CN112526982A - Steering processing method and device for four-wheel drive equipment - Google Patents
Steering processing method and device for four-wheel drive equipment Download PDFInfo
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Abstract
The invention provides a steering processing method and a steering processing device for four-wheel drive equipment, wherein the method comprises the following steps: obtaining a current steering motor angle and a current hub motor speed of the four-wheel drive device, wherein the steering motor angle comprises: the right wheel corner and the left wheel corner of drive wheel in the four-wheel drive equipment, in-wheel motor speed includes: front wheel speed and rear wheel speed of the drive wheels in the four-wheel drive device; determining a preset steering motor angle and a preset hub motor speed based on a preset algorithm, a preset advancing speed and a preset rotation angular speed; and adjusting the current steering motor angle to a preset steering motor angle, and adjusting the current hub motor speed to a preset hub motor speed. The invention solves the problem that the four-wheel-drive moving robot in the related technology can only be driven by four wheels in the driving process and can not realize the movement and translation movement of any steering radius.
Description
Technical Field
The invention relates to the field of intelligent equipment, in particular to a steering processing method and device of four-wheel drive equipment.
Background
Robots are machine devices that perform work automatically, that can accept human commands, run preprogrammed programs, and outline actions based on principles set forth in artificial intelligence techniques, and whose task is to assist or replace human work, such as manufacturing, construction, or dangerous work.
At present, four-wheel-drive mobile robots are already available in the market, but the existing four-wheel-drive mobile robots only realize four-wheel drive during driving, and further development is still needed for true four-wheel drive, such as movement with any turning radius and translation motion.
In view of the above problems in the related art, no effective solution exists at present.
Disclosure of Invention
The embodiment of the invention provides a steering processing method and a steering processing device for four-wheel drive equipment, which at least solve the problem that in the related art, a four-wheel drive moving robot can only realize the movement of any steering radius and the translation movement in the driving process by four-wheel drive.
According to an embodiment of the invention, a steering processing method of a four-wheel drive device is provided, which includes: acquiring the current steering motor angle and the current hub motor speed of the four-wheel drive equipment, wherein the steering motor angle comprises: the right wheel corner and the left wheel corner of a driving wheel in the four-wheel drive equipment, the speed of the hub motor comprises: the front wheel speed and the rear wheel speed of the driving wheels in the four-wheel drive device; determining a preset steering motor angle and a preset hub motor speed based on a preset algorithm, a preset advancing speed and a preset rotation angular speed; and adjusting the current steering motor angle to the preset steering motor angle, and adjusting the current hub motor speed to the preset hub motor speed.
According to another embodiment of the present invention, there is provided a steering processing apparatus of a four-wheel drive device, including: the acquisition module is used for acquiring the current steering motor angle and the current hub motor speed of the four-wheel drive equipment, wherein the steering motor angle comprises: the right wheel corner and the left wheel corner of a driving wheel in the four-wheel drive equipment, the speed of the hub motor comprises: the front wheel speed and the rear wheel speed of the driving wheels in the four-wheel drive device; the determining module is used for determining a preset steering motor angle and a preset hub motor speed based on a preset algorithm, a preset advancing speed and a preset rotation angular speed; and the adjusting module is used for adjusting the current steering motor angle to the preset steering motor angle and adjusting the current hub motor speed to the preset hub motor speed.
According to a further embodiment of the present invention, there is also provided a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
According to yet another embodiment of the present invention, there is also provided an electronic device, including a memory in which a computer program is stored and a processor configured to execute the computer program to perform the steps in any of the above method embodiments.
According to the invention, because the steering motor angle comprises a right wheel corner and a left wheel corner, and the hub motor speed comprises a front wheel speed and a rear wheel speed, the current steering motor angle is adjusted to the preset steering motor angle, and the current hub motor speed is adjusted to the preset hub motor speed, and the process is a process of adjusting the current value according to the expected value to realize the movement and translation of any steering radius. And the right wheel corner and the left wheel corner of the four-wheel drive equipment, and the speed of the front wheel and the speed of the rear wheel are adjusted, so that the four-wheel drive equipment can move and translate at any turning radius, the problem that the four-wheel drive moving robot in the related technology can not move and translate at any turning radius by four-wheel drive in the driving process is solved, and the moving action of the robot is enriched.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow chart of a steering processing method of a four-wheel drive apparatus according to an embodiment of the invention;
fig. 2 is a block diagram of a steering processing device of a four-wheel drive apparatus according to an embodiment of the present invention.
Detailed Description
The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
Example 1
In the present embodiment, a steering processing method of a four-wheel drive device is provided, and fig. 1 is a flowchart of a steering processing method of a four-wheel drive device according to an embodiment of the present invention, as shown in fig. 1, the flowchart includes the following steps:
step S102, obtaining the current steering motor angle and the current hub motor speed of the four-wheel drive equipment, wherein the steering motor angle comprises: the right wheel corner and the left wheel corner of drive wheel in the four-wheel drive equipment, in-wheel motor speed includes: front wheel speed and rear wheel speed of the drive wheels in the four-wheel drive device;
step S104, determining a preset steering motor angle and a preset hub motor speed based on a preset algorithm, a preset advancing speed and a preset rotating speed;
and S106, adjusting the current steering motor angle to a preset steering motor angle, and adjusting the current hub motor speed to a preset hub motor speed.
Through the steps S102 to S106, since the steering motor angle includes the right wheel corner and the left wheel corner, and the in-wheel motor speed includes the front wheel speed and the rear wheel speed, adjusting the current steering motor angle to the preset steering motor angle, and adjusting the current in-wheel motor speed to the preset in-wheel motor speed realizes the right wheel corner and the left wheel corner of the four-wheel drive device, and the adjustment of the front wheel speed and the rear wheel speed, so that the four-wheel drive device can move and translate at any steering radius, the problem that the four-wheel drive moving robot in the related art can realize the movement of any steering radius and the translation movement by four-wheel drive in the driving process is solved, and the moving action of the robot is enriched. Wherein, right wheel corner includes right front wheel corner and right rear wheel corner, and the left wheel corner includes left front wheel corner and left rear wheel corner, and the front wheel speed includes right front speed and left front speed, and the rear wheel speed includes right rear speed and left rear speed.
In an alternative embodiment of the present application, the method steps of the present application may further comprise:
step S11, determining the timing of the timer;
it should be noted that, before the timing of the timer is determined, the four-wheel-drive device needs to be initialized, where the timer, the encoder, the communication and the like may be initialized.
Step S12, when the timing of the timer is greater than or equal to the preset threshold, triggering the timer to restart timing;
and step S13, under the condition that the count of the timer is smaller than a preset threshold value, triggering and executing the step of acquiring the current steering motor angle and the current hub motor speed of the four-wheel drive device.
In an alternative embodiment of the present application, determining the preset steering motor angle based on the preset algorithm and the preset forward speed and the preset rotational speed involved in step S104 further comprises:
step S104-11, determining a right wheel corner and a left wheel corner of a driving wheel in the four-wheel drive equipment through a first preset algorithm;
wherein the first preset algorithm comprises the following formula:
wherein ,
is a right wheel corner;
is a left wheel corner; w is the wheel track of the vehicle body, L is the wheel track of the vehicle body of the four-wheel drive device,
is a front wheel corner or a rear wheel corner;
wherein the front wheel steering angle
Obtained by the following formula:
where ω is the angular velocity of rotation, V, of the four-wheel drive apparatusXThe forward speed of the four-wheel drive device.
Note that, the angular velocity of rotation, V, of the ω four-wheel drive apparatusXThe forward speed of the four-wheel drive device meets the following formula:
wherein, R is the wheel radius; l vehicle body wheelbase;
turning a front wheel;
rear wheel turning angle; omegafFront wheel angular velocity; omegarRear wheel angular velocity;
and ω is a rotational angular velocity of the vehicle body, which means an angular velocity of rotation around the center of the vehicle body, and
refers to the angular velocity of the wheel.
In this application by default ωf＝ωrAnd is
On this basis, the following equations are obtained for the variants of equations 4 and 5 above:
the above equations 1 and 2 are obtained based on the ackermann steering principle by the equations 3 and 6.
In another alternative embodiment of the present application, the manner for determining the preset in-wheel motor speed based on the preset algorithm and the preset forward speed and the preset rotation speed involved in step S104 further may include:
s104-21, determining the front wheel angular velocity and the rear wheel angular velocity of the driving wheel in the four-wheel drive equipment through a second preset algorithm in the preset algorithms;
wherein the second predetermined algorithm comprises the following formula:
wherein ,VXIs the forward speed of the four-wheel drive device, R is the wheel radius of the four-wheel drive device, omegafFront wheel angular velocity and rear wheel angular velocity;
and S104-22, determining the front wheel speed and the rear wheel speed of the driving wheel in the four-wheel drive device according to the front wheel angular speed and the rear wheel angular speed and the wheel radius of the four-wheel drive device.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
Example 2
In this embodiment, a steering processing apparatus of a four-wheel drive device is further provided, and the apparatus is used to implement the foregoing embodiments and preferred embodiments, and the description of the apparatus is omitted. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 2 is a block diagram of a configuration of a steering processing apparatus of a four-wheel drive device according to an embodiment of the present invention, as shown in fig. 2, the apparatus includes:
(1) the obtaining module 22 is configured to obtain a current steering motor angle and a current hub motor speed of the four-wheel drive device, where the steering motor angle includes: the right wheel corner and the left wheel corner of drive wheel in the four-wheel drive equipment, in-wheel motor speed includes: front wheel speed and rear wheel speed of the drive wheels in the four-wheel drive device;
(2) the determining module 24 is configured to determine a preset steering motor angle and a preset hub motor speed based on a preset algorithm, a preset forward speed and a preset rotation angular speed;
(3) and the adjusting module 26 is used for adjusting the current steering motor angle to a preset steering motor angle and adjusting the current in-wheel motor speed to a preset in-wheel motor speed.
Optionally, the determining module 24 in the present application may further include: the first determining unit is used for determining a right wheel corner and a left wheel corner of a driving wheel in the four-wheel drive equipment through a preset algorithm and a first preset algorithm;
wherein the first preset algorithm comprises the following formula:
wherein ,
is a right wheel corner;
is a left wheel corner; w is the wheel track of the vehicle body, L is the wheel track of the vehicle body of the four-wheel drive device,
is a front wheel corner or a rear wheel corner;
wherein the front wheel steering angle
Obtained by the following formula:
where ω is the angular velocity of rotation, V, of the four-wheel drive apparatusXThe forward speed of the four-wheel drive device.
Optionally, the determining module 24 in the present application may further include:
the second determining unit is used for determining the front wheel angular speed and the rear wheel angular speed of the driving wheel in the four-wheel drive equipment through a second preset algorithm in the preset algorithms;
wherein the second predetermined algorithm comprises the following formula:
wherein ,VXIs the forward speed of the four-wheel drive device, R is the wheel radius of the four-wheel drive device, omegafFront wheel angular velocity and rear wheel angular velocity;
and the third determining unit is used for determining the front wheel speed and the rear wheel speed of the driving wheel in the four-wheel drive device according to the front wheel angular speed and the rear wheel angular speed and the wheel radius of the four-wheel drive device.
Example 3
Embodiments of the present invention also provide a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
s1, acquiring the current steering motor angle and the current hub motor speed of the four-wheel drive device, wherein the steering motor angle comprises: the right wheel corner and the left wheel corner of drive wheel in the four-wheel drive equipment, in-wheel motor speed includes: front wheel speed and rear wheel speed of the drive wheels in the four-wheel drive device;
s2, determining a preset steering motor angle and a preset hub motor speed based on a preset algorithm, a preset advancing speed and a preset rotating speed;
and S3, adjusting the current steering motor angle to a preset steering motor angle, and adjusting the current in-wheel motor speed to a preset in-wheel motor speed.
Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
s1, acquiring the current steering motor angle and the current hub motor speed of the four-wheel drive device, wherein the steering motor angle comprises: the right wheel corner and the left wheel corner of drive wheel in the four-wheel drive equipment, in-wheel motor speed includes: front wheel speed and rear wheel speed of the drive wheels in the four-wheel drive device;
s2, determining a preset steering motor angle and a preset hub motor speed based on a preset algorithm, a preset advancing speed and a preset rotating speed;
and S3, adjusting the current steering motor angle to a preset steering motor angle, and adjusting the current in-wheel motor speed to a preset in-wheel motor speed.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A steering processing method of a four-wheel drive device is characterized by comprising the following steps:
acquiring the current steering motor angle and the current hub motor speed of the four-wheel drive equipment, wherein the steering motor angle comprises: the right wheel corner and the left wheel corner of a driving wheel in the four-wheel drive equipment, the speed of the hub motor comprises: the front wheel speed and the rear wheel speed of the driving wheels in the four-wheel drive device;
determining a preset steering motor angle and a preset hub motor speed based on a preset algorithm, a preset advancing speed and a preset rotation angular speed;
and adjusting the current steering motor angle to the preset steering motor angle, and adjusting the current hub motor speed to the preset hub motor speed.
2. The method of claim 1, wherein determining a preset steering motor angle based on a preset algorithm and a preset forward speed and a preset rotational speed comprises:
determining a right wheel corner and a left wheel corner of a driving wheel in the four-wheel drive equipment through the preset algorithm and a first preset algorithm;
wherein the first preset algorithm comprises the following formula:
wherein ,
is a right wheel corner;
is a left wheel corner; w is the wheel track of the vehicle body, L is the wheel track of the vehicle body of the four-wheel drive device,
is a front wheel corner or a rear wheel corner;
wherein the front wheel steering angle
Obtained by the following formula:
where ω is the angular velocity of rotation, V, of the four-wheel drive apparatusXIs the forward speed of the four-wheel drive device.
3. The method of claim 2, wherein determining a preset in-wheel motor speed based on a preset algorithm and a preset forward speed and a preset rotational speed comprises:
determining the front wheel angular velocity and the rear wheel angular velocity of a driving wheel in the four-wheel drive equipment through a second preset algorithm in the preset algorithms;
wherein the second preset algorithm comprises the following formula:
wherein ,VXIs the forward speed of the four-wheel drive device, R is the wheel radius of the four-wheel drive device, omegafFront wheel angular velocity and rear wheel angular velocity;
and determining the front wheel speed and the rear wheel speed of a driving wheel in the four-wheel drive equipment according to the front wheel angular speed, the rear wheel angular speed and the wheel radius of the four-wheel drive equipment.
4. The method of claim 1, further comprising:
determining the timing of a timer;
under the condition that the timing of the timer is greater than or equal to a preset threshold value, triggering the timer to restart timing;
and under the condition that the count of the timer is smaller than the preset threshold value, triggering and executing the step of acquiring the current steering motor angle and the current hub motor speed of the four-wheel drive equipment.
5. The method of claim 4, prior to determining the timing of the timer, further comprising: and initializing the four-wheel drive device.
6. A steering processing device of a four-wheel drive device is characterized by comprising:
the acquisition module is used for acquiring the current steering motor angle and the current hub motor speed of the four-wheel drive equipment, wherein the steering motor angle comprises: the right wheel corner and the left wheel corner of a driving wheel in the four-wheel drive equipment, the speed of the hub motor comprises: the front wheel speed and the rear wheel speed of the driving wheels in the four-wheel drive device;
the determining module is used for determining a preset steering motor angle and a preset hub motor speed based on a preset algorithm, a preset advancing speed and a preset rotation angular speed;
and the adjusting module is used for adjusting the current steering motor angle to the preset steering motor angle and adjusting the current hub motor speed to the preset hub motor speed.
7. The apparatus of claim 6, wherein the determining module comprises:
the first determining unit is used for determining a right wheel corner and a left wheel corner of a driving wheel in the four-wheel drive equipment through the preset algorithm and a first preset algorithm;
wherein the first preset algorithm comprises the following formula:
wherein ,
is a right wheel corner;
is a left wheel corner; w is the wheel track of the vehicle body, L is the wheel track of the vehicle body of the four-wheel drive device,
is a front wheel corner or a rear wheel corner;
wherein the front wheel steering angle
Obtained by the following formula:
where ω is the angular velocity of rotation, V, of the four-wheel drive apparatusXIs the forward speed of the four-wheel drive device.
8. The apparatus of claim 7, wherein the determining module comprises:
the second determining unit is used for determining the front wheel angular velocity and the rear wheel angular velocity of the driving wheel in the four-wheel drive equipment through a second preset algorithm in the preset algorithms;
wherein the second preset algorithm comprises the following formula:
wherein ,VXIs the forward speed of the four-wheel drive device, R is the wheel radius of the four-wheel drive device, omegafFront wheel angular velocity and rear wheel angular velocity;
and the third determining unit is used for determining the front wheel speed and the rear wheel speed of the driving wheel in the four-wheel drive equipment according to the front wheel angular speed, the rear wheel angular speed and the wheel radius of the four-wheel drive equipment.
9. A computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to carry out the method of any one of claims 1 to 5 when executed.
10. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the method of any of claims 1 to 5.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113110477A (en) * | 2021-04-26 | 2021-07-13 | 广东利元亨智能装备股份有限公司 | Movement control method, device, system, controller and wheeled mobile equipment |
| CN114312985A (en) * | 2021-12-29 | 2022-04-12 | 深圳创维数字技术有限公司 | Vehicle control method, device, equipment and computer readable storage medium |
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| CN109367617A (en) * | 2018-10-10 | 2019-02-22 | 中国科学院合肥物质科学研究院 | A kind of 4 wheel driven robot self-steering method based on extension Ackermam algorithm |
| CN110162059A (en) * | 2019-06-05 | 2019-08-23 | 江苏盛海智能科技有限公司 | A kind of control method and automatic driving vehicle of automatic driving vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113110477A (en) * | 2021-04-26 | 2021-07-13 | 广东利元亨智能装备股份有限公司 | Movement control method, device, system, controller and wheeled mobile equipment |
| CN114312985A (en) * | 2021-12-29 | 2022-04-12 | 深圳创维数字技术有限公司 | Vehicle control method, device, equipment and computer readable storage medium |
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