CN115257922B - In-situ steering control method, device and control system - Google Patents
In-situ steering control method, device and control system Download PDFInfo
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- CN115257922B CN115257922B CN202210987093.6A CN202210987093A CN115257922B CN 115257922 B CN115257922 B CN 115257922B CN 202210987093 A CN202210987093 A CN 202210987093A CN 115257922 B CN115257922 B CN 115257922B
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- 238000011065 in-situ storage Methods 0.000 title claims abstract description 63
- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000004891 communication Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000011217 control strategy Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention discloses a method, a device and a system for controlling in-situ steering, which are used for setting the deflection angle of front and rear steering wheels and the expected target speeds at the left and right sides and starting in-situ steering; acquiring the movement speeds of the left side and the right side in real time, and comparing the movement speeds of the left side and the right side; the method comprises the steps of taking the current speed of the side with small movement speed as the current target speed, taking the current target speed of the side with large movement speed as the current target speed, performing speed closed-loop control on the side with large movement speed, controlling a movement control system of the whole robot, adjusting the torque of each tire in real time, realizing in-situ steering with lower rotating speed when a six-wheel drive four-wheel steering mobile robot has certain asymmetric factors, keeping the rotation center at the geometric center of the vehicle body, avoiding the balance loss of the left and right of the vehicle body, and preventing the occurrence of eccentric problems during in-situ steering.
Description
Technical Field
The present invention relates to the field of robotics, and in particular, to a method, an apparatus, and a control system for in-situ steering.
Background
Intelligent robots are now widely used in a number of fields to assist people in performing the required work, but in performing some special tasks, multiple modes of movement of the robot are required, especially for multi-wheeled robots, to be able to steer independently and to achieve in situ steering.
However, due to the restriction of the chassis size and the limitation of space, the deviation between the deflection angle and an ideal value is larger, so that the tire is subjected to larger lateral deflection force, the torque output of the tire is increased during in-situ steering, and the in-situ steering speed is not easy to control; because of the left-right asymmetry of the factors such as the vehicle body structure, load distribution, tire pressure, wear degree and the like, the forces at the left side and the right side of the vehicle body are unbalanced, the in-situ steering is easy to eccentric, and the aim of accurate control cannot be achieved.
Disclosure of Invention
In view of the above-mentioned drawbacks or shortcomings, an object of the present invention is to provide a method, apparatus, and system for controlling in-situ steering, which achieve in-situ steering control at a low steering angular velocity.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
A method of in-situ steering control for controlling a six-wheeled mobile robot having a first side wheel and a second side wheel, the first side wheel and the second side wheel each including a front steering wheel and a rear steering wheel, the method comprising the steps of:
under the condition of in-situ steering of the six-wheel mobile robot, when the first side wheel and the second side wheel reach a preset deflection angle, acquiring real-time movement speeds of the first side wheel and the second side wheel in real time;
and under the condition that the real-time movement speed of the first side wheel is determined to be greater than the real-time movement speed of the second side wheel, controlling the real-time movement speed of the second side wheel based on the real-time movement speed of the first side wheel, otherwise, controlling the real-time movement speed of the first side wheel based on the real-time movement speed of the second side wheel so as to realize the in-situ steering control of the six-wheel mobile robot.
The preset deflection angle satisfies the following conditions:
Wherein θ is the deflection angle of the front steering wheel and the rear steering wheel, L is the wheel base, and W is the wheel base.
The six-wheeled mobile robot further has a first intermediate wheel and a second intermediate wheel, the first intermediate wheel is located between a front steering wheel and a rear steering wheel contained in the first side wheel, the second intermediate wheel is located between a front steering wheel and a rear steering wheel contained in the second side wheel, and the real-time acquisition of the real-time movement speeds of the first side wheel and the second side wheel includes:
acquiring the real-time movement speed of the first intermediate wheel and the real-time movement speed of the second intermediate wheel in real time;
Defining the real-time movement speed of the first intermediate wheel as the real-time movement speed of the first side wheel;
And defining the real-time movement speed of the second middle wheel as the real-time movement speed of the second side wheel.
The real-time movement speed of the first intermediate wheel is the real-time movement speed acquired by a rotation speed sensor arranged on the first intermediate wheel;
the real-time movement speed of the second intermediate wheel is the real-time movement speed acquired by a rotation speed sensor arranged on the second intermediate wheel.
A in-situ steering control device, the six-wheeled mobile robot having a first side wheel and a second side wheel, the first side wheel and the second side wheel each including a front steering wheel, a middle wheel, and a rear steering wheel, comprising:
The acquisition module is used for acquiring real-time movement speeds of the first side wheel and the second side wheel in real time when the front steering wheel and the rear steering wheel contained in the first side wheel and the second side wheel reach a preset deflection angle under the condition of in-situ steering of the six-wheel mobile robot;
And the control module is used for controlling the real-time movement speed of the second side wheel based on the real-time movement speed of the first side wheel under the condition that the real-time movement speed of the first side wheel is larger than the real-time movement speed of the second side wheel, otherwise, controlling the real-time movement speed of the first side wheel based on the real-time movement speed of the second side wheel.
The preset deflection angle satisfies the following conditions:
Wherein θ is the deflection angle of the front steering wheel and the rear steering wheel, L is the wheel base, and W is the wheel base.
The six-wheel mobile robot is further provided with a first middle wheel and a second middle wheel, the first middle wheel is located between a front steering wheel and a rear steering wheel which are contained in the first side wheel, the second middle wheel is located between the front steering wheel and the rear steering wheel which are contained in the second side wheel, and the acquisition module is specifically used for acquiring the real-time movement speed of the first middle wheel and the real-time movement speed of the second middle wheel in real time, defining the real-time movement speed of the first middle wheel as the real-time movement speed of the first side wheel, and defining the real-time movement speed of the second middle wheel as the real-time movement speed of the second side wheel.
The real-time movement speed of the first intermediate wheel is the real-time movement speed acquired by a rotation speed sensor arranged on the first intermediate wheel;
the real-time movement speed of the second intermediate wheel is the real-time movement speed acquired by a rotation speed sensor arranged on the second intermediate wheel.
The in-situ steering control system comprises a six-wheel mobile robot, a speed measuring assembly and a controller, wherein the six-wheel mobile robot is provided with a first side wheel and a second side wheel, and the first side wheel and the second side wheel comprise a front steering wheel, a middle wheel and a rear steering wheel;
The controller is communicated with the speed measuring assembly, and the speed measuring assembly is used for collecting the real-time movement speed of the first side wheel and the real-time movement speed of the second side wheel;
The controller is in communication with the six-wheeled mobile robot and is configured to control the speed of movement of the first side wheel and/or the second side wheel based on the method described above.
The six-wheel mobile robot is further provided with a first middle wheel and a second middle wheel, wherein the first middle wheel is positioned between a front steering wheel and a rear steering wheel which are contained in the first side wheel, and the second middle wheel is positioned between the front steering wheel and the rear steering wheel which are contained in the second side wheel;
The speed detection assembly comprises a first speed sensor and a second speed sensor, the first speed sensor is arranged on the first intermediate wheel, the second speed sensor is arranged on the second intermediate wheel, and the first speed sensor and the second speed sensor are communicated with the controller.
Compared with the prior art, the invention has the beneficial effects that:
The invention provides a method, a device and a control system for controlling in-situ steering, which are used for controlling a six-wheel mobile robot, can control the motion control system of the whole robot according to the real-time motion speed of two sides and the target speed, and can realize in-situ steering with lower rotating speed when the six-wheel drive four-wheel steering mobile robot has certain asymmetric factors, and can keep the rotation center at the geometric center of a vehicle body, avoid the balance loss of the left and right sides of the vehicle body and prevent the eccentric problem during in-situ steering.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.
FIG. 1 is a flow chart of a six-wheeled mobile robot in-situ steering control method of the present invention;
FIG. 2 is a schematic diagram of the chassis structure of the six-wheeled mobile robot of the present invention;
FIG. 3 is an exemplary diagram of a method for controlling in-situ steering of a six-wheeled mobile robot according to the present invention;
FIG. 4 is a schematic structural diagram of a six-wheeled mobile robot in-situ steering control system according to the present invention.
Detailed Description
The present disclosure is described in further detail below with reference to the drawings and the embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant content and not limiting of the present disclosure. It should be further noted that, for convenience of description, only a portion relevant to the present disclosure is shown in the drawings.
In addition, embodiments of the present disclosure and features of the embodiments may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
When the robot turns in situ, open loop control is adopted, and after the front and rear four wheels are deflected in place, the six wheels are respectively provided with equal torque instructions. The method cannot realize smaller in-situ steering angular velocity and can not overcome the in-situ steering eccentric problem, so that the invention aims at an in-situ steering control algorithm of the six-wheel drive four-wheel steering mobile robot. The six-wheel drive four-wheel steering robot is a practical robot chassis, can realize steering control based on the Ackerman principle and can realize in-situ steering, so that the six-wheel drive four-wheel steering robot is a flexible robot chassis and is suitable for narrow space urban roads or factory environment operation. However, due to the limitation of the structural size of the chassis or the limitation of the space of the steering wheel, the four-wheel deflection cannot reach an ideal deflection angle, so that the tire side deflection force is increased, and the chassis is difficult to steer at a low speed in situ. In addition, left-right asymmetry of chassis structure, load distribution, tire wear, tire pressure, etc. is liable to cause side shift in-situ steering of the chassis.
In view of the above problems, the present invention provides a in-situ steering control method for controlling a six-wheeled mobile robot having a first side wheel and a second side wheel, each of which includes a front steering wheel and a rear steering wheel, as shown in fig. 1, the method comprising the steps of:
S1, under the condition that a six-wheel mobile robot turns in situ, when the first side wheel and the second side wheel reach a preset deflection angle, acquiring real-time movement speeds of the first side wheel and the second side wheel in real time;
When the in-situ steering movement is carried out, steering is carried out according to a preset angle, and when the steering angle is detected to reach a preset deflection angle, the side carries out speed measurement. The front and rear four wheels of the robot can be independently turned, can turn in the advancing process according to the Ackerman steering principle, and can realize in-situ steering.
In the in-situ steering, the deflection angles of the front four wheels of the robot are as shown in fig. 2, and the ideal deflection angle is as follows:
Wherein θ is the deflection angle of the front steering wheel and the rear steering wheel, L is the wheel base, and W is the wheel base; wherein, the wheelbase of the front axle and the middle axle is equal to that of the middle axle and the rear axle.
S2, under the condition that the real-time movement speed of the first side wheel is determined to be greater than the real-time movement speed of the second side wheel, controlling the real-time movement speed of the second side wheel based on the real-time movement speed of the first side wheel, otherwise, controlling the real-time movement speed of the first side wheel based on the real-time movement speed of the second side wheel so as to realize in-situ steering control of the six-wheel mobile robot.
In order to obtain the movement speeds of the left side and the right side accurately in real time, in the embodiment of the invention, the middle wheels are arranged on the left side and the right side, and the movement speeds of the middle wheels are collected in real time.
The method comprises the following steps:
The six-wheeled mobile robot further has a first intermediate wheel and a second intermediate wheel, the first intermediate wheel is located between a front steering wheel and a rear steering wheel contained in the first side wheel, the second intermediate wheel is located between a front steering wheel and a rear steering wheel contained in the second side wheel, and the real-time acquisition of the real-time movement speeds of the first side wheel and the second side wheel includes:
acquiring the real-time movement speed of the first intermediate wheel and the real-time movement speed of the second intermediate wheel in real time;
Defining the real-time movement speed of the first intermediate wheel as the real-time movement speed of the first side wheel;
And defining the real-time movement speed of the second middle wheel as the real-time movement speed of the second side wheel.
The real-time movement speed of the first intermediate wheel is the real-time movement speed acquired by a rotation speed sensor arranged on the first intermediate wheel;
the real-time movement speed of the second intermediate wheel is the real-time movement speed acquired by a rotation speed sensor arranged on the second intermediate wheel.
The rotation speed sensor is a sensor that converts the rotation speed of a rotating object into electric power output. The speed of movement of the intermediate wheel can be obtained by the rotational speed.
The wheel speed of the intermediate rotating wheel is obtained in real time through a rotating speed sensor, and the real-time movement speed is obtained according to the wheel speed.
In addition, in the specific speed measuring process, the method can be performed through other steps, and is not limited to the measuring mode in the embodiment of the invention, for example, the method can be a speed measuring instrument, a single chip microcomputer measuring speed measuring device and the like.
S2, under the condition that the real-time movement speed of the first side wheel is determined to be greater than the real-time movement speed of the second side wheel, controlling the real-time movement speed of the second side wheel based on the real-time movement speed of the first side wheel, otherwise, controlling the real-time movement speed of the first side wheel based on the real-time movement speed of the second side wheel so as to realize in-situ steering control of the six-wheel mobile robot.
The real-time movement speed of the side with the larger real-time movement speed is set as the target speed of the other side, and the front steering wheel and the rear steering wheel are subjected to speed closed-loop control according to the target speed.
The method specifically comprises the following steps:
acquiring the current speeds of the first intermediate wheel and the second intermediate wheel, and comparing the current speeds of the first intermediate wheel and the second intermediate wheel;
When the current speed of the first intermediate wheel is greater than the current speed of the second intermediate wheel, setting the current speed of the first intermediate wheel as the target rotating speed of the second intermediate wheel, calculating the target speed of the second side wheel according to the target rotating speed of the second intermediate wheel, and adjusting the output torque of the six wheels to obtain speed control;
when the current speed of the second intermediate wheel is greater than the current speed of the first intermediate wheel, the current speed of the second intermediate wheel is set as the target rotating speed of the first intermediate wheel, the target speeds of the first front wheel and the second wheel are calculated according to the target rotating speed of the first intermediate wheel, and the six-wheel output torque is adjusted to obtain speed control.
And adjusting the output torque of the front and rear wheels according to the output torque value to realize in-situ steering.
In the embodiment of the present invention, there may be two ways to turn around in situ, either clockwise or counterclockwise, and the following specific procedure is described by taking counterclockwise turning around as an example:
as shown in fig. 3, the robot receives the in-situ steering instruction;
1) Setting deflection corner angles of steering wheels at two sides, and starting four-wheel deflection according to the deflection corner angles;
2) After all the front steering wheel and the rear steering wheel are deflected in place, setting expected target speeds at the left side and the right side, and starting the robot;
3) When the acceleration time is up, the rotation speeds of the first intermediate wheel and the second intermediate wheel are obtained, and the real-time movement speeds of the first side and the second side are calculated as the current speed of the side:
When the current speed of the first side is greater than the current speed of the second side, setting the current speed of the first intermediate wheel as a target rotating speed of the second intermediate wheel, and calculating the target speed of the second side wheel according to the target rotating speed of the second intermediate wheel;
When the current speed of the second side is greater than the current speed of the first side, setting the current speed of the second intermediate wheel as the target rotating speed of the first intermediate wheel, and calculating the target speeds of the left front wheel and the rear wheel according to the target rotating speed of the first intermediate wheel;
4) Performing six-wheel speed closed-loop control, adjusting torque, and driving six-wheel movement;
5) Until a stop instruction is received.
The original in-situ steering control adopts an open loop control strategy, and after four wheels are deflected in place, six-wheel drive sets the same output torque respectively, and six wheels start to rotate. In the process, if the output torque of the wheel rotating shaft is too small, the tire side bias force cannot be overcome, and the in-situ steering cannot be started. When the initial set torque is increased, the chassis can start to rotate in situ at a larger angular speed, but is influenced by asymmetric factors, the rotation center can gradually deviate from the geometric center of the vehicle body, and the rotation motion can be performed by taking a certain side intermediate wheel as the center, so that the phenomenon that the intermediate wheel on one side does not rotate and the wheel on the other side rotates around the wheel with a large circle is caused.
The invention aims at the problem and provides a speed closed loop-based in-situ steering control strategy. According to the invention, wheel speed sensors are additionally arranged on the middle wheels on the left side and the right side, and the two wheel speeds are acquired in real time. When the four wheels are deflected in place, the six-wheel drive sets initial torque output respectively, so that the six-wheel rotating speed is started. According to the two sensor speed samples, comparing the wheel speeds of two sides, the current speed of the larger side with the speed of the smaller side is taken as the target speed, and the desired speed of the larger side is taken as the target speed. The left side and the right side respectively regulate the driving output torque according to the proportional and integral terms of the target speed and the actual speed error. Through the algorithm of the invention, when a six-wheel drive four-wheel steering mobile robot has certain asymmetric factors, the in-situ steering with lower rotating speed can be realized, and the rotating center can be kept to be positioned at the geometric center of the vehicle body.
In addition, as shown in fig. 4, the present invention also provides a steering control device in situ, comprising: acquisition module 1, control module 2:
The acquisition module 1 is used for acquiring real-time movement speeds of the first side wheel and the second side wheel in real time when the rear steering wheel contained in the first side wheel and the second side wheel reaches a preset deflection angle under the condition of in-situ steering of the six-wheel mobile robot;
A control module 2, configured to control the real-time movement speed of the second side wheel based on the real-time movement speed of the first side wheel if the real-time movement speed of the first side wheel is determined to be greater than the real-time movement speed of the second side wheel, and otherwise, control the real-time movement speed of the first side wheel based on the real-time movement speed of the second side wheel;
The preset deflection angle satisfies the following conditions:
Wherein θ is the deflection angle of the front steering wheel and the rear steering wheel, L is the wheel base, and W is the wheel base.
The six-wheel mobile robot further comprises a first middle wheel and a second middle wheel, wherein the first middle wheel is positioned between a front steering wheel and a rear steering wheel which are arranged on the first side wheel, the second middle wheel is positioned between the front steering wheel and the rear steering wheel which are arranged on the second side wheel, and the acquisition module is specifically used for acquiring the real-time movement speed of the first middle wheel and the real-time movement speed of the second middle wheel in real time, defining the real-time movement speed of the first middle wheel as the real-time movement speed of the first side wheel, and defining the real-time movement speed of the second middle wheel as the real-time movement speed of the second side wheel.
The real-time movement speed of the first intermediate wheel is the real-time movement speed acquired by a rotation speed sensor arranged on the first intermediate wheel;
the real-time movement speed of the second intermediate wheel is the real-time movement speed acquired by a rotation speed sensor arranged on the second intermediate wheel.
And adjusting the output torque of the front and rear wheels according to the output torque value to realize in-situ steering.
In addition, the invention also provides a in-situ steering control system, which comprises a six-wheel mobile robot, a speed measuring assembly and a controller, wherein the six-wheel mobile robot is provided with a first side wheel and a second side wheel, and the first side wheel and the second side wheel respectively comprise a front steering wheel, a middle wheel and a rear steering wheel;
The controller is communicated with the speed measuring assembly, and the speed measuring assembly is used for collecting the real-time movement speed of the first side wheel and the real-time movement speed of the second side wheel;
The controller is in communication with the six-wheeled mobile robot and is configured to control the speed of movement of the first side wheel and/or the second side wheel based on the in-situ steering control method described above.
The six-wheel mobile robot is further provided with a first middle wheel and a second middle wheel, wherein the first middle wheel is positioned between a front steering wheel and a rear steering wheel which are contained in the first side wheel, and the second middle wheel is positioned between the front steering wheel and the rear steering wheel which are contained in the second side wheel;
The speed detection assembly comprises a first speed sensor and a second speed sensor, the first speed sensor is arranged on the first intermediate wheel, the second speed sensor is arranged on the second intermediate wheel, and the first speed sensor and the second speed sensor are communicated with the controller.
In the description of the present specification, reference to the terms "one embodiment/manner," "some embodiments/manner," "example," "a particular example," "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/manner or example is included in at least one embodiment/manner or example of the application. In this specification, the schematic representations of the above terms are not necessarily for the same embodiment/manner or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/modes or examples described in this specification and the features of the various embodiments/modes or examples can be combined and combined by persons skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
It will be appreciated by those skilled in the art that the above-described embodiments are merely for clarity of illustration of the disclosure, and are not intended to limit the scope of the disclosure. Other variations or modifications will be apparent to persons skilled in the art from the foregoing disclosure, and such variations or modifications are intended to be within the scope of the present disclosure.
Claims (8)
1. A method of in-situ steering control for controlling in-situ steering of a six-wheeled mobile robot having a first side wheel and a second side wheel, the first side wheel and the second side wheel each including a front steering wheel and a rear steering wheel, the method comprising the steps of:
Under the condition of in-situ steering of a six-wheel mobile robot, when the first side wheel and the second side wheel reach a preset deflection angle, acquiring the real-time movement speed of the first side wheel and the real-time movement speed of the second side wheel in real time;
If the real-time movement speed of the first side wheel is determined to be greater than the real-time movement speed of the second side wheel, controlling the real-time movement speed of the second side based on the real-time movement speed of the first side wheel, otherwise, controlling the real-time movement speed of the first side based on the real-time movement speed of the second side wheel so as to realize in-situ steering control of the six-wheel mobile robot;
The six-wheeled mobile robot further has a first intermediate wheel and a second intermediate wheel, the first intermediate wheel is located between a front steering wheel and a rear steering wheel contained in the first side wheel, the second intermediate wheel is located between a front steering wheel and a rear steering wheel contained in the second side wheel, and the real-time acquisition of the real-time movement speeds of the first side wheel and the second side wheel includes:
acquiring the real-time movement speed of the first intermediate wheel and the real-time movement speed of the second intermediate wheel in real time;
Defining the real-time movement speed of the first intermediate wheel as the real-time movement speed of the first side wheel;
defining the real-time movement speed of the second intermediate wheel as the real-time movement speed of the second side wheel;
acquiring the current speeds of the first intermediate wheel and the second intermediate wheel, and comparing the current speeds of the first intermediate wheel and the second intermediate wheel;
When the current speed of the first intermediate wheel is greater than the current speed of the second intermediate wheel, setting the current speed of the first intermediate wheel as the target rotating speed of the second intermediate wheel, calculating the target speed of the second side wheel according to the target rotating speed of the second intermediate wheel, and adjusting the output torque of the six wheels to obtain speed control;
when the current speed of the second intermediate wheel is greater than the current speed of the first intermediate wheel, the current speed of the second intermediate wheel is set as the target rotating speed of the first intermediate wheel, the target speeds of the first front wheel and the second wheel are calculated according to the target rotating speed of the first intermediate wheel, and the six-wheel output torque is adjusted to obtain speed control.
2. The in-situ steering control method according to claim 1, wherein the preset deviation angle satisfies:
And the theta is the deflection angle of the front steering wheel and the rear steering wheel, L is the wheel base, wherein the wheel base of the front axle and the middle axle is equal to the wheel base of the middle axle and the wheel base of the rear axle is equal to the wheel base of the middle axle.
3. The in-situ steering control method according to claim 1, wherein the real-time movement speed of the first side wheel is a real-time movement speed acquired by a rotation speed sensor mounted on the first intermediate wheel;
The real-time movement speed of the second side wheel is the real-time movement speed acquired by a rotation speed sensor arranged on the second middle wheel.
4. A in-situ steering control apparatus, wherein a six-wheeled mobile robot has a first side wheel and a second side wheel, each of the first side wheel and the second side wheel including a front steering wheel, an intermediate wheel, and a rear steering wheel, comprising:
The acquisition module is used for acquiring real-time movement speeds of the first side wheel and the second side wheel in real time when the front steering wheel and the rear steering wheel contained in the first side wheel and the second side wheel reach a preset deflection angle under the condition of in-situ steering of the six-wheel mobile robot;
The control module is used for controlling the real-time movement speed of the second side wheel based on the real-time movement speed of the first side wheel under the condition that the real-time movement speed of the first side wheel is larger than the real-time movement speed of the second side wheel, otherwise, controlling the real-time movement speed of the first side wheel based on the real-time movement speed of the second side wheel;
The six-wheeled mobile robot further has a first intermediate wheel and a second intermediate wheel, the first intermediate wheel is located between a front steering wheel and a rear steering wheel contained in the first side wheel, the second intermediate wheel is located between a front steering wheel and a rear steering wheel contained in the second side wheel, and the real-time acquisition of the real-time movement speeds of the first side wheel and the second side wheel includes:
acquiring the real-time movement speed of the first intermediate wheel and the real-time movement speed of the second intermediate wheel in real time;
Defining the real-time movement speed of the first intermediate wheel as the real-time movement speed of the first side wheel;
defining the real-time movement speed of the second intermediate wheel as the real-time movement speed of the second side wheel;
acquiring the current speeds of the first intermediate wheel and the second intermediate wheel, and comparing the current speeds of the first intermediate wheel and the second intermediate wheel;
When the current speed of the first intermediate wheel is greater than the current speed of the second intermediate wheel, setting the current speed of the first intermediate wheel as the target rotating speed of the second intermediate wheel, calculating the target speed of the second side wheel according to the target rotating speed of the second intermediate wheel, and adjusting the output torque of the six wheels to obtain speed control;
when the current speed of the second intermediate wheel is greater than the current speed of the first intermediate wheel, the current speed of the second intermediate wheel is set as the target rotating speed of the first intermediate wheel, the target speeds of the first front wheel and the second wheel are calculated according to the target rotating speed of the first intermediate wheel, and the six-wheel output torque is adjusted to obtain speed control.
5. The in-situ steering control device according to claim 4, wherein the preset deviation angle satisfies:
Wherein θ is the deflection angle of the front steering wheel and the rear steering wheel, L is the wheel base, and W is the wheel base.
6. The in-situ steering control apparatus according to claim 4, wherein the real-time movement speed of the first intermediate wheel is a real-time movement speed acquired by a rotational speed sensor mounted on the first intermediate wheel;
the real-time movement speed of the second intermediate wheel is the real-time movement speed acquired by a rotation speed sensor arranged on the second intermediate wheel.
7. The in-situ steering control system is characterized by comprising a six-wheel mobile robot, a speed measuring assembly and a controller, wherein the six-wheel mobile robot is provided with a first side wheel and a second side wheel, and the first side wheel and the second side wheel comprise a front steering wheel, a middle wheel and a rear steering wheel;
The controller is communicated with the speed measuring assembly, and the speed measuring assembly is used for collecting the real-time movement speed of the first side wheel and the real-time movement speed of the second side wheel;
the controller is in communication with the six-wheeled mobile robot, the controller being configured to control the speed of movement of the first side wheel and/or the second side wheel based on the method of any one of claims 1-3.
8. The system of claim 7, wherein the six-wheeled mobile robot further has a first intermediate wheel between the front and rear steerable wheels contained in the first side wheel and a second intermediate wheel between the front and rear steerable wheels contained in the second side wheel;
the speed measuring assembly further comprises a first speed sensor and a second speed sensor, the first speed sensor is arranged on the first intermediate wheel, the second speed sensor is arranged on the second intermediate wheel, and the first speed sensor and the second speed sensor are communicated with the controller.
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| CN109664937A (en) * | 2018-12-28 | 2019-04-23 | 南京航空航天大学 | Multi-mode line traffic control four-wheel independent steering/drive system and its steering pattern control method |
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