion chassis.
A robot comprises the motion chassis.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method for controlling drive wheels on a sports chassis.
The method and the device for controlling the driving wheels on the moving chassis, the chassis and the robot calculate the ideal rotating speed ratio of the left driving wheel and the right driving wheel according to the link mechanism parameters of the moving chassis and the rotating angle of the steering motor, obtain the actual rotating speed ratio of the left driving wheel and the right driving wheel through the moving state monitoring system, when the actual speed ratio is inconsistent with the ideal speed ratio, determining that the left or right driving wheel slips, the rotating speed of the left and the right driving wheels is adjusted by the driving wheel rotating speed adjusting system until the ideal rotating speed ratio is equal to the actual rotating speed ratio, therefore, when the actual rotating speeds of the left and the right driving wheels are changed relative to the rotating speed in the system command due to the slip, the change is monitored in real time, and the rotating speed of the left and right driving wheels is adjusted in time, so that the deviation degree of the actual advancing track of the moving chassis relative to the planned path of the system is effectively reduced.
Drawings
FIG. 1 is a flow diagram illustrating a method for controlling drive wheels on a mobile chassis according to one embodiment;
FIG. 2 is a flow diagram illustrating a method for controlling drive wheels on a mobile chassis according to one embodiment;
FIG. 3 is a bottom view of an exemplary kinematic chassis steering arrangement in one embodiment;
FIG. 4 is a mathematical schematic of an embodiment of a motion chassis steering mechanism;
FIG. 5 is a mathematical schematic of an embodiment of a motion chassis steering mechanism;
FIG. 6 is a flow diagram illustrating a method for controlling drive wheels on a mobile chassis according to one embodiment;
FIG. 7 is a schematic illustration of the motion base prior to assembly in one embodiment;
FIG. 8 is a schematic diagram of the assembled kinematic base plate of one embodiment;
FIG. 9 is a schematic diagram showing the structure of a system for adjusting the rotational speed of a driving wheel in one embodiment
FIG. 10 is a schematic diagram of a nut in the ball screw assembly in one embodiment;
FIG. 11 is a block diagram of a drive wheel control on the motion chassis in one embodiment; and
FIG. 12 is a block diagram of the configuration of a motion chassis in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The control method for the driving wheel on the motion chassis can be applied to the motion chassis. The driving wheel comprises a left driving wheel and a right driving wheel, the differential motor is used for distributing power to the left driving wheel and the right driving wheel, the steering wheel comprises a left steering wheel and a right steering wheel, and the steering motor is used for controlling steering of the left steering wheel and the right steering wheel. The motion chassis can be a front-rotating rear drive (the left front wheel and the right front wheel are steering wheels, and the left rear wheel and the right rear wheel are driving wheels), or a front-rotating front drive (the left front wheel and the right front wheel are both steering wheels and driving wheels), and the motion chassis is not limited, the number of tires on the motion chassis is not limited, and the motion chassis can be a four-wheel motion chassis, an eight-wheel motion chassis and the like. Wherein, the left, right, front and back are the directions relative to the motion chassis.
In one embodiment, as shown in fig. 1, there is provided a method of controlling drive wheels on a sports chassis, comprising the steps of:
and 102, acquiring the rotating angle of a steering motor on the moving chassis, and calculating the ideal rotating speed ratio of a left driving wheel and a right driving wheel on the moving chassis according to the rotating angle and the parameters of a link mechanism of the moving chassis.
Specifically, when a motion system of the motion chassis or a user performs navigation control on a traveling track of the motion chassis, a steering motor on the motion chassis rotates according to a received steering command, and a rotating angle is not affected by the slipping of a driving wheel but is directly controlled by the steering command. Therefore, when the moving chassis moves, the rotating angle of the steering motor is acquired in real time, mathematical derivation is carried out according to the rotating angle and the parameters of the link mechanism reflecting the structure of the moving chassis, and the ideal rotating speed ratio of the left driving wheel and the right driving wheel can be accurately calculated. The ideal rotation speed ratio of the left driving wheel and the right driving wheel refers to the rotation speed ratio when the left driving wheel and the right driving wheel do not slip under the control of the system.
And 104, measuring the rotating speeds of the left driving wheel and the right driving wheel through the motion state monitoring system to obtain the actual rotating speed ratio of the left driving wheel and the right driving wheel.
Specifically, the motion state monitoring system can measure the rotational speeds of the left and right drive wheels in real time. And dividing the rotating speed of the left driving wheel and the rotating speed of the right driving wheel measured by the motion state monitoring system to obtain the actual rotating speed ratio of the left driving wheel and the right driving wheel. The actual rotating speed ratio of the left driving wheel and the right driving wheel refers to the rotating speed ratio of the left driving wheel and the right driving wheel in the actual running of the motion chassis.
In one embodiment, the rotating speed of the left driving wheel is measured through the motion state monitoring system, and the rotating speed of the right driving wheel is calculated according to the transmission relation of a differential motor on the motion chassis and the measured rotating speed of the left driving wheel; or the motion state monitoring system is used for measuring the rotating speed of the right driving wheel, and the rotating speed of the left driving wheel is calculated according to the transmission relation of the differential motor and the measured rotating speed of the right driving wheel. Therefore, the motion state monitoring system is only arranged on the driving wheel on one side of the motion chassis, and the hardware cost of the motion chassis is effectively reduced.
Specifically, since the ideal rotation speed ratio is the rotation speed ratio of the left driving wheel and the right driving wheel when the left driving wheel and the right driving wheel do not slip, the actual rotation speed ratio is the rotation speed ratio of the left driving wheel and the right driving wheel when the motion chassis actually travels. By comparing the ideal speed ratio with the actual speed ratio, whether the left driving wheel and the right driving wheel slip or not can be accurately judged. If the ideal rotating speed ratio is equal to the actual rotating speed ratio, the phenomenon that the left driving wheel and the right driving wheel do not slip is indicated; and if the ideal rotating speed ratio is not equal to the actual rotating speed ratio, the phenomenon that the left driving wheel and/or the right driving wheel slips is indicated.
And 108, if the ideal rotating speed ratio is not equal to the actual rotating speed ratio, rotating speed adjustment is carried out on the left driving wheel and the right driving wheel through the driving wheel rotating speed adjusting system until the ideal rotating speed ratio is equal to the actual rotating speed ratio.
When the left driving wheel and/or the right driving wheel slips, the resistance borne by the left driving wheel and the resistance borne by the right driving wheel are changed greatly, and the differential mechanism in the differential motor applies power to the driving wheel with the smaller resistance, so that the actual rotating speeds of the left driving wheel and the right driving wheel are changed. However, the occurrence of the slip phenomenon cannot be expected by the motion system of the motion chassis, which causes the actual rotating speeds of the left and right driving wheels to be different from the rotating speed of the driving wheel in the motion command issued by the motion system, and further causes the actual moving track of the motion chassis to deviate from the track planned by the motion system.
Specifically, the ideal rotation speed ratio is not equal to the actual rotation speed ratio, which indicates that the left driving wheel and/or the right driving wheel slips, the rotation speeds of the left driving wheel and the right driving wheel change, the rotation speed of the left driving wheel and the right driving wheel is adjusted by the driving wheel rotation speed adjusting system, the ideal rotation speed ratio and the actual rotation speed ratio of the left driving wheel and the right driving wheel are updated in real time until the ideal rotation speed ratio and the actual rotation speed ratio of the left driving wheel and the right driving wheel are equal after the rotation speed is adjusted, so that the deviation degree of the actual advancing track of the motion chassis and the track planned by the motion system is reduced, and the accuracy of the advancing path of the motion chassis when the.
According to the control method of the driving wheels on the motion chassis, the ideal rotating speed ratio of the left driving wheel and the right driving wheel is calculated according to the link mechanism parameters of the motion chassis and the rotating angle of the steering motor, the actual rotating speed ratio of the left driving wheel and the right driving wheel is obtained through the motion state monitoring system, when the actual rotating speed ratio is inconsistent with the ideal rotating speed ratio, the left driving wheel or the right driving wheel is determined to slip, the rotating speed of the left driving wheel and the right driving wheel is adjusted through the driving wheel rotating speed adjusting system until the ideal rotating speed ratio is equal to the actual rotating speed ratio, so that the slipping phenomenon of the driving wheels is accurately monitored in real time, the rotating speed of the left driving wheel and the right driving wheel is adjusted in time, the deviation degree of the actual traveling track of the motion chassis relative to the system planned path.
In one embodiment, as shown in fig. 2, there is provided a method of controlling drive wheels on a sports chassis, comprising the steps of:
The ideal steering angles of the left steering wheel and the right steering wheel are the steering angles of the left steering wheel and the right steering wheel when the left driving wheel and the right driving wheel do not slip. The link mechanism parameters comprise a steering motor, a left steering wheel, a right steering wheel, and link mechanism parameters between the left driving wheel and the right driving wheel on the motion chassis.
Specifically, a coordinate system of the motion chassis is constructed in advance, and in the coordinate system, an ideal steering angle of the left steering wheel when the steering motor rotates by the rotation angle is calculated according to the rotation angle of the steering motor and the link mechanism parameter between the steering motor and the left steering wheel. And calculating the ideal steering angle of the right steering wheel when the steering motor rotates the rotating angle according to the ideal steering angle of the left steering wheel and the parameters of the link mechanism between the left steering wheel and the right steering wheel.
And step 204, calculating an ideal rotating speed ratio of the left driving wheel and the right driving wheel when the steering motor rotates by a rotating angle in a coordinate system according to the ideal steering angle of the left steering wheel, the ideal steering angle of the right steering wheel and the parameters of the link mechanism.
Specifically, in a coordinate system of the motion chassis, an ideal rotating speed ratio of the left driving wheel and the right driving wheel is calculated according to an ideal steering angle of the left steering wheel and an ideal steering angle of the right steering wheel and according to link mechanism parameters among the left steering wheel, the right steering wheel, the left driving wheel and the right driving wheel.
In one embodiment, a coordinate system of the motion chassis is constructed according to a steering structure of the motion chassis by taking a rotation center of the steering motor as an origin so as to improve the accuracy of calculation of the ideal rotating speed ratio of the left driving wheel and the right driving wheel. The steering structure of the motion chassis is arranged by adopting a connecting rod mechanism conforming to the Ackerman principle, so that the rotation of the left steering wheel and the right steering wheel conforms to the Ackerman principle.
Specifically, the steering structure on the motion chassis is arranged by adopting a link mechanism conforming to the ackermann principle, so that the rotation of the left steering wheel and the right steering wheel conforms to the ackermann principle. Fig. 3 is a bottom view of the steering structure of the motion chassis, where point O is the rotation center of the steering motor, point E is the hinge center of the steering motor, points a and F are both the hinge centers of the left steering wheel, points B and C are the vertices of the trapezoid conforming to the ackermann principle, and point D is the hinge center of the right steering wheel. Fig. 4 is a diagram illustrating an example of steering of the left driving wheel driven by the steering motor, and fig. 5 is a diagram illustrating an example of steering of the left driving wheel and a steering of the right driving wheel driven by the steering motor, wherein a coordinate system of the motion chassis is centered on point O, and a straight line between the steering motor and points O and a is an X-axis. After the steering motor rotates by an angle alpha, the hinge center of the steering motor moves from a point E to a point E ', the left steering wheel rotates by an ideal steering angle aL, the hinge center of the left steering wheel moves from a point F to a point F ', the right steering wheel rotates by an ideal steering angle aR, and the vertex of the trapezoid conforming to the Ackerman principle moves from a point B and a point C to a point B ' and a point C. In fig. 5, point G is the center of the rear axle of the motion chassis, point H is the center points of point O and point G, line AM is perpendicular to the left front wheel, line DN is perpendicular to the right front wheel, point I is the center of the left drive wheel, point J is the center of the right drive wheel, and point P is the center of curvature of the motion trajectory of the center of the motion chassis.
In one embodiment, the linkage parameters include the geometric relationship between the center of rotation and the center of articulation of the steering motor, the center of articulation of the left steering wheel, the center of articulation of the right steering wheel, the center of articulation of the left drive wheel, the center of articulation of the right drive wheel, and the center of the rear axle on the motion chassis.
Specifically, as shown in fig. 4 and 5, the link mechanism parameters include an absolute value distance | OA | from point O to point a, an absolute value distance | AF | from point a to point F, an absolute value distance | FE | from point F to point E, an absolute value distance | OE | from point O to point E, an absolute value distance | AB | from point a to point B, an absolute value distance | CD | from point C to point D, an absolute value distance | AD | from point a to point D, an absolute value distance | BC | from point B to point C, an absolute value distance | OG | from point O to point G, and an absolute value distance | IJ | from point I to point J.
Specifically, as shown in fig. 3, 4, and 5, it is assumed that | OA | ═ L1、|AF|＝L2、|FE|＝L3、|OE|＝L4、|AB|＝|CD|＝L5、|AD|＝L6、|BC|＝L7、|OG|＝L8、|IJ|＝L9After the steering motor rotates by an angle alpha, the angle of the left front wheel can be calculated by the following steps:
(1) the coordinates of E' are calculated as:
(x1,y1)＝(L4*sin(α),-L4*cos(α))；
(2) the circle E ' intersects with the circle A at two points, the point F ' is one of intersection points, the circle center of the circle E ' is the point E ' and the radius is | E ' F ' |, the circle center of the circle A is the point A and the radius is | AF |, and the coordinates of the point F ' are obtained by obtaining the intersection point of the two circles:
(3) Calculating the ideal steering angle aL of the left steering wheel according to the coordinates of the E 'and the coordinates of the F':
according to the calculated ideal steering angle aL of the left steering wheel, the ideal steering angle aR of the right steering wheel can be calculated by the following steps:
(1) calculate the angle a1 of the isosceles trapezoid ABCD in fig. 5:
(2) from the angle a1 and the ideal steering angle aL of the left steered wheel, the coordinates of point B' are calculated:
(x3,y3)＝(L5*cos(a1-aL)-L6/2,-L5*sin(a1-aL))；
(3) the circle B 'intersects the circle D at two points, the point C' is one of intersection points, the circle center of the circle B 'is the point B' and the radius is | B 'C' |, and the circle center of the circle D is the point D and the radius is | DC |. Calculating the coordinates of point C 'by finding the intersection of two circles according to the coordinates of point B':
(4) from the coordinates of the angle a1 and the point C', the ideal steering angle aR of the right steered wheel is calculated:
according to the calculated ideal steering angle aL of the left steering wheel and the ideal steering angle aR of the right steering wheel, the ideal rotating speed ratio of the left driving wheel and the right driving wheel can be calculated through the following steps:
(1) and calculating M point coordinates according to the ideal steering angle aL of the left steering wheel:
(2) and calculating the coordinates of the N points according to the ideal steering angle aR of the right steering wheel:
(3) and calculating the coordinate of the point P according to the coordinate of the point M and the coordinate of the point N:
(4) and calculating the ideal rotating speed ratio of the left driving wheel and the right driving wheel according to the P point coordinate:
and step 206, measuring the rotating speeds of the left driving wheel and the right driving wheel through the motion state monitoring system to obtain the actual rotating speed ratio of the left driving wheel and the right driving wheel.
At step 208, the desired speed ratio is compared to the actual speed ratio.
And step 210, if the ideal rotating speed ratio is not equal to the actual rotating speed ratio, rotating speed adjustment is carried out on the left driving wheel and the right driving wheel through the driving wheel rotating speed adjusting system until the ideal rotating speed ratio is equal to the actual rotating speed ratio.
Specifically, the implementation process of step 206 to step 210 can refer to the detailed description of step 104 to step 108, which is not repeated herein.
In one embodiment, as shown in fig. 6, there is provided a method of controlling drive wheels on a sports chassis, comprising the steps of:
Specifically, step 602 may refer to the detailed description of step 102 or steps 202 to 204, which is not repeated herein.
And step 604, measuring the rotating speeds of the left driving wheel and the right driving wheel through a hollow shaft encoder in the motion state monitoring system to obtain the actual rotating speed ratio of the left driving wheel and the right driving wheel.
Specifically, the actual rotating speeds of the left driving wheel and the right driving wheel are monitored in real time through a hollow shaft encoder in the motion state monitoring system, and the monitored rotating speeds of the left driving wheel and the right driving wheel are compared to obtain the actual rotating speed ratio of the left driving wheel and the right driving wheel.
If the desired speed ratio exceeds the actual speed ratio, the resistance of the left drive wheel is increased and the resistance of the right drive wheel is decreased by the drive wheel speed adjustment system until the desired speed ratio is equal to the actual speed ratio, step 608.
Specifically, if the ideal rotation speed ratio of the left driving wheel and the right driving wheel exceeds the actual rotation speed ratio, it is shown that compared with the rotation speed of the left driving wheel and the rotation speed of the right driving wheel specified in the motion command of the motion system, the actual rotation speed of the left driving wheel is faster and the actual rotation speed of the right driving wheel is slower, the resistance of the left driving wheel is increased and the resistance of the right driving wheel is reduced through the driving wheel rotation speed adjusting system, and when the resistance of the left driving wheel is increased and the resistance of the right driving wheel is reduced, the differential applies more power to the right driving wheel with reduced resistance, so that the actual rotation speed of the right driving wheel is increased and the actual rotation speed of the left driving wheel is reduced, and the effect of adjusting the actual.
And step 610, if the ideal rotating speed ratio is lower than the actual rotating speed ratio, reducing the resistance of the left driving wheel and increasing the resistance of the right driving wheel through the driving wheel rotating speed adjusting system until the ideal rotating speed ratio is equal to the actual rotating speed ratio.
Specifically, if the ideal rotation speed ratio of the left driving wheel and the right driving wheel is lower than the actual rotation speed ratio, it is shown that compared with the rotation speed of the left driving wheel and the rotation speed of the right driving wheel specified in the motion command of the motion system, the actual rotation speed of the left driving wheel is slow, and the actual rotation speed of the right driving wheel is fast, the resistance of the left driving wheel is reduced and the resistance of the right driving wheel is increased through the driving wheel rotation speed adjusting system, and when the resistance of the left driving wheel is reduced and the resistance of the right driving wheel is increased, the differential applies more power to the left driving wheel with reduced resistance, so that the actual rotation speed of the left driving wheel is increased, the actual rotation speed of the right driving wheel is reduced, and the effect of.
In one embodiment, the driving wheel rotating speed adjusting system controls the brake block of the left driving wheel to be clamped and the brake block of the right driving wheel to be loosened so as to increase the resistance borne by the left driving wheel and reduce the resistance borne by the right driving wheel, and the driving wheel rotating speed adjusting system controls the brake block of the left driving wheel to be loosened and the brake block of the right driving wheel to be clamped so as to reduce the resistance borne by the left driving wheel and increase the resistance borne by the right driving wheel, so that the convenience of the driving wheel rotating speed adjusting system for adjusting the driving wheel rotating speed is improved.
In one embodiment, the driving wheel rotating speed adjusting system comprises an adjusting motor and a ball screw assembly, wherein a brake cable fixing structure for fixing one end of a brake cable is arranged on the ball screw assembly, the adjusting motor drives a screw rod in the ball screw assembly to rotate, and the screw rod rotates to drive the brake cable fixing structure to move so as to tighten the brake cable connected with the brake pad of the left driving wheel and loosen the brake cable connected with the brake pad of the right driving wheel.
In one embodiment, after the rotation speeds of the left driving wheel and the right driving wheel are adjusted, when the ideal rotation speed ratio is equal to the actual rotation speed ratio, the rotation speeds of the left driving wheel and the right driving wheel are not required to be adjusted, and the brake pad of the left driving wheel and the brake pad of the right driving wheel are controlled to reset through the driving wheel rotation speed adjusting system.
In one embodiment, fig. 7 is a schematic structural view of the motion base plate before assembly, and fig. 8 is a schematic structural view of the motion base plate after assembly. In fig. 7 and 8, a part 1 is a driving wheel rotation speed adjusting module, a part 2 is a frame of a motion chassis, a part 3 is a tire, a part 4-position brake caliper, a part 5 is a driving wheel flange, a part 6 is a brake caliper fixing part, a part 7 is a hollow shaft encoder, and a part 8 is a differential motor. The motion state monitoring system comprises a driving wheel component consisting of a part 3 and a part 5, a part 8, a motor output shaft of the part 8 and a part 7.
In particular, the part 1 and the part 8 are fixed on the part 2. The part 1 is connected with the part 4 through a brake cable, and the part 4 is fixed on a disc of the part 6. The part 5 is provided with a brake pad in the driving wheel flange, and when a brake cable is tensioned, the part 4 can clamp the brake pad in the part 5 driving wheel flange to generate braking resistance. The disk in the middle of part 6 brake caliper mounting is designed with a round hole to avoid the motor output shaft and simultaneously avoid part 7 to be fixed on part 2. The hollow shaft of the part 7 penetrates through the motor output shaft and is fixed with the motor output shaft by adopting the hoop, and the driving wheel component is also fixed on the motor output shaft, so that the part 7 can monitor the rotation condition of the driving wheel component in real time. The housing of the part 7 is fixed to the part 2.
In one embodiment, fig. 9 is a schematic structural diagram of a driving wheel rotation speed adjusting system, where a is an adjusting motor, b is a fixing frame, c is a brake cable, d is a screw base of a ball screw assembly, e is a proximity switch, f is a screw in the ball screw assembly, g is a nut in the ball screw assembly, and h is a limiting groove on b.
In one embodiment, a gear is fixed on the part f, the gear is meshed with a gear on the part a, and the part a rotates to drive the part f to rotate through the gear.
In one embodiment, fig. 10 is a diagram illustrating a structure of a part g, a sliding rod capable of sliding in a part h is arranged on the part g, a brake cable fixing structure is arranged at one end of the sliding rod, and the brake cable fixing structure is connected with one end of a brake cable, so that when a part a drives the part f to roll, the part g can only do linear motion along the axial direction of the part f under the limitation of the part h, namely, the sliding rod of the part g slides in a limiting groove.
In one embodiment, the part b is provided with at least three parts e at intervals for sensing the position of the part g.
Specifically, when part b interval was provided with three part e that is used for responding to part g position, when part e that is located the intermediate position sensed part g, left side brake cable and right side brake cable all were in the reset state, namely drive wheel rotational speed governing system did not tighten up or loosen left side brake cable and right side brake cable, left side brake cable and right side brake cable when left side position or right side position, left side brake cable and right side brake cable are in and tighten up or loosen the state, therefore the position of part g is adjusted to accessible part e, improve the degree of accuracy that the brake cable tightened up or loosened, and then provide the degree of accuracy that drive wheel rotational speed governing system carried out resistance adjustment to left drive wheel and right drive wheel.
It should be understood that although the various steps in the flow charts of fig. 1-10 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-10 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 11, there is provided a drive wheel control apparatus 1100 on a sports chassis, the sports chassis having a motion status monitoring system and a drive wheel speed adjustment system thereon, the apparatus comprising:
an ideal rotation speed ratio calculation module 1102, configured to obtain a rotation angle of a steering motor on a motion chassis, and calculate an ideal rotation speed ratio of a left driving wheel and a right driving wheel on the motion chassis according to the rotation angle and a link mechanism parameter of the motion chassis;
an actual rotation speed ratio measuring module 1104, configured to measure rotation speeds of the left driving wheel and the right driving wheel through the motion state monitoring system, and obtain an actual rotation speed ratio of the left driving wheel and the right driving wheel;
a speed comparison module 1106 for comparing the desired speed ratio with the actual speed ratio; and
and a rotating speed adjusting module 1108, configured to adjust the rotating speeds of the left driving wheel and the right driving wheel through the driving wheel rotating speed adjusting system if the ideal rotating speed ratio is not equal to the actual rotating speed ratio until the ideal rotating speed ratio is equal to the actual rotating speed ratio.
In one embodiment, the desired speed ratio calculation module 1102 includes:
the ideal steering angle calculation module is used for calculating the ideal steering angle of the left steering wheel and the ideal steering angle of the right steering wheel when the steering motor rotates for a rotating angle according to the parameters of the connecting rod mechanism in a coordinate system of the moving chassis; and
the ideal rotating speed ratio calculating submodule is used for calculating the ideal rotating speed ratio of the left driving wheel and the right driving wheel when the steering motor rotates the rotating angle according to the ideal steering angle of the left steering wheel, the ideal steering angle of the right steering wheel and the parameters of the link mechanism in a coordinate system;
the coordinate system of the motion chassis is constructed by taking the rotation center of the steering motor as an origin according to a steering structure on the motion chassis and an Ackerman principle.
In one embodiment, the actual speed ratio measurement module 1104 includes:
and the actual rotating speed measuring module is used for measuring the rotating speeds of the left driving wheel and the right driving wheel through the hollow shaft encoder.
In one embodiment, the speed adjustment module 1108 includes:
the first adjusting module is used for increasing the resistance of the left driving wheel and reducing the resistance of the right driving wheel through the driving wheel rotating speed adjusting system if the ideal rotating speed ratio exceeds the actual rotating speed ratio; and
and the second adjusting module is used for reducing the resistance of the left driving wheel and increasing the resistance of the right driving wheel through the driving wheel rotating speed adjusting system if the ideal rotating speed ratio is lower than the actual rotating speed ratio.
In one embodiment, the first adjustment module includes:
and the brake pad adjusting module is used for controlling the brake pad of the left driving wheel to be clamped and the brake pad of the right driving wheel to be loosened through the driving wheel rotating speed adjusting system.
In one embodiment, the brake pad adjustment module includes:
and the brake line control module is used for tightening the brake line connected with the brake pad of the left driving wheel and loosening the brake line connected with the brake pad of the right driving wheel by driving the brake line fixing structure through the adjusting motor.
In one embodiment, the drive wheel control device 1100 on the motion chassis further comprises:
and the brake pad resetting module is used for controlling the brake pad of the left driving wheel and the brake pad of the right driving wheel to reset through the driving wheel rotating speed adjusting system if the ideal rotating speed ratio is equal to the actual rotating speed ratio.
For specific definition of the driving wheel control device on the moving chassis, reference may be made to the above definition of the driving wheel control method on the moving chassis, and details are not described here. The modules in the drive wheel control device on the motion chassis can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, as shown in fig. 12, there is provided a sports chassis 1200 comprising:
a motion state monitoring system 1202 for measuring the rotational speed of the left and right drive wheels on the motion chassis;
a drive wheel rotational speed adjustment system 1204 for adjusting rotational speeds of the left and right drive wheels; and
the processor 1206 connected with the motion state monitoring system and the driving wheel rotating speed adjusting system stores a computer program, and the processor executes the computer program to realize the steps in the driving wheel control method on the motion chassis.
In one embodiment, a robot is provided that includes a motion chassis as shown in fig. 12.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (12)
1. A control method for a driving wheel on a motion chassis is characterized in that a motion state monitoring system and a driving wheel rotating speed adjusting system are arranged on the motion chassis, and the method comprises the following steps:
acquiring a rotation angle of a steering motor on the motion chassis, and calculating an ideal rotation speed ratio of a left driving wheel and a right driving wheel on the motion chassis according to the rotation angle and link mechanism parameters of the motion chassis;
measuring the rotating speed of the left driving wheel and the right driving wheel through the motion state monitoring system to obtain the actual rotating speed ratio of the left driving wheel and the right driving wheel;
comparing the desired speed ratio to the actual speed ratio;
and if the ideal rotating speed ratio is not equal to the actual rotating speed ratio, rotating speed adjustment is carried out on the left driving wheel and the right driving wheel through the driving wheel rotating speed adjusting system until the ideal rotating speed ratio is equal to the actual rotating speed ratio.
2. The method of claim 1, wherein the step of calculating a desired speed ratio of a left drive wheel to a right drive wheel on the motion chassis comprises:
calculating an ideal steering angle of a left steering wheel and an ideal steering angle of a right steering wheel when the steering motor rotates by a rotation angle according to the parameters of the link mechanism in a coordinate system of the motion chassis;
calculating an ideal rotation speed ratio of the left driving wheel and the right driving wheel when the steering motor rotates by a rotation angle according to the ideal steering angle of the left steering wheel, the ideal steering angle of the right steering wheel and the parameters of the link mechanism in the coordinate system;
the coordinate system of the motion chassis is constructed by taking the rotation center of the steering motor as an origin according to a steering structure on the motion chassis and an Ackerman principle.
3. The method of claim 2, wherein the linkage parameters include a geometric relationship between a center of rotation and a center of articulation of the steering motor, a center of articulation of the left steering wheel, a center of articulation of the right steering wheel, a center of articulation of the left drive wheel, a center of articulation of the right drive wheel, and a center of rear axle on the motion chassis.
4. The method of claim 1, wherein the motion state monitoring system comprises a hollow shaft encoder; the step of measuring the rotation speed of the left driving wheel and the right driving wheel by the motion state monitoring system includes:
and measuring the rotating speed of the left driving wheel and the right driving wheel through the hollow shaft encoder.
5. The method of claim 1, wherein the step of speed adjusting the left and right drive wheels via the drive wheel speed adjustment system comprises:
if the ideal speed ratio exceeds the actual speed ratio, increasing the resistance of the left driving wheel and reducing the resistance of the right driving wheel through the driving wheel speed adjusting system;
if the desired speed ratio is lower than the actual speed ratio, the resistance of the left drive wheel is reduced and the resistance of the right drive wheel is increased by the drive wheel speed adjustment system.
6. The method of claim 5, wherein the step of increasing the resistance of the left drive wheel and decreasing the resistance of the right drive wheel via the drive wheel speed adjustment system comprises:
and controlling the brake pad of the left driving wheel to be clamped and the brake pad of the right driving wheel to be loosened by the driving wheel rotating speed adjusting system.
7. The method of claim 6, wherein the driving wheel speed adjustment system comprises an adjustment motor and a ball screw assembly, the ball screw assembly having a brake cable fixing structure for fixing one end of a brake cable; through drive wheel rotational speed governing system control the brake block of left side drive wheel is tight with the step that the brake block of right side drive wheel relaxes includes:
through the driving of the adjusting motor, the brake cable fixing structure tightens the brake cable connected with the brake pad of the left driving wheel and loosens the brake cable connected with the brake pad of the right driving wheel.
8. The method of claim 6, further comprising:
and if the ideal rotating speed ratio is equal to the actual rotating speed ratio, controlling the brake pad of the left driving wheel and the brake pad of the right driving wheel to reset through the driving wheel rotating speed adjusting system.
9. A driving wheel control device on a motion chassis is characterized in that a motion state monitoring system and a driving wheel rotating speed adjusting system are arranged on the motion chassis, and the device comprises:
the ideal rotating speed ratio calculating module is used for acquiring the rotating angle of a steering motor on the moving chassis and calculating the ideal rotating speed ratio of a left driving wheel and a right driving wheel on the moving chassis according to the rotating angle and the parameters of a link mechanism of the moving chassis;
the actual rotating speed ratio measuring module is used for measuring the rotating speeds of the left driving wheel and the right driving wheel through the motion state monitoring system to obtain the actual rotating speed ratio of the left driving wheel and the right driving wheel;
the rotating speed comparison module is used for comparing the ideal rotating speed ratio with the actual rotating speed ratio; and
and the rotating speed adjusting module is used for adjusting the rotating speed of the left driving wheel and the right driving wheel through the driving wheel rotating speed adjusting system if the ideal rotating speed ratio is not equal to the actual rotating speed ratio until the ideal rotating speed ratio is equal to the actual rotating speed ratio.
10. A motion chassis, comprising:
the motion state monitoring system is used for measuring the rotating speeds of a left driving wheel and a right driving wheel on the motion chassis;
the driving wheel rotating speed adjusting system is used for adjusting the rotating speeds of the left driving wheel and the right driving wheel; and
a processor connected to the motion state monitoring system and the driving wheel speed regulation system, storing a computer program, the processor executing the computer program to perform the steps of the method of any one of claims 1-8.
11. A robot comprising the motion chassis of claim 10.
12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910464678.8A CN110254246B (en) | 2019-05-30 | 2019-05-30 | Driving wheel control method and device on motion chassis, chassis and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910464678.8A CN110254246B (en) | 2019-05-30 | 2019-05-30 | Driving wheel control method and device on motion chassis, chassis and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110254246A CN110254246A (en) | 2019-09-20 |
| CN110254246B true CN110254246B (en) | 2021-02-19 |
Family
ID=67916100
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910464678.8A Active CN110254246B (en) | 2019-05-30 | 2019-05-30 | Driving wheel control method and device on motion chassis, chassis and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110254246B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110640716A (en) * | 2019-11-07 | 2020-01-03 | 江西清研智虎机器人有限公司 | Mobile robot chassis |
| CN112319236B (en) * | 2020-10-26 | 2022-04-22 | 广州视源电子科技股份有限公司 | Motion control method of mobile robot chassis and mobile robot chassis |
| CN112722066B (en) * | 2021-01-19 | 2022-03-22 | 北京理工大学 | Ackerman-active speed difference composite steering system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104216406B (en) * | 2013-06-05 | 2017-07-14 | 中国石油天然气集团公司 | The control device and control method on a kind of four-wheel drive omnidirectional chassis |
| CN106364366B (en) * | 2016-09-12 | 2018-10-16 | 华中科技大学 | A kind of planet gear type barrier-surpassing robot rotating direction control method |
| CN107031392A (en) * | 2017-03-24 | 2017-08-11 | 江苏工程职业技术学院 | A kind of portable four wheel all-directional turns to the control method on robot chassis |
| CN106945562A (en) * | 2017-04-26 | 2017-07-14 | 常州机电职业技术学院 | A kind of distributed-driving electric automobile and its control method |
| CN108556616A (en) * | 2018-06-04 | 2018-09-21 | 浙江立石机器人技术有限公司 | A kind of mobile forward method of four-wheel robot and four-wheel robot |
-
2019
- 2019-05-30 CN CN201910464678.8A patent/CN110254246B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110254246A (en) | 2019-09-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110254246B (en) | Driving wheel control method and device on motion chassis, chassis and robot | |
| CN107776664B (en) | Determining available dynamic turn radii | |
| US10843727B2 (en) | Steering apparatus | |
| US8082078B2 (en) | Methods, systems, and computer program products for steering travel limit determination for electric power steering | |
| US9981686B2 (en) | Creep assist for steering management | |
| CN109131538B (en) | System and method for real-time steering response compensation in a vehicle | |
| CN111038583B (en) | Unmanned vehicle steering compensation method and device, computer equipment and storage medium | |
| CN110745177A (en) | Steer-by-wire feedback torque | |
| CN108382454B (en) | Reduction of static steering slew | |
| CN107600169B (en) | Steering return control device and method for motor-driven power steering | |
| US20180357338A1 (en) | Kinematics table generation for steering hardware simulator | |
| JP2016088436A (en) | Motor control device | |
| CN114001739B (en) | Path planning method, device, vehicle and storage medium | |
| CN115605393A (en) | Steer-by-wire system with artificial position hysteresis for modifying steering wheel angle | |
| JP2001334951A (en) | Front and rear wheel steering angles control device for vehicle | |
| US20220266901A1 (en) | Apparatus and method for controlling steer-by-wire system to provide improved feedback to steering wheel | |
| US11485372B2 (en) | Standalone-type rear wheel steering control apparatus and method thereof | |
| CN108216362B (en) | ackerman steering trapezoidal control method, device, mechanism, system and automobile | |
| Horváth et al. | Clothoid-based trajectory following approach for self-driving vehicles | |
| CN114212145B (en) | Automobile steering control method and equipment | |
| JP7400745B2 (en) | Vehicle steering system | |
| JP3132299B2 (en) | Auxiliary steering angle control device for vehicles | |
| JP2001075648A (en) | Method and device for adjusting driving wheel diameter parameter of unmanned vehicle | |
| JPH0561147B2 (en) | ||
| JP4135158B2 (en) | Vehicle front and rear wheel steering angle control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20201217 Address after: C10, 1199 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province, 310051 Applicant after: ZHEJIANG HUARAY TECHNOLOGY Co.,Ltd. Address before: No.176, Xinning Road, ningwei street, Xiaoshan District, Hangzhou City, Zhejiang Province Applicant before: ZHEJIANG DAHUA ROBOT TECHNOLOGY Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 310051 8 / F, building a, 1181 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: Zhejiang Huarui Technology Co.,Ltd. Address before: C10, 1199 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province, 310051 Patentee before: ZHEJIANG HUARAY TECHNOLOGY Co.,Ltd. |
|
| CP03 | Change of name, title or address |