CN113650674A - Multi-axis steering system, method, device and storage medium for unmanned vehicle functional component - Google Patents
Multi-axis steering system, method, device and storage medium for unmanned vehicle functional component Download PDFInfo
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- CN113650674A CN113650674A CN202110875684.XA CN202110875684A CN113650674A CN 113650674 A CN113650674 A CN 113650674A CN 202110875684 A CN202110875684 A CN 202110875684A CN 113650674 A CN113650674 A CN 113650674A
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- 238000003860 storage Methods 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims abstract description 23
- 210000001503 joint Anatomy 0.000 claims abstract description 26
- 230000003993 interaction Effects 0.000 claims abstract description 4
- 238000013507 mapping Methods 0.000 claims description 8
- 238000003032 molecular docking Methods 0.000 claims description 7
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D12/00—Steering specially adapted for vehicles operating in tandem or having pivotally connected frames
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Abstract
The invention provides a multi-axis steering system, a multi-axis steering method, multi-axis steering equipment and a multi-axis steering storage medium of an unmanned vehicle functional component, wherein the system comprises the following components: the invention discloses a self-propelled platform vehicle and a functional vehicle body assembly, wherein when the self-propelled platform vehicle is in butt joint with the functional vehicle body assembly, a first connecting joint is connected with a second connecting joint for data interaction, a second steering module generates a follow-up steering angle of a rear follow-up shaft based on a preset first wheelbase, a second wheelbase and an active steering angle, and the rear follow-up shaft steers based on the follow-up steering angle, so that the instantaneous centers of the speeds of the front shaft, the driving rear shaft and the rear follow-up shaft are converged at one point.
Description
Technical Field
The present invention relates to the field of vehicle driving control, and more particularly, to a multi-axis steering system, method, device, and storage medium for an unmanned vehicle functional assembly.
Background
With the rapid development of container transportation industry in automated docks, airports and large parks, in order to improve the operation efficiency and enhance the capacity of container or personnel transportation, an advanced scientific production organization system and reliable and efficient automatic loading and unloading equipment are required, more goods and personnel need to be transported, and the efficiency and the quality of transportation are very important.
At present, unmanned vehicles based on port areas are generally specially developed, for example: the universal type is almost zero, once the vehicle is not electrified, the whole vehicle needs to be charged, and the turnover efficiency of the equipment is not high.
Moreover, even with the auxiliary equipment used in combination with the unmanned vehicle, the overall length is too long after connection, resulting in an excessively large turning radius and severe wheel wear during steering.
Accordingly, the present invention provides a multi-axis steering system, method, apparatus and storage medium for an unmanned vehicle functional assembly.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a multi-axis steering system, a multi-axis steering method, multi-axis steering equipment and a multi-axis steering storage medium for a functional component of an unmanned vehicle, which overcome the difficulties in the prior art, can reduce the turning radius of the unmanned platform vehicle after being in butt joint with a functional vehicle body component, enable the combined equipment to be more flexible, greatly reduce the wheel wear during steering and prolong the service life.
The embodiment of the invention provides a multi-axis steering system of an unmanned vehicle functional component, which comprises:
the unmanned platform vehicle comprises a steering front shaft, a driving rear shaft, a first connecting joint and a first steering module, wherein the first steering module acquires the active steering angle of the steering front shaft in real time;
the functional vehicle body assembly comprises a second connecting joint, at least one rear follow-up shaft and a second steering module, when the unmanned platform vehicle is in butt joint with the functional vehicle body assembly, the driving rear shaft is located between the steering front shaft and the rear follow-up shaft, the first connecting joint and the second connecting joint are connected for data interaction, the second steering module generates a follow-up steering angle of the rear follow-up shaft based on a preset first shaft distance between the steering front shaft and the driving rear shaft, at least one second shaft distance corresponding to the serial number of the functional vehicle body assembly and the active steering angle, and the rear follow-up shaft performs steering based on the follow-up steering angle, so that the speed centers of the steering front shaft, the driving rear shaft and the rear follow-up shaft are intersected at one point.
Preferably, the first steering module prestores a mapping table of the first distance and a second distance between the driven rear axle and the rear follow-up axle after the butt joint corresponding to the numbers of the various functional vehicle body components, the second steering module prestores the numbers of the functional vehicle body components, and the first steering module prestores the corresponding second distance obtained from the mapping table based on the numbers of the functional vehicle body components.
Preferably, the preset steering angle direction is positive left and negative right, and the first steering module obtains the follow-up steering angle based on the first wheelbase, the second wheelbase and the active steering angle:
and transmitting the follow-up steering angle to the second steering module, which adjusts the rear follow-up shaft based on the follow-up steering angle.
Preferably, the first steering module connects the first connection joint and a first sensor that measures an active steering angle of the steered front axle.
Preferably, the second steering module is connected with the second connecting joint and drives the steering connecting rod of the rear follow-up shaft.
Preferably, the functional vehicle body assembly is detachably connected with the unmanned platform vehicle through a plug connector.
Preferably, the first steering module is connected to a vehicle speed sensor, and only when the vehicle speed is less than or equal to a preset threshold value, the first steering module sends the follow-up steering angle to the second steering module through the first connection joint and the second connection joint, and the preset threshold value is 30 km/h.
Preferably, the first connecting joint is arranged on the upper surface of the unmanned platform vehicle;
the butt joint part on one side of the vehicle head at the bottom of the functional vehicle body assembly is suspended in the air with the ground to form a butt joint space for the unmanned platform vehicle to enter, and the second connecting joint is exposed out of the butt joint part.
Preferably, the functional vehicle body component is a passenger carriage, and a vehicle door area and the rear follow-up shaft are arranged on one side of the tail of the vehicle at the bottom of the passenger carriage.
Preferably, the functional vehicle body assembly has two rear follower shafts, the preset steering angle direction is positive left and negative right, and the first steering module obtains the follower steering angles based on the first wheel base, the second wheel bases L2, L3 of each rear follower shaft to drive the rear shaft, and the active steering angle, respectively:
and transmitting the follow-up steering angles theta 3 and theta 4 to the second steering module, wherein the second steering module adjusts a front rear follow-up shaft based on the follow-up steering angle theta 3 and adjusts a rear follow-up shaft based on the follow-up steering angle theta 4.
The embodiment of the invention also provides a multi-axis steering method of the unmanned vehicle functional component, and the multi-axis steering system adopting the unmanned vehicle functional component comprises the following steps:
s101, when the unmanned platform vehicle is in butt joint with the functional vehicle body assembly;
s102, sending the serial number of the functional vehicle body assembly to the unmanned platform vehicle;
s103, generating a follow-up steering angle by the unmanned platform vehicle based on a first wheelbase, a second wheelbase and an active steering angle;
s104, sending the follow-up steering angle to a functional vehicle body assembly;
and S105, steering the rear follow-up shaft of the functional vehicle body component based on the follow-up steering angle.
An embodiment of the present invention also provides a multi-axis steering apparatus of an unmanned vehicle functional assembly, including:
a processor;
a memory having stored therein executable instructions of the processor;
wherein the processor is configured to perform the steps of the above-described multi-axis steering method of the drone vehicle functional assembly via execution of the executable instructions.
Embodiments of the present invention also provide a computer-readable storage medium storing a program that, when executed, implements the steps of the above-described multi-axis steering method of the unmanned vehicle functional assembly.
The invention aims to provide a multi-axis steering system, a multi-axis steering method, multi-axis steering equipment and a multi-axis steering storage medium for a functional component of an unmanned vehicle, which can reduce the turning radius of the unmanned platform vehicle after being butted with a functional vehicle body component, so that the combined equipment is more flexible, wheel abrasion during steering is greatly reduced, and the service life is prolonged.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, with reference to the accompanying drawings.
Fig. 1 is an exploded view of a multi-axis steering system of the unmanned vehicle functional assembly of the present invention.
Fig. 2 is a schematic view of the unmanned aerial vehicle driving into the docking space in the multi-axis steering system of the unmanned vehicle functional assembly of the present invention.
Fig. 3 is a schematic view of the docking of the drone platform vehicle with a functional body assembly in a multi-axis steering system for the drone vehicle functional assembly of the present invention.
Fig. 4 is a schematic view of the evacuation of the auxiliary docking assembly in the multi-axis steering system of the unmanned vehicle functional assembly of the present invention.
Fig. 5 is a schematic view of a multi-axis steering system of the unmanned vehicle functional assembly of the present invention steering on three axes.
Fig. 6 is a schematic view of a multi-axis steering system of the unmanned vehicle functional assembly of the present invention steering based on four axes.
Fig. 7 is a flow diagram of a multi-axis steering method of an unmanned vehicle functional assembly embodying the present invention.
Fig. 8 is a schematic structural view of a multi-axis steering apparatus of the unmanned vehicle functional module of the present invention.
Fig. 9 is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.
Reference numerals
1 unmanned platform vehicle
11 first connection joint
12 first steering module
13 plug-in unit
14 steering front axle
15 drive rear axle
2 function automobile body subassembly
21 second connection joint
22 rear follow-up shaft
23 butt joint part
24 second steering module
3 supplementary butt joint subassembly
31 vehicle body support
5 butt joint space
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.
The drawings are merely schematic illustrations of the invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware forwarding modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
In addition, the flow shown in the drawings is only an exemplary illustration, and not necessarily includes all the steps. For example, some steps may be divided, some steps may be combined or partially combined, and the actual execution sequence may be changed according to the actual situation. The use of "first," "second," and similar terms in the detailed description is not intended to imply any order, quantity, or importance, but rather is used to distinguish one element from another. It should be noted that features of the embodiments of the invention and of the different embodiments may be combined with each other without conflict.
Fig. 1 is an exploded view of a multi-axis steering system of the unmanned vehicle functional assembly of the present invention. Fig. 2 is a schematic view of the unmanned aerial vehicle driving into the docking space in the multi-axis steering system of the unmanned vehicle functional assembly of the present invention. Fig. 3 is a schematic view of the docking of the drone platform vehicle with a functional body assembly in a multi-axis steering system for the drone vehicle functional assembly of the present invention. Fig. 4 is a schematic view of the evacuation of the auxiliary docking assembly in the multi-axis steering system of the unmanned vehicle functional assembly of the present invention. Fig. 5 is a schematic view of a multi-axis steering system of the unmanned vehicle functional assembly of the present invention steering on three axes. As shown in fig. 1 to 5, the multi-axis steering system of the unmanned vehicle functional module according to the present invention includes: an unmanned platform vehicle 1 and a functional vehicle body component 2. The unmanned platform vehicle 1 comprises a steering front shaft 14, a driving rear shaft 15, a first connecting joint 11 and a first steering module 12, wherein the first steering module 12 collects an active steering angle theta 1 of the steering front shaft 14 in real time. The functional body component 2 comprises a second connecting joint 21, at least one rear follower axle 22 and a second steering module 24. The functional vehicle body assembly 2 is lifted by the vehicle body supporting piece 31 of the auxiliary butt joint assembly 3, so that the butt joint part 23 on the vehicle head side of the bottom of the functional vehicle body assembly 2 is suspended with the ground to form a butt joint space 5, and the second connecting joint 21 is exposed out of the butt joint part 23. The first connection joint 11 is disposed on the upper surface of the unmanned aerial vehicle 1, the butt joint portion 23 on the vehicle head side of the bottom of the functional vehicle body assembly 2 is suspended from the ground to form the butt joint space 5 for the unmanned aerial vehicle 1 to enter, and the second connection joint 21 is exposed out of the butt joint portion 23, but not limited thereto. After the unmanned platform vehicle 1 is in butt joint with the functional vehicle body assembly 2, the rear driving shaft 15 is located between the front steering shaft 14 and the rear follow-up shaft 22, the first connection joint 11 and the second connection joint 21 are connected for data interaction, the second steering module 24 generates a follow-up steering angle θ 3 of the rear follow-up shaft 22 based on a preset first wheelbase L1 between the front steering shaft 14 and the rear driving shaft 15, at least one second wheelbase L2 corresponding to the number of the functional vehicle body assembly 2 and the active steering angle θ 1, the rear follow-up shaft 22 steers based on the follow-up steering angle, in the embodiment, the preset steering angle direction is positive left and negative right, and the first steering module 12 obtains the follow-up steering angle θ 3 based on the first wheelbase L1, the second wheelbase L2 and the active steering angle θ 1:
and transmits the follow-up steering angle theta 3 to the second steering module 24, and the second steering module 24 adjusts the rear follow-up shaft 22 based on the follow-up steering angle theta 3, but not limited thereto. So that the instant centers of the speeds of the steering front shaft 14, the drive rear shaft 15, and the rear follower shaft 22 meet at a point. In this embodiment, the functional vehicle body assembly 2 is a passenger compartment, and a door area and a rear follow-up shaft 22 are provided on a rear end side of a bottom of the passenger compartment, but not limited thereto.
In a preferred embodiment, the first steering module 12 has a mapping table of the first axle distance L1 and the second axle distance L2 between the rear axle 15 and the rear follower axle 22 corresponding to the numbers of the various functional vehicle body components 2 stored therein, the second steering module 24 has the numbers of the functional vehicle body components 2 stored therein, and the first steering module 12 obtains the corresponding second axle distance L2 from the mapping table based on the numbers of the functional vehicle body components 2, but not limited thereto.
In a preferred embodiment, the first steering module 12 connects the first connection joint 11 and a first sensor that measures the active steering angle of the steered front axle 14, but is not limited thereto.
In a preferred embodiment, the second steering module 24 is connected to the second connection joint 21 and drives a steering link of the rear follow-up shaft 22, but not limited thereto.
In a preferred embodiment, the functional vehicle body assembly 2 is detachably connected with the unmanned platform vehicle 1 through the plug connector 13, but not limited thereto.
In a preferred embodiment, the first steering module 12 is connected to a vehicle speed sensor, and the first steering module 12 sends the follow-up steering angle θ 3 to the second steering module 24 through the first connecting joint 11 and the second connecting joint 21 only when the vehicle speed is less than or equal to a preset threshold, where the preset threshold is 30 km/h, but not limited thereto.
Fig. 6 is a schematic view of a multi-axis steering system of the unmanned vehicle functional assembly of the present invention steering based on four axes. As shown in fig. 6, the functional vehicle body assembly has two rear follow-up shafts, the preset steering angle direction is positive left and negative right, and the first steering module obtains the follow-up steering angles respectively based on the first wheelbase, the second wheelbases L2, L3 of each rear follow-up shaft reaching the driving rear shaft, and the active steering angle:
and the follow-up steering angles theta 3 and theta 4 are transmitted to the second steering module, the second steering module adjusts the front rear follow-up shaft based on the follow-up steering angle theta 3, and adjusts the rear follow-up shaft based on the follow-up steering angle theta 4, so that the purpose that the steering angle of the functional vehicle body assembly with more than or equal to two rear follow-up shafts is adjusted pertinently through different axial distances between each rear follow-up shaft and the driving rear shaft after the functional vehicle body assembly is in butt joint with the unmanned platform vehicle 1 is achieved, and under the condition of multiple shafts, the speed instantaneous centers of the steering front shaft 14, the driving rear shaft 15 and the rear follow-up shafts 22 can still be converged at one point.
Fig. 7 is a flow diagram of a multi-axis steering method of an unmanned vehicle functional assembly embodying the present invention. As shown in fig. 7, an embodiment of the present invention provides a multi-axis steering method for an unmanned vehicle functional assembly, and a multi-axis steering system (see fig. 1) using the above unmanned vehicle functional assembly includes the following steps:
s101, when the unmanned platform vehicle is in butt joint with the functional vehicle body assembly.
And S102, sending the number of the functional vehicle body assembly to the unmanned platform vehicle.
S103, generating a follow-up steering angle by the unmanned platform vehicle based on the first wheelbase, the second wheelbase and the active steering angle.
And S104, sending the follow-up steering angle to the functional vehicle body assembly.
And S105, steering the rear follow-up shaft of the functional vehicle body assembly based on the follow-up steering angle.
In a preferred embodiment, the first steering module 12 has a mapping table of the first axle distance L1 and the second axle distance L2 between the rear axle 15 and the rear follower axle 22 corresponding to the numbers of the various functional vehicle body components 2 stored therein, the second steering module 24 has the numbers of the functional vehicle body components 2 stored therein, and the first steering module 12 obtains the corresponding second axle distance L2 from the mapping table based on the numbers of the functional vehicle body components 2, but not limited thereto.
In a preferred embodiment, the preset steering angle direction is positive left to right negative, and the first steering module 12 obtains the follow-up steering angle θ 3 based on the first and second axial distances L1 and L2, and the active steering angle θ 1:
and transmits the follow-up steering angle theta 3 to the second steering module 24, and the second steering module 24 adjusts the rear follow-up shaft 22 based on the follow-up steering angle theta 3, but not limited thereto.
In a preferred embodiment, the first steering module 12 connects the first connection joint 11 and a first sensor that measures the active steering angle of the steered front axle 14, but is not limited thereto.
In a preferred embodiment, the second steering module 24 is connected to the second connection joint 21 and drives a steering link of the rear follow-up shaft 22, but not limited thereto.
In a preferred embodiment, the functional vehicle body assembly 2 is detachably connected with the unmanned platform vehicle 1 through the plug connector 13, but not limited thereto.
In a preferred embodiment, the first steering module 12 is connected to a vehicle speed sensor, and the first steering module 12 sends the follow-up steering angle θ 3 to the second steering module 24 through the first connecting joint 11 and the second connecting joint 21 only when the vehicle speed is less than or equal to a preset threshold, where the preset threshold is 30 km/h, but not limited thereto.
In a preferred embodiment, the functional body assembly 2 is a passenger compartment, and the rear side of the passenger compartment bottom is provided with a door area and a rear follow-up shaft 22, but not limited thereto.
In a preferred embodiment, the functional vehicle body assembly has two rear follower shafts, the preset steering angle direction is positive left and negative right, and the first steering module obtains the follower steering angles based on the first wheelbase, the second wheelbases L2, L3 of each rear follower shaft to drive the rear shaft, and the active steering angle, respectively:
and the follow-up steering angles theta 3 and theta 4 are transmitted to the second steering module, the second steering module adjusts the front rear follow-up shaft based on the follow-up steering angle theta 3, and adjusts the rear follow-up shaft based on the follow-up steering angle theta 4, so that the purpose that the steering angle of the functional vehicle body assembly with more than or equal to two rear follow-up shafts is adjusted pertinently through different axial distances between each rear follow-up shaft and the driving rear shaft after the functional vehicle body assembly is in butt joint with the unmanned platform vehicle 1 is achieved, and under the condition of multiple shafts, the speed instantaneous centers of the steering front shaft 14, the driving rear shaft 15 and the rear follow-up shafts 22 can still be converged at one point.
The embodiment of the invention also provides multi-axis steering equipment of the unmanned vehicle functional component, which comprises a processor. A memory having stored therein executable instructions of the processor. Wherein the processor is configured to perform the steps of the multi-axis steering method of the drone vehicle functional assembly via execution of executable instructions.
As shown above, the multi-axis steering system of the unmanned vehicle functional assembly of the embodiment of the invention can reduce the turning radius of the unmanned platform vehicle after being butted with the functional vehicle body assembly, so that the combined equipment is more flexible, the wheel wear during steering is greatly reduced, and the service life is prolonged.
As will be appreciated by one skilled in the art, aspects of the present invention may be embodied as a system, method or program product. Thus, various aspects of the invention may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.) or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module "or" platform.
Fig. 8 is a schematic structural view of a multi-axis steering apparatus of the unmanned vehicle functional module of the present invention. An electronic device 600 according to this embodiment of the invention is described below with reference to fig. 8. The electronic device 600 shown in fig. 8 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 8, the electronic device 600 is embodied in the form of a general purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one memory unit 620, a bus 630 connecting the different platform components (including the memory unit 620 and the processing unit 610), a display unit 640, etc.
Wherein the storage unit stores program code executable by the processing unit 610 to cause the processing unit 610 to perform steps according to various exemplary embodiments of the present invention described in the above-mentioned electronic prescription flow processing method section of the present specification. For example, processing unit 610 may perform the steps as shown in fig. 7.
The storage unit 620 may include readable media in the form of volatile memory units, such as a random access memory unit (RAM)6201 and/or a cache memory unit 6202, and may further include a read-only memory unit (ROM) 6203.
The memory unit 620 may also include a program/utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.
The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device 600, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 600 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 650. Also, the electronic device 600 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via the network adapter 660. The network adapter 660 may communicate with other modules of the electronic device 600 via the bus 630. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, to name a few.
The embodiment of the invention also provides a computer readable storage medium for storing a program, and the program realizes the steps of the multi-axis steering method of the unmanned vehicle functional component when being executed. In some possible embodiments, the aspects of the present invention may also be implemented in the form of a program product comprising program code for causing a terminal device to perform the steps according to various exemplary embodiments of the present invention described in the above-mentioned electronic prescription flow processing method section of this specification, when the program product is run on the terminal device.
As shown above, the multi-axis steering system of the unmanned vehicle functional assembly of the embodiment of the invention can reduce the turning radius of the unmanned platform vehicle after being butted with the functional vehicle body assembly, so that the combined equipment is more flexible, the wheel wear during steering is greatly reduced, and the service life is prolonged.
Fig. 9 is a schematic structural diagram of a computer-readable storage medium of the present invention. Referring to fig. 9, a program product 800 for implementing the above method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited in this regard and, in the present document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
A computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
In summary, the present invention provides a multi-axis steering system, a method, a device and a storage medium for a functional assembly of an unmanned vehicle, which can reduce the turning radius of the unmanned platform vehicle after being docked with a functional vehicle body assembly, so that the combined device is more flexible, the wheel wear during steering is greatly reduced, and the service life is prolonged.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (12)
1. A multi-axis steering system for an unmanned vehicle functional assembly, comprising:
the unmanned platform truck (1) comprises a front steering shaft (14), a rear driving shaft (15), a first connecting joint (11) and a first steering module (12), wherein the first steering module (12) collects the active steering angle of the front steering shaft (14) in real time;
a functional vehicle body assembly (2) comprising a second connection joint (21), at least one rear follower shaft (22) and a second steering module (24), wherein when the unmanned platform vehicle (1) is docked with the functional vehicle body assembly (2), the rear drive shaft (15) is located between the front steering shaft (14) and the rear follower shaft (22), the first connection joint (11) and the second connection joint (21) are connected for data interaction, the second steering module (24) generates a follower steering angle of the rear follower shaft (22) based on a preset first wheelbase between the front steering shaft (14) and the rear drive shaft (15), at least one second wheelbase corresponding to the number of the functional vehicle body assembly (2) and the active steering angle, and the rear follower shaft (22) is steered based on the follower steering angle, so that the instant centers of the speeds of the front steering shaft (14), the rear driving shaft (15) and the rear driven shaft (22) are converged at one point.
2. The multi-axle steering system for unmanned vehicle functional components according to claim 1, characterized in that a mapping table of the first axle distance and a second axle distance between the driven rear axle (15) and the rear follower axle (22) after docking corresponding to the numbers of the various functional vehicle body components (2) is pre-stored in the first steering module (12), the numbers of the functional vehicle body components (2) are pre-stored in the second steering module (24), and the corresponding second axle distance obtained from the mapping table by the first steering module (12) based on the numbers of the functional vehicle body components (2).
3. The multi-axis steering system of the drone vehicle functional assembly according to claim 1, characterised in that a preset steering angle direction is positive right negative left, the first steering module (12) obtaining the follow-up steering angle based on the first wheelbase, the second wheelbase and the active steering angle:
and transmitting the follow-up steering angle to the second steering module (24), the second steering module (24) adjusting the rear follow-up shaft (22) based on the follow-up steering angle.
4. Multiaxial steering system of unmanned vehicle functional groups according to claim 3, where the first steering module (12) connects the first connection joint (11) and a first sensor measuring the active steering angle of the steered front axle (14).
5. Multiaxial steering system of unmanned vehicle functional units according to claim 3 where the second steering module (24) connects the second connection joint (21) and drives the steering link of the rear follow-up shaft (22).
6. Multiaxial steering system of unmanned aerial vehicle functional units according to claim 3, characterised in that the functional vehicle body unit (2) is detachably connected to the unmanned flatcar (1) by means of a plug-in connection (13).
7. The multi-axis steering system of the unmanned vehicle functional assembly according to claim 3, wherein the first steering module (12) is connected to a vehicle speed sensor, and the follow-up steering angle is transmitted from the first steering module (12) to the second steering module (24) through the first connection joint (11) and the second connection joint (21) only when the vehicle speed is less than or equal to a preset threshold value, wherein the preset threshold value is 30 km/h.
8. The multi-axis steering system of the drone vehicle functional assembly according to claim 3, characterised in that the first connection joint (11) is provided on the upper surface of the drone vehicle (1);
the butt joint part (23) on the vehicle head side of the bottom of the functional vehicle body component (2) is suspended with the ground to form a butt joint space (5) for the unmanned platform vehicle (1) to enter, and the second connecting joint (21) is exposed out of the butt joint part (23).
9. Multiaxial steering system of unmanned vehicle functional units according to claim 1 where the functional vehicle body unit (2) is a passenger compartment with a door area and the rear follow-up shaft (22) on the rear side of the passenger compartment bottom.
10. A multi-axis steering method of an unmanned vehicle functional module, which employs the multi-axis steering system of the unmanned vehicle functional module according to claim 1, comprising:
s101, when the unmanned platform vehicle is in butt joint with the functional vehicle body assembly;
s102, sending the serial number of the functional vehicle body assembly to the unmanned platform vehicle;
s103, generating a follow-up steering angle by the unmanned platform vehicle based on a first wheelbase, a second wheelbase and an active steering angle;
s104, sending the follow-up steering angle to a functional vehicle body assembly;
and S105, steering the rear follow-up shaft of the functional vehicle body component based on the follow-up steering angle.
11. A multi-axis steering apparatus of an unmanned vehicle functional component, comprising:
a processor;
a memory having stored therein executable instructions of the processor;
wherein the processor is configured to perform the steps of the multi-axis steering method of the drone vehicle functional assembly of claim 10 via execution of the executable instructions.
12. A computer-readable storage medium storing a program which, when executed by a processor, performs the steps of the method of multi-axis steering of a drone vehicle functional assembly of claim 10.
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