CN116021938B - Four-wheel electric drive omnidirectional mobile robot for dry land field - Google Patents
Four-wheel electric drive omnidirectional mobile robot for dry land field Download PDFInfo
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- CN116021938B CN116021938B CN202310304438.8A CN202310304438A CN116021938B CN 116021938 B CN116021938 B CN 116021938B CN 202310304438 A CN202310304438 A CN 202310304438A CN 116021938 B CN116021938 B CN 116021938B
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Abstract
The invention discloses a four-wheel electric drive omnidirectional mobile robot in a dry land field, which comprises a vehicle body, wherein four groups of wheel tread adjusting mechanisms, a driving wheel bracket and electric steering driving wheels are sequentially arranged below the vehicle body; the wheel distance adjusting mechanism comprises a double rocker arm structure and an air bag, an air bag lever mechanism is formed, the double rocker arm structure rotates outwards or inwards under the action of extending or retracting the air bag, the air bag is arranged in the middle of the driving wheel bracket, an air bag jacking mechanism is formed, and the height of the vehicle body is increased or reduced under the action of extending or retracting the air bag; the electric steering driving wheel can independently steer to realize walking in any direction. The wheel track and the height of the vehicle body are changed by adopting air bag control, and the control of large moment and small moment is simple, so that the vehicle has good damping effect. The vehicle-mounted controller calculates by adopting a double-control-loop self-adaptive algorithm according to the feedback angle and pressure data, and adjusts the vehicle body angle and the air bag pressure so as to achieve the self-adaptive effect of stable running under different road conditions.
Description
Technical Field
The invention belongs to the field of robot control, and particularly relates to a four-wheel electric drive omnidirectional mobile robot in a dry land field.
Background
In agricultural engineering, a proper environment plays a vital role, and it is obviously necessary to monitor the field environment in real time. However, if the real-time situation of the agricultural environment depends on the care of people, not only a great deal of energy is wasted, but also the efficiency is low. Therefore, field information collection and crop shape collection robots are evolving.
Through investigation of field robots, the main traveling modes of the walking robots at present are a wheel type and a track type. The crawler-type travelling has strong ground grabbing force and strong terrain adaptability, but because of more internal parts of the crawler, the transmission mainly depends on the rotation of internal wheels, so that the crawler-type travelling has high motor driving power, large operation noise and low movement speed.
Wheel type marching has advantages such as turn to nimble, fast, efficient, the motion noise low, becomes mainstream field robot walking mode, but because field topography is complicated, wheel type robot topography adaptability is poor, has the defect of operation unstability, needs to be solved.
Disclosure of Invention
In order to solve the defects in the prior art, the invention aims to provide the four-wheel electric drive omnidirectional mobile robot in the dry land field.
In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows:
a four-wheel electric drive omnidirectional mobile robot in a dry land field comprises a vehicle body, a wheel track adjusting mechanism, a driving wheel bracket, electric steering driving wheels and a mechanical arm, wherein a vehicle-mounted controller and a power supply are arranged in the vehicle body, and the robot further comprises a remote control terminal;
four groups of wheel tread adjusting mechanisms are arranged below the vehicle body, and a driving wheel bracket and an electric steering driving wheel are sequentially arranged below the wheel tread adjusting mechanisms; the mechanical arm is arranged at the front end of the vehicle body;
the wheel track adjusting mechanism comprises a double rocker arm structure and an air bag, an air bag lever mechanism is formed, and the double rocker arm structure rotates outwards or inwards under the action of extending or retracting the air bag, so that the wheel track is changed, and the height of the vehicle body is increased or reduced;
an air bag is arranged in the middle of the driving wheel support to form an air bag jacking mechanism, and the driving wheel support realizes the increase or decrease of the height of the vehicle body under the action of extending or retracting the air bag;
the four groups of electric steering driving wheels can independently steer to realize walking in any direction; the mechanical arm is a 6-axis cooperative mechanical arm and is used for installing various sensors;
the vehicle-mounted controller comprises a communication module which is communicated with the remote control terminal through a wireless network and receives a control instruction of the remote control terminal, so that the steering running of the robot, the height adjustment of the vehicle body and the work of the sensor are controlled.
Further, the double rocker structure comprises a first rocker, a second rocker and an L-shaped connecting rod, the second rocker is movably arranged at the lower end of the vehicle body, the first rocker is movably arranged at the upper end of the vehicle body and is connected with the top of an air bag in the vehicle body, and the other end of the first rocker is connected with the other end of the second rocker through the L-shaped connecting rod.
Further, the driving wheel bracket consists of a base, 4 screw rods, an L-shaped connecting rod and an air bag, wherein the air bag is positioned in the middle of the bracket, the bottom of the air bag is arranged on the base, and the top of the air bag is abutted against the L-shaped connecting rod and can push the L-shaped connecting rod to move up and down;
the screw rods are divided into two groups, and the 2 screw rods on the inner side form a group and pass through the connecting rod to be fixedly connected to the two sides of the first rocker arm, so that the first rocker arm can be linked; the outer 2 screw rods form a group and can pass through the connecting rod to slide up and down freely.
Further, the electric steering driving wheel comprises a servo motor, a speed reducer, a steering gear, a suspension structure and a driving wheel, wherein the suspension structure is used for installing the driving wheel;
a steering gear and a suspension structure are arranged below the base, and the suspension structure is driven to rotate by the rotation of the steering gear, so that the driving wheel is driven to steer; the steering gear rotates by a required angle under the control of the vehicle-mounted controller by the servo motor and the speed reducer;
the driving wheel is composed of a DC brushless gear motor and a tire.
Further, the vehicle-mounted controller controls the work of a servo motor, a direct-current brushless gear motor, a mechanical arm and various sensors on the robot, and meanwhile, a power supply supplies power to the equipment, and the vehicle-mounted controller and the power supply are electrically connected with the equipment through cables.
Further, the robot comprises 8 groups of air bags, 4 groups of air bags positioned in the vehicle body and 4 groups of air bags positioned in the bracket, each air bag is provided with a vehicle-mounted miniature air source, and the vehicle-mounted controller controls the air bags to be adjusted independently.
Further, the device also comprises an angle sensor arranged on the vehicle body, a pressure sensor arranged on the 4 groups of air bags of the bracket, and angle data and pressure data fed back to the vehicle-mounted controller, so that the vehicle body angle adjustment and the air bag pressure adjustment are realized.
Further, the vehicle-mounted controller adopts a double-control-loop self-adaptive algorithm to calculate the angle and the pressure, and the specific steps are as follows:
(1) The angle sensor measures the angle of the vehicle body relative to
The offset of the plane indicates the angle
Transmitting the data into an angle controller; obtaining the angle control needed change according to the target angle needed by the platformAmount of conversion
Transmitting the pressure to a pressure controller;
(2) Four-way pressure sensor real-time monitoring air bag pressure value
Feedback to the pressure controller;
(3) Controlling the required variation according to the angle
And balloon pressure value->
Calculating the required variation of the pressure controller>
The method comprises the steps of carrying out a first treatment on the surface of the Comprehensive consideration of air bag pressure threshold value in calculation
Constraint conditions relatively uniform to four-wheel grip;
the constraint conditions are as follows:
(4) The vehicle-mounted controller controls the vehicle-mounted miniature air source to adjust the air bag according to the pressure required variable output by the pressure controller;
(5) Four-way pressure sensor real-time monitoring air bag pressure value
Feedback to the pressure controller; the angle measuring sensor monitors the angle of the car body in real time, and the angle represents +.>
And the optimal solution is obtained by transmitting the optimal solution into a vehicle body angle controller and performing multiple adjustments.
Compared with the prior art, the invention adopts 8 groups of air bag control and related structural design, realizes the wheel tread and vehicle body height change, has simple control, large moment and small volume and has good damping effect. The wheels are driven by four wheels independently, and the four wheels can move in any direction by independent steering.
In order to solve the problem that the platform angle deviation and the pressure balance of wheels possibly occur in a vehicle body, the invention also designs an angle sensor and a pressure sensor, angle data and pressure data are fed back to the vehicle-mounted controller in real time, the vehicle-mounted controller calculates the angle and the pressure by adopting a double-control-loop self-adaptive algorithm according to the fed back angle and pressure data, the angle of the vehicle body is adjusted to meet the gesture requirement, and the pressure of an air bag is adjusted to adapt to the four-wheel traction under different road conditions.
Drawings
Fig. 1 is a perspective view of a four-wheel electric drive omnidirectional mobile robot in a dry land field according to the invention;
fig. 2 is a side view of the four-wheel electric drive omnidirectional mobile robot in a dry land field according to the invention;
fig. 3 is a top view of the four-wheel electric drive omnidirectional mobile robot in the dry land field of the invention;
FIG. 4 is a schematic view of an electric power steering drive wheel;
FIG. 5 is a schematic diagram of a dual control loop adaptation algorithm;
reference numerals:
the vehicle comprises a vehicle body 1, a wheel tread adjusting mechanism 2, a driving wheel bracket 3, an electric steering driving wheel 4, a mechanical arm 5 and an air bag 6;
the first rocker arm 2-1, the second rocker arm 2-2 and the connecting rod 2-3; a base 3-1 and a screw rod 3-2; a servo motor 4-1, a speed reducer 4-2, a steering gear 4-3, a suspension structure 4-4 and a driving wheel 4-5.
Detailed Description
The technical scheme of the invention is further described below with reference to the accompanying drawings and examples. The following examples are only for more clearly illustrating the technical solutions of the present invention and are not intended to limit the scope of protection of the present application.
As shown in fig. 1-3, the four-wheel electric drive omnidirectional mobile robot for the dry land field has the main functions of providing a sensor carrying platform for collecting field growth data of the dry land crops, providing movement and positioning for various sensors, providing support for data collection, data transmission and data processing and completing the data collection requirements of related scientific researches.
The device comprises two parts of hardware and software, wherein the hardware comprises a mechanical arm 5, a vehicle body 1, a wheel track adjusting mechanism 2, a driving wheel bracket 3, an electric steering driving wheel 4, a vehicle-mounted controller and a power supply which are arranged at proper positions in the vehicle body, and a remote control terminal. The remote control terminal can be a mobile phone, a tablet, a computer and the like.
The vehicle body 1 adopts a sheet metal framework and a carbon fiber reinforced panel, and reduces the overall mass as much as possible on the premise of ensuring the structural requirement and the strength requirement so as to lighten the load of the device, and the structure of the vehicle body is in a square shape.
The vehicle-mounted controller in the vehicle body is used for controlling the work of a vehicle-mounted miniature air source, a servo motor, a direct-current brushless gear motor, a mechanical arm, various sensors and the like on the robot, and meanwhile, a power supply supplies power for the equipment. The vehicle-mounted controller and the power supply are electrically connected with the equipment through cables. Therefore, the software components on the vehicle-mounted controller comprise vehicle body navigation and control software, mechanical arm control software, sensor interface and integration software, remote control and data exchange interface software and the like, so that the vehicle-mounted controller can control the components of the robot.
Four groups of electric steering driving wheels 4 with adjustable wheel tracks and steering capability are arranged below the vehicle body, the wheel tracks of the driving wheels are adjustable, and the support of the driving wheels has a certain height, so that the whole vehicle body is at a certain height from the ground, and the vehicle body is ensured to be at a sufficient height above crops during operation.
The invention has a 2-stage air bag mechanism, wherein one stage is an air bag lever mechanism, which is positioned in a wheel tread adjusting mechanism 2 and can provide wheel tread and ground height adjustment; the other stage is an air bag jacking mechanism which is positioned in the driving wheel bracket 3, provides the adjustment of the height above the ground and also provides an excellent shock absorption function.
The device comprises four groups of wheel tread adjusting mechanisms 2, the structures are identical, and the device is an air bag lever mechanism, the structure of the device is composed of a double rocker structure formed by 3 connecting rods and an air bag, one end of the double rocker structure formed by 3 connecting rods is fixed on a vehicle body, a driving wheel bracket is arranged below the other end of the double rocker structure, and an electric steering driving wheel is arranged below the driving wheel bracket. The double rocker arm structure rotates outwards or inwards under the action of extending or retracting the air bag, so that the wheel track is changed, and the height of the vehicle body can be increased and reduced.
The extension or retraction amount of the air bag is used for changing the distance between wheels, and meanwhile, the double rocker structure can enable the driving wheels and the vehicle body to be kept in a mutually parallel state, namely, when the wheel distance is changed, the driving wheels are always kept vertical to the ground, and the vehicle body is always kept horizontal to the ground.
As shown in FIG. 2, the 3 connecting rods comprise a first rocker arm 2-1, a second rocker arm 2-2 and a connecting rod 2-3, and the connecting rod 2-3 is L-shaped. The second rocker arm 2-2 is movably arranged at the lower ends of four corners of the vehicle body, the first rocker arm 2-1 is movably arranged at the upper ends of the four corners of the vehicle body and is connected with the top of an air bag in the vehicle body, and the other end of the first rocker arm 2-1 is connected with the other end of the second rocker arm 2-2 through an L-shaped connecting rod 2-3.
As shown in fig. 3, the air bags 6 positioned at four corners in the vehicle body are controlled by a vehicle-mounted miniature air source to extend or retract, so that the double rocker arm structure is influenced to rotate outwards or inwards. The vehicle-mounted miniature air source is controlled by the vehicle-mounted controller and is powered by the power supply.
The driving wheel bracket 3 is arranged below the wheel track adjusting mechanism, and an electric steering driving wheel is arranged below the bracket. An air bag 6 is arranged in the middle of the driving wheel bracket to form an air bag jacking mechanism, and the air bag is also controlled by a vehicle-mounted miniature air source to extend or retract, so that the height of the vehicle body can be increased and reduced. Each air bag is respectively provided with a vehicle-mounted miniature air source, and the air bags can be controlled by a vehicle-mounted controller to be adjusted independently.
As shown in fig. 1-2, the air bag jacking mechanism consists of a base 3-1, 4 screw rods 3-2, an L-shaped connecting rod 2-3 and an air bag, wherein the air bag is positioned in the middle of the bracket, the bottom of the air bag is arranged on the base 3-1, and the top of the air bag is abutted against the L-shaped connecting rod 2-3 so as to push the L-shaped connecting rod 2-3 to move up and down. The screw rods 3-2 are divided into two groups, the inner 2 screw rods form a group, and the two groups penetrate through the connecting rod and are fixedly connected to the two sides of the first rocker arm 2-1, so that the first rocker arm 2-1 can be linked. The outer 2 screw rods form a group and can pass through the connecting rod to slide up and down freely.
The electric power steering drive wheel 4 is responsible for providing forward power to the vehicle body and for providing steering angle and suspension support. The steering is realized by a servo motor, a speed reducer and a related steering structure, and can drive wheels to finish the steering action of more than 270 degrees and provide accurate steering angle feedback. The car body is driven by 4 groups of driving wheels, and four wheels are independently steered, so that walking in any direction is realized.
As shown in fig. 4, the electric power steering driving wheel includes a servo motor 4-1, a speed reducer 4-2, a steering gear 4-3, a suspension structure 4-4 for mounting the driving wheel, and a driving wheel 4-5.
The steering gear and the hanging structure are arranged below the base 3-1, and the hanging structure is driven to rotate through the rotation of the steering gear, so that the driving wheel is driven to steer. The steering gear rotates by a required angle under the control of a vehicle-mounted controller by a servo motor 4-1 and a speed reducer 4-2, and provides accurate steering angle feedback; and is powered by a power source.
The driving wheel 4-5 is composed of a direct current brushless gear motor and a tire, and can accurately feed back the rotation turns of the wheel while providing enough driving force, so that statistics of required mileage is realized. The tire adopts the deep-grain rubber inflatable wheel, has enough ground grabbing force and is lighter. The direct current brushless speed reducing motor also controls the running of the wheels under the control of the vehicle-mounted controller and is powered by a power supply.
The mechanical arm 5 is arranged at the front end of the vehicle body, is a 6-axis cooperative mechanical arm, has the driving capability of more than 5kg and can be controlled by a remote control terminal control vehicle-mounted controller. The foremost end of the mechanical arm is used for installing various sensors. When the robot works, the rotation of the mechanical arm is controlled according to the requirements of different types of data acquisition sensors on the installation posture; for example, optical cameras, which need to maintain a specific angle to the ground; multispectral sensors need to be perpendicular to the ground; the attitude is effectively controlled so as to adapt to the agricultural information acquisition operation.
The vehicle-mounted controller comprises a communication module which is communicated with the remote control terminal through a wireless network and receives a control instruction of the remote control terminal, so that the work of the robot, the mechanical arm and the sensor is controlled.
When the robot works, the remote control terminal can send an instruction to control the running and steering of the driving wheel of the robot, so that the robot can walk in the field. Specifically, the vehicle-mounted controller receives a control instruction, so that the direct-current brushless speed reduction motor and the servo motor are controlled to finish the walking and steering of the wheels. Meanwhile, the steering angle and the number of turns of the wheels can be fed back to the vehicle-mounted controller, and then the vehicle-mounted controller is transmitted to the remote control terminal.
When the robot walks to collect data, the height of the vehicle body is required to be adjusted according to the height of crops and the collection requirement, the vehicle-mounted controller is controlled by the remote control terminal to adjust the height of the vehicle body, and the wheel base is changed by controlling the extension or retraction of 8 groups of air bags and using the air bag jacking, so that the change of the height of the vehicle body is realized. The 8 sets of air bags include 4 sets of air bags located in the vehicle body and 4 sets of air bags located in the bracket. The height of the vehicle body is changed by lifting the air bag, the control is simple, the moment is large and small relative to the electric control, the air bag has good damping effect, and no additional damping device is needed.
Because the real-time adjustment of the vehicle body can cause the angle deviation of the vehicle body platform and the pressure difference of each air bag to influence the pressure balance of four wheels, the embodiment of the invention further comprises the steps of installing the angle sensor on the vehicle body, installing the pressure sensor on 4 groups of air bags of the bracket, feeding back the angle data and the pressure data to the vehicle-mounted controller in real time, adjusting the angle of the vehicle body according to the feedback data so as to meet the gesture requirement, and adjusting the pressure of the air bags so as to adapt to the four-wheel traction under different road conditions.
The vehicle-mounted controller adopts a double-control-ring self-adaptive algorithm to calculate angles and pressures, the pressure balance problem of four wheels is solved by calculating the inner ring pressure, and the angle adjustment problem of the vehicle body is solved by calculating the outer ring angle.
As shown in fig. 5, the dual control loop adaptive algorithm specifically comprises the following steps:
(1) Angle sensor measurementMeasuring the angle of the platform of the car body relative to
The offset of the plane is denoted +.>
Transmitting the data into an angle controller; obtaining the change amount required by angle control according to the target angle required by the platform
The amount of change required for angle control>
An incoming pressure controller; the angle controller is used for realizing the calculation of the variation required by the angle control;
(2) Four-way pressure sensor real-time monitoring air bag pressure value
Feedback to the pressure controller; the pressure controller is used for realizing the calculation of the variation required by the pressure control;
(3) Controlling the required variation according to the angle
And balloon pressure value->
Calculating the required variation of the pressure controller>
The method comprises the steps of carrying out a first treatment on the surface of the Comprehensive consideration of air bag pressure threshold value in calculation
Constraint conditions relatively uniform to four-wheel grip;
the constraint conditions are as follows:
(4) Adjusting the air bag according to the output result of the pressure controller; specifically, the vehicle-mounted controller controls the vehicle-mounted miniature air source to adjust the air bag according to the variation required by the pressure;
(5) Four-way pressure sensor real-time monitoring air bag pressure value
Feedback to the pressure controller; the angle measuring sensor monitors the angle of the car body in real time, and the angle represents +.>
And the optimal solution is obtained by transmitting the optimal solution into a vehicle body angle controller and performing multiple adjustments.
The pressure-angle cascade closed-loop control is formed by combining the steps, so that the four-wheel electrically-driven robot body can perform double-layer control on the angle of the body and the pressure of the air bag through the sensor-controller, and the self-adaptive effect of stable running under different road conditions is achieved.
Compared with the prior art, the invention adopts 8 groups of air bag control and related structural design, realizes the wheel tread and vehicle body height change, has simple control, large moment and small volume and has good damping effect. The wheels are driven by four wheels independently, and the four wheels can move in any direction by independent steering.
In order to solve the problem that the platform angle deviation and the pressure balance of wheels possibly occur in a vehicle body, the invention also designs an angle sensor and a pressure sensor, angle data and pressure data are fed back to the vehicle-mounted controller in real time, the vehicle-mounted controller calculates the angle and the pressure by adopting a double-control-loop self-adaptive algorithm according to the fed back angle and pressure data, the angle of the vehicle body is adjusted to meet the gesture requirement, and the pressure of an air bag is adjusted to adapt to the four-wheel traction under different road conditions.
While the applicant has described and illustrated the embodiments of the present invention in detail with reference to the drawings, it should be understood by those skilled in the art that the above embodiments are only preferred embodiments of the present invention, and the detailed description is only for the purpose of helping the reader to better understand the spirit of the present invention, and not to limit the scope of the present invention, but any improvements or modifications based on the spirit of the present invention should fall within the scope of the present invention.
Claims (6)
1. The four-wheel electric driving omnidirectional mobile robot for the dry land field is characterized by comprising a vehicle body (1), a wheel track adjusting mechanism (2), a driving wheel bracket (3), an electric steering driving wheel (4) and a mechanical arm (5), wherein a vehicle-mounted controller and a power supply are arranged in the vehicle body, and the robot further comprises a remote control terminal;
four groups of wheel tread adjusting mechanisms (2) are arranged below the vehicle body (1), and a driving wheel bracket (3) and an electric steering driving wheel (4) are sequentially arranged below the wheel tread adjusting mechanisms (2); the mechanical arm (5) is arranged at the front end of the vehicle body;
the wheel tread adjusting mechanism (2) comprises a double rocker arm structure and an air bag (6) to form an air bag lever mechanism, and the double rocker arm structure rotates outwards or inwards under the action of extending or retracting the air bag, so that the wheel tread is changed to increase or decrease the height of the vehicle body;
the double rocker structure comprises a first rocker (2-1), a second rocker (2-2) and an L-shaped connecting rod (2-3); the second rocker arm (2-2) is movably arranged at the lower end of the vehicle body, the first rocker arm (2-1) is movably arranged at the upper end of the vehicle body and is connected with the top of an air bag (6) in the vehicle body, and the other end of the first rocker arm (2-1) is connected with the other end of the second rocker arm (2-2) through an L-shaped connecting rod (2-3);
an air bag (6) is arranged in the middle of the driving wheel support (3) to form an air bag jacking mechanism, and the driving wheel support realizes the increase or decrease of the height of the vehicle body under the action of extending or retracting the air bag;
the driving wheel bracket consists of a base (3-1), 4 screw rods (3-2), an L-shaped connecting rod (2-3) and a balloon; the air bag is positioned in the middle of the bracket, the bottom of the air bag is arranged on the base (3-1), the top of the air bag is abutted against the L-shaped connecting rod (2-3), and the L-shaped connecting rod (2-3) can be pushed to move up and down; the screw rods (3-2) are divided into two groups, and the 2 screw rods on the inner side form a group, and the screw rods penetrate through the connecting rods and are fixedly connected to the two sides of the first rocker arm (2-1), so that the first rocker arm (2-1) can be linked; the 2 screw rods on the outer side form a group and can pass through the connecting rod to slide up and down freely;
the four groups of electric steering driving wheels (4) can independently steer to realize walking in any direction; the mechanical arm (5) is a 6-axis cooperative mechanical arm and is used for installing various sensors;
the vehicle-mounted controller comprises a communication module which is communicated with the remote control terminal through a wireless network and receives a control instruction of the remote control terminal, so that the steering running of the robot, the height adjustment of the vehicle body and the work of the sensor are controlled.
2. The four-wheel electric drive omnidirectional mobile robot in dry land field according to claim 1, wherein the electric steering driving wheel (4) comprises a servo motor (4-1), a speed reducer (4-2), a steering gear (4-3), a suspension structure (4-4) and driving wheels (4-5), and the suspension structure is used for installing the driving wheels;
a steering gear and a hanging structure are arranged below the base (3-1), and the hanging structure is driven to rotate by the rotation of the steering gear, so that the driving wheel is driven to steer; the steering gear (4-3) rotates by a required angle under the control of the vehicle-mounted controller by the servo motor (4-1) and the speed reducer (4-2);
the driving wheel (4-5) is composed of a DC brushless gear motor and a tire.
3. The four-wheel electric drive omnidirectional mobile robot for dry land fields according to claim 2, wherein the vehicle-mounted controller controls the work of a servo motor, a direct current brushless gear motor, a mechanical arm and various sensors on the robot, and meanwhile, a power supply supplies power to the equipment, and the vehicle-mounted controller and the power supply are electrically connected with the equipment through cables.
4. The four-wheel electrically driven omnidirectional mobile robot of claim 1, wherein the robot comprises 8 sets of air bags, 4 sets of air bags positioned in the vehicle body and 4 sets of air bags positioned in the bracket, each air bag is provided with a vehicle-mounted miniature air source, and the air bags are controlled by a vehicle-mounted controller to be regulated independently.
5. The four-wheel electric drive omnidirectional mobile robot in dry land field of claim 4, further comprising an angle sensor installed on the vehicle body, a pressure sensor installed for 4 groups of air bags of the bracket, and a vehicle-mounted controller for feeding back the angle data and the pressure data to realize the angle adjustment of the vehicle body and the pressure adjustment of the air bags.
6. The four-wheel electrically driven omnidirectional mobile robot in dry land field of claim 5, wherein the on-board controller uses a double control loop adaptive algorithm to calculate the angle and pressure, comprising the following steps:
(1) The angle sensor measures the angle of the vehicle body relative to
The offset of the plane represents the angle +.>
Transmitting the data into an angle controller; obtaining the change amount required by angle control according to the target angle required by the platform>
Transmitting the pressure to a pressure controller;
(2) Four-way pressure sensor real-time monitoring air bag pressure value
Feedback to the pressure controller;
(3) Controlling the required variation according to the angle
And balloon pressure value->
Calculating the required variation of the pressure controller>
The method comprises the steps of carrying out a first treatment on the surface of the Calculation time healdTaking into account the balloon pressure threshold +.>
Constraint conditions relatively uniform to four-wheel grip;
the constraint conditions are as follows:
(4) The vehicle-mounted controller controls the vehicle-mounted miniature air source to adjust the air bag according to the pressure required variable output by the pressure controller;
(5) Four-way pressure sensor real-time monitoring air bag pressure value
Feedback to the pressure controller; the angle measuring sensor monitors the angle of the car body in real time, and the angle represents +.>
And the optimal solution is obtained by transmitting the optimal solution into a vehicle body angle controller and performing multiple adjustments.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106394687A (en) * | 2016-11-15 | 2017-02-15 | 杜杭泽 | Vehicle frame mechanism with distance-adjustable wheels |
| CN108749946B (en) * | 2018-06-21 | 2019-12-03 | 中科新松有限公司 | Driving wheel system, mobile platform and robot |
| CN209300055U (en) * | 2018-10-31 | 2019-08-27 | 湖南农业大学 | A kind of double leveling electronic fog machines of high-clearance of vehicle frame spray boom based on vertical lift |
| CN210082863U (en) * | 2019-02-01 | 2020-02-18 | 广州极飞科技有限公司 | Unmanned vehicle for plant protection |
| CN111645478B (en) * | 2020-05-27 | 2021-07-20 | 农业农村部南京农业机械化研究所 | Wheeled farmland management robot with flexible profiling chassis and profiling control method |
| CN112706851A (en) * | 2020-12-24 | 2021-04-27 | 广州市威控机器人有限公司 | Slidable wheel-foot robot and control method thereof |
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