WO2020173184A1 - Vehicle power control system and method - Google Patents

Vehicle power control system and method Download PDF

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Publication number
WO2020173184A1
WO2020173184A1 PCT/CN2019/125463 CN2019125463W WO2020173184A1 WO 2020173184 A1 WO2020173184 A1 WO 2020173184A1 CN 2019125463 W CN2019125463 W CN 2019125463W WO 2020173184 A1 WO2020173184 A1 WO 2020173184A1
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WO
WIPO (PCT)
Prior art keywords
tire
control
telescopic arm
real
control module
Prior art date
Application number
PCT/CN2019/125463
Other languages
French (fr)
Chinese (zh)
Inventor
何仁城
Original Assignee
深圳市大可奇科技有限公司
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Application filed by 深圳市大可奇科技有限公司 filed Critical 深圳市大可奇科技有限公司
Publication of WO2020173184A1 publication Critical patent/WO2020173184A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present invention relates to the technical field of vehicle driving, in particular to a vehicle power control system and method.
  • One of the objectives of the present invention is to provide a vehicle power control system that accurately monitors and controls each tire of the vehicle body.
  • Another object of the present invention is to provide a vehicle power control method to accurately monitor and control each tire of the vehicle body.
  • the objective of the present invention can be achieved by designing a vehicle power control system, including a control module, a monitoring module, a drive motor, a steering motor, a rotating motor and/or a telescopic arm, and at least two tires;
  • the monitoring module is electrically connected to the control module
  • the control module is electrically connected to the control part of the drive motor, the control part of the steering motor, the control part of the rotating electric machine and/or the control part of the telescopic arm;
  • Each tire is equipped with at least one drive motor, steering motor, electric brake pads, monitoring module, telescopic arm and/or rotating motor.
  • the electric brake pads are arranged on the inner side of the tire, and the drive motor drives the tire to rotate.
  • the steering motor is mainly driven by the tire and electric
  • the drive wheel set consisting of brake pads and drive motor steers.
  • the steering motor and the frame are connected by a telescopic arm.
  • the rotary motor drives the steering motor and the telescopic arm to rotate axially, and the rotary motor is fixed on the frame.
  • the monitoring module includes a state monitoring module and a road condition monitoring module; the state monitoring module is arranged on the monitored component; the road condition monitoring module is arranged on the connecting frame, and the position is above the tire.
  • the status monitoring module is one of a real-time speed sensor, a real-time direction sensor, a real-time temperature sensor, a real-time arm length sensor, a real-time included angle sensor, and a real-time tire pressure sensor, or a combination of at least two sensors.
  • the road condition monitoring module includes one or a combination of a radar monitor and a video monitor.
  • the telescopic arm is one of a hydraulic telescopic arm or an electric telescopic arm or a combination of both.
  • the interface of the operation panel includes tire direction control keys, acceleration control keys, deceleration control keys, maximum speed control keys, constant speed control keys, steering angle speed control keys, acceleration Control key, distance control key between tire and frame, control key of included angle between telescopic arm and frame.
  • the objective of the present invention can be achieved by designing a vehicle power control method, including the following steps:
  • the monitoring module transmits the monitoring information to the control module, and displays the monitoring information on the operation panel for users to understand;
  • S2 According to the information displayed on the operation panel, the user selects the interface corresponding to the operation panel and sends instructions to the control module through the operation panel; or the intelligent automation system sends instructions to the control module;
  • the control module controls the actions of the drive motor, steering motor, rotating motor, electric brake pads, and telescopic arm according to instructions.
  • step S1 the radar monitor or video monitor of the road condition monitoring module transmits the road condition information of each tire to the control module, and the status monitoring module transmits the real-time speed information, real-time direction information, and real-time temperature information of each tire , Real-time tire pressure information, real-time boom length information of the telescopic arm, real-time angle information of the telescopic arm and frame are transmitted to the control module.
  • step S3 are respectively that the control module controls the driving motor to adjust the tire speed according to the instruction; the control module controls the steering motor to adjust the direction of the tire according to the instruction; the control module controls the telescopic arm to adjust the telescopic length of the telescopic arm according to the instruction; The control module controls the rotating electric machine to adjust the angle between the tire assembly and the frame according to the instruction; the control module controls the electric brake pad to control the rotation speed of the tire according to the instruction.
  • the invention effectively monitors the power system of the vehicle, and transmits the monitoring information to the operation panel.
  • the user or the intelligent automation system can make corresponding instructions according to the status information and road condition information of each tire, and accurately control the operation of each tire.
  • Figure 1 is a block diagram of a preferred embodiment of the present invention
  • Figure 2 is a schematic diagram of a tire set according to a preferred embodiment of the present invention.
  • Fig. 3 is a schematic diagram of the angle change of the tire group according to the preferred embodiment of the present invention.
  • a vehicle power control system includes a control module 1, a monitoring module 2, a drive motor 3, a steering motor 4, a rotating motor 5, a telescopic arm 11, a power source 7 and at least two tires 81; a monitoring module 2 Electrically connected to the control module 1.
  • the control module 1 is electrically connected to the control section of the drive motor 3, the control section of the steering motor 4, the control section of the rotating electric machine 5, and the control section of the telescopic arm 11.
  • the power supply 7 provides power for each module and motor .
  • the power source 7 is a battery and/or a generator. This embodiment is preferable, and both the rotating motor 5 and the telescopic arm 11 are used; it can also be a reduced version of the rotating motor 5 or the telescopic arm 11 alone.
  • each tire 81 is configured with at least one drive motor 3, steering motor 4, electric brake pad 10, monitoring module 2, telescopic arm 11, and rotating motor 5.
  • the electric brake pad 10 is arranged inside the tire 81 to drive
  • the motor 3 drives the tire 81 to rotate
  • the steering motor 4 drives the driving wheel set mainly composed of the tire 81, the electric brake pad 10, and the drive motor 3 to steer.
  • the steering motor 4 and the frame 9 are connected by a telescopic arm 11, and the rotating motor 5 drives The steering motor 4 and the telescopic arm 11 rotate axially, and the rotating motor 5 is fixed on the frame 9.
  • Each tire 81 can be individually provided with a control module, or a general control module 1 can be provided to control the components corresponding to each tire 81.
  • the driving motor 3 may be an in-wheel motor, which is installed at the hub of the tire 81 to be integrated with the tire 81.
  • the driving motor 3 is used to drive the tire 81 to rotate and travel;
  • the steering motor 4 is used to drive the tire 81 for steering rotation;
  • the telescopic arm 11 is used to change the distance between the vehicle floor and the ground or the distance between the frame 9 and the tire 81;
  • the rotating motor 5 Used to drive the telescopic arm 11 to rotate back and forth to change the angle between the telescopic arm 11 and the ground, as shown in Figure 3; when going up and down, the rotating motor 5 drives the telescopic arm 11 to reduce the angle with the direction of gravity, so that the direction of gravity and The extension direction of the telescopic arm 11 is the same.
  • Both the steering motor 4 and the rotating motor 5 are provided with a transmission mechanism and a holding and locking mechanism. After the relevant parts driven by the motor rotate to a set position, the holding and locking mechanism locks the rotor of the relevant motor.
  • the monitoring module 2 includes a state monitoring module 21 and a road condition monitoring module 22; the state monitoring module 21 is arranged on the monitored component; the road condition monitoring module 22 is arranged on the connecting frame 91 and is located above the tire 81.
  • the state monitoring module 21 is one of a real-time speed sensor, a real-time direction sensor, a real-time temperature sensor, a real-time arm length sensor, a real-time angle sensor, and a real-time tire pressure sensor, or a combination of at least two sensors.
  • the road condition monitoring module 22 includes one or a combination of a radar monitor and a video monitor.
  • the telescopic arm 11 is one of a hydraulic telescopic arm or an electric telescopic arm or a combination of both.
  • the telescopic arm 11 is a hydraulic telescopic arm.
  • the interface settings of the operation panel 6 include tire 81 direction control keys, acceleration control keys, deceleration control keys, maximum speed control keys, constant speed control keys, and steering angle speed control Key, acceleration control key, distance control key between tire and frame, and angle control key between telescopic arm and frame.
  • the power supply 7 is electrically connected to the operation panel 6, the operation panel 6 is electrically connected to the control module 1, and the control module 1 is electrically connected to the electric brake pad 10, the telescopic arm 11, the state monitoring module 21, and the road condition monitoring module 22.
  • the operation panel 6 includes a display unit and a key unit. In this example, a touch-operable display screen is preferred.
  • a vehicle power control method includes the following steps:
  • the monitoring module 2 transmits the monitoring information to the control module 1, and displays the monitoring information on the operation panel 6 for users to understand.
  • the radar monitor and video monitor of the road condition monitoring module 22 transmit the road condition information of each tire 81 to the control module 1; the real-time speed sensor of the status monitoring module 21 transmits the real-time rotational speed information of each tire 81 to the control module 1.
  • the real-time direction sensor of the state monitoring module 21 transmits the real-time direction information of each tire 81 to the control module 1, and the real-time temperature sensor of the state monitoring module 21 transmits the real-time temperature information of each tire 81 to the control module 1; the state monitoring module 21
  • the real-time tire pressure sensor of each tire 81 transmits the real-time tire pressure information of each tire 81 to the control module 1; the real-time arm length sensor of the status monitoring module 21 transmits the real-time arm length information of the telescopic arm 11 of each tire 81 to the control module 1;
  • the real-time included angle sensor of the status monitoring module 21 transmits the real-time angle information of the telescopic arm 11 and the frame 9 of each tire 81 to the control module 1.
  • S2 According to the display information of the operation panel 6, the user selects the interface corresponding to the operation panel 6, and sends instructions to the control module 1 through the operation panel 6; or the intelligent automation system processes according to the received information and sends the instructions to the control module 1 .
  • the control module 1 controls the actions of the driving motor 3, the steering motor 4, the rotating motor 5, the telescopic arm 11 and the electric brake pad 10 according to the instruction.
  • step S3 The actions in step S3 are that the control module 1 controls the driving motor 3 to adjust the speed of the tire 81 according to the instruction; the control module 1 controls the steering motor 4 to adjust the direction of the tire 81 according to the instruction; the control module 1 controls the telescopic arm 11 to adjust the expansion and contraction according to the instruction The telescopic length of the arm 11; the control module 1 controls the rotating motor 5 to adjust the angle between the telescopic arm 11 corresponding to the tire 81 and the frame 9 according to the instruction; the control module 1 controls the electric brake pad 10 to control the deceleration of the tire 81 according to the instruction.
  • the form of speed acceleration control includes: individual acceleration control of each tire 81, simultaneous synchronous acceleration control of all tires 81, simultaneous synchronous acceleration control of all front wheels, simultaneous synchronous acceleration control of all rear wheels, and simultaneous synchronization of all middle tires 81 Acceleration control, simultaneous synchronous acceleration control of all left tires 81, simultaneous synchronous acceleration control of all right tires 81, or a combination thereof; the adjustment of speed acceleration control includes: the driving motor 3 corresponding to the tire 81 adjusts the speed of the tire 81 and the corresponding The driving motor 3 does not apply any forward power or resistance to the tire 81 so that the tire 81 is in a free running mode.
  • the form of speed deceleration control includes: individual deceleration control for each tire 81, simultaneous synchronous deceleration control for all tires 81, simultaneous synchronous deceleration control for all front wheels, simultaneous synchronous deceleration control for all rear wheels, and simultaneous synchronization for all middle tires 81 Deceleration control, simultaneous synchronous deceleration control of all left tires 81, simultaneous synchronous deceleration control of all right tires 81, or a combination thereof;
  • the adjustment of speed deceleration control includes: the electric brake pad 10 corresponding to the tire 81 controls the deceleration of the tire 81, The corresponding electric brake pad 10 does not apply resistance to the tire 81 and makes the tire 81 in a free running mode.
  • Direction control includes: respective direction control of each tire 81 of the vehicle, simultaneous synchronization direction control of all tires 81, simultaneous synchronization direction control of all front wheels, simultaneous synchronization direction control of all rear wheels, simultaneous synchronization direction of all middle tires 81 Control, simultaneous synchronous direction control of all left tires 81, simultaneous synchronous direction control of all right tires 81, or combination.
  • the status monitoring module 21 is a combination of a real-time speed sensor and a real-time direction sensor; the road condition monitoring module 22 is set as a video monitor; and the telescopic arm 11 is set as an electric telescopic arm.
  • Vehicle power control method, S1 The monitoring information is transmitted to the control module 1 through the monitoring module 2, and the monitoring information is displayed on the operation panel 6 for the user to see.
  • the video monitor of the road condition monitoring module 22 transmits the road condition information of each tire 81 to the control module 1.
  • the real-time rotational speed sensor transmits the real-time rotational speed information of each tire 81 to the control module 1, and the real-time direction sensor transmits the information of each tire 81 Real-time direction information is transmitted to the control module 1.
  • the control module 1 controls the rotation of the driving motor 3, the steering motor 4, the rotating motor 5, and the actions of the electric brake pad 10 and the telescopic arm 11 according to the instructions.
  • the control module 1 controls the driving motor 3 to adjust the speed of the tire 81 according to the instruction;
  • the control module 1 controls the steering motor 4 to adjust the direction of the tire 81 according to the instruction;
  • the control module 1 controls the rotating motor 5 to adjust the telescopic arm 11 corresponding to the tire 81 according to the instruction
  • the control module 1 controls the electric brake pad 10 to control the deceleration of the tire 81 according to the instruction;
  • the control module 1 controls the telescopic arm 11 according to the instruction to adjust the distance between the frame and the ground corresponding to the tire 81.
  • the center point of the line segment corresponding to the respective axis centers of the two front wheels is A
  • the center point B of the line segment corresponding to the respective axis centers of the two rear wheels is A
  • the straight line where AB is located is one of the central axis of the vehicle.
  • the central point C of the AB line segment is a vertical AB straight line CD at point C.
  • the AB straight line and the CD straight line are respectively level with the ground.
  • the direction of the tires 81 of the vehicle are facing the direction AB or not, when the mode of "all tires simultaneous direction control" on the operation panel 6 is used, only the direction control keys on the operation panel 6 need to be modulated.
  • Uniform and real-time make the directions of the four tires 81 the same, or realize more intuitive control by shaking the handle with sensors.
  • the direction of the tires 81 can be all parallel to the CD line, and then each tire 81 can be driven at the same speed to realize the parallel movement of the vehicle, and the direction of movement is perpendicular to AB.
  • the circumscribed circle O of the rectangle where the axis of the four tires 81 is located (Take point C as the center of the circle).
  • the direction of each tire 81 is adjusted to be consistent with the tangent direction of the circumscribed circle O, it can be achieved when driving the driving motor 3 of one tire 81 or when driving all of them.
  • the rotation of the vehicle in the horizontal direction at 360 degrees.
  • the direction of the telescopic arm 11 of each tire 81 is controlled by the rotating motor 5 to be consistent with the direction of gravity, and then the telescopic arms 11 of the two rear tires 81 are controlled to extend to make the distance between the rear body and the ground Increase, so as to achieve that the body remains level during the uphill process to increase driving comfort. The same goes for downhill.
  • the invention effectively monitors the power system of the vehicle and transmits the monitoring information to the operation panel.
  • the user or intelligent automation system can make corresponding instructions according to the status information and road condition information of each tire, and accurately control the direction of each tire , Speed, achieve intelligent automated safe driving.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Analytical Chemistry (AREA)
  • Chemical & Material Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Mathematical Physics (AREA)
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  • Steering Control In Accordance With Driving Conditions (AREA)
  • Power Steering Mechanism (AREA)

Abstract

Disclosed are a vehicle power control system and method. The system comprises a control module (1), a monitoring module (2), a drive electric motor (3), a steering electric motor (4), a rotating electric motor (5) and/or a telescopic arm (11), and at least two tires (81), wherein the monitoring module (2) is electrically connected to the control module (1), and the control module (1) is electrically connected to the drive electric motor (3), the steering electric motor (4), the rotating electric motor (5) and a control portion of the telescopic arm (11). The method comprises the following steps: a monitoring module (2) transmitting monitoring information to a control module (1), and displaying the monitoring information on an operation panel (6); according to display information, a user selecting an interface corresponding to the operation panel (6), and sending an instruction to the control module (1) by means of the operation panel (6); and the control module (1) controlling the actions of the drive electric motor (3), the steering electric motor (4), the rotating electric motor (5), an electric brake pad (10) and the telescopic arm (11) according to the instruction. The user can make the corresponding instruction according to state information of each tire and road condition information, so as to precisely control the direction and speed of each tire, thereby achieving intelligent automated safe driving.

Description

车辆动力控制***及方法Vehicle power control system and method 技术领域Technical field
本发明涉及车辆驱动技术领域，特别是涉及一种车辆动力控制***及方法。The present invention relates to the technical field of vehicle driving, in particular to a vehicle power control system and method.
背景技术Background technique
现有的车辆方向控制绝大多数仅限于前轮的方向控制；且车辆的速度控制仅限于整体车辆的速度控制；不能够对车辆的每个轮胎进行严密的监控和控制，在出现意外时，不能够对车身的每个轮胎进行精确的监控及控制，在快速发展的现代，智能自动化车辆将会成为我们新的代步工具，所以需要对车辆的每个轮胎进行监控及精细控制，才能够达到智能自动化安全驾驶。Most of the existing vehicle direction control is limited to the direction control of the front wheels; and the speed control of the vehicle is limited to the speed control of the overall vehicle; it is impossible to closely monitor and control each tire of the vehicle. In the event of an accident, It is impossible to accurately monitor and control each tire of the vehicle body. In the fast-developing modern era, intelligent automated vehicles will become our new means of transportation. Therefore, each tire of the vehicle needs to be monitored and finely controlled to achieve Intelligent automated safe driving.
发明内容Summary of the invention
本发明的目的之一在于提供一种车辆动力控制***，对车身的每个轮胎进行精确的监控及控制。One of the objectives of the present invention is to provide a vehicle power control system that accurately monitors and controls each tire of the vehicle body.
本发明的另一目的在于提供一种车辆动力控制方法，对车身的每个轮胎进行精确的监控及控制。Another object of the present invention is to provide a vehicle power control method to accurately monitor and control each tire of the vehicle body.
本发明的目的可以这样实现，设计一种车辆动力控制***，包括控制模块、监控模块、驱动电机、转向电机、旋转电机和/或伸缩臂、以及至少两个轮胎；监控模块电连接于控制模块，控制模块电连接于驱动电机的控制部、转向电机的控制部、旋转电机的控制部和/或伸缩臂的控制部；The objective of the present invention can be achieved by designing a vehicle power control system, including a control module, a monitoring module, a drive motor, a steering motor, a rotating motor and/or a telescopic arm, and at least two tires; the monitoring module is electrically connected to the control module , The control module is electrically connected to the control part of the drive motor, the control part of the steering motor, the control part of the rotating electric machine and/or the control part of the telescopic arm;
每个轮胎至少对应配置一个驱动电机、转向电机、电动刹车片、监控模块、伸缩臂和/或旋转电机，电动刹车片设置在轮胎内侧，驱动电机驱动轮胎旋转，转向电机驱动主要由轮胎、电动刹车片、驱动电机组成的驱动轮组转向，转向电机与车架之间通过伸缩臂连接，旋转电机驱动转向电机与伸缩臂轴向旋转，旋转电机固定在车架上。Each tire is equipped with at least one drive motor, steering motor, electric brake pads, monitoring module, telescopic arm and/or rotating motor. The electric brake pads are arranged on the inner side of the tire, and the drive motor drives the tire to rotate. The steering motor is mainly driven by the tire and electric The drive wheel set consisting of brake pads and drive motor steers. The steering motor and the frame are connected by a telescopic arm. The rotary motor drives the steering motor and the telescopic arm to rotate axially, and the rotary motor is fixed on the frame.
进一步地，监控模块包括状态监控模块和路况监控模块；状态监控模块设置在被监控部件上；路况监控模块设置在连接车架上，位置在轮胎的上方。Further, the monitoring module includes a state monitoring module and a road condition monitoring module; the state monitoring module is arranged on the monitored component; the road condition monitoring module is arranged on the connecting frame, and the position is above the tire.
更进一步地，状态监控模块为实时转速传感器、实时方向传感器、实时温度传感器、实时臂长传感器、实时夹角传感器、实时胎压传感器中的之一或至少两种传感器的组合。Furthermore, the status monitoring module is one of a real-time speed sensor, a real-time direction sensor, a real-time temperature sensor, a real-time arm length sensor, a real-time included angle sensor, and a real-time tire pressure sensor, or a combination of at least two sensors.
更进一步地，路况监控模块包括雷达监控器和视频监控器中的之一或两者的组合。Furthermore, the road condition monitoring module includes one or a combination of a radar monitor and a video monitor.
进一步地，伸缩臂为液压伸缩臂或电动伸缩臂中的之一或两者的组合。Further, the telescopic arm is one of a hydraulic telescopic arm or an electric telescopic arm or a combination of both.
进一步地，还包括操作面板，操作面板电连接于控制模块；操作面板的界面包括轮胎的方向控制键、加速控制键、减速控制键、最大速率控制键、匀速控制键、转向角速度控制键、加速度控制键、轮胎与车架的距离控制键、伸缩臂与车架的夹角控制键。Further, it also includes an operation panel, which is electrically connected to the control module; the interface of the operation panel includes tire direction control keys, acceleration control keys, deceleration control keys, maximum speed control keys, constant speed control keys, steering angle speed control keys, acceleration Control key, distance control key between tire and frame, control key of included angle between telescopic arm and frame.
本发明的目的可以这样实现，设计一种车辆动力控制方法，包括以下步骤：The objective of the present invention can be achieved by designing a vehicle power control method, including the following steps:
S1：监控模块将监控信息传输到控制模块，并将监控信息显示在操作面板上，供使用者了解；S1: The monitoring module transmits the monitoring information to the control module, and displays the monitoring information on the operation panel for users to understand;
S2：根据操作面板显示信息，使用者选择操作面板相对应的界面，通过操作面板发送指令到控制模块；或智能自动化***发送指令到控制模块；S2: According to the information displayed on the operation panel, the user selects the interface corresponding to the operation panel and sends instructions to the control module through the operation panel; or the intelligent automation system sends instructions to the control module;
S3：控制模块根据指令控制驱动电机、转向电机、旋转电机、电动刹车片、伸缩臂的动作。S3: The control module controls the actions of the drive motor, steering motor, rotating motor, electric brake pads, and telescopic arm according to instructions.
进一步地，S1步骤中，路况监控模块的雷达监控器或视频监控器将每个轮胎所在的路况信息传输至控制模块，状态监控模块将每个轮胎的实时转速信息、实时方向信息、实时温度信息、实时胎压信息、伸缩臂的实时臂长信息、伸缩臂与车架的实时角度信息传输至控制模块。Further, in step S1, the radar monitor or video monitor of the road condition monitoring module transmits the road condition information of each tire to the control module, and the status monitoring module transmits the real-time speed information, real-time direction information, and real-time temperature information of each tire , Real-time tire pressure information, real-time boom length information of the telescopic arm, real-time angle information of the telescopic arm and frame are transmitted to the control module.
进一步地，S3步骤中的动作分别为控制模块根据指令控制驱动电机调整该轮胎的转速；控制模块根据指令控制转向电机调整该轮胎的方向；控制模块根据指令控制伸缩臂调整伸缩臂的伸缩长度；控制模块根据指令控制旋转电机调整该轮胎组件与车架的夹角；控制模块根据指令控制电动刹车片控制该轮胎的转动速度。Further, the actions in step S3 are respectively that the control module controls the driving motor to adjust the tire speed according to the instruction; the control module controls the steering motor to adjust the direction of the tire according to the instruction; the control module controls the telescopic arm to adjust the telescopic length of the telescopic arm according to the instruction; The control module controls the rotating electric machine to adjust the angle between the tire assembly and the frame according to the instruction; the control module controls the electric brake pad to control the rotation speed of the tire according to the instruction.
本发明对车辆的动力***进行有效的监控，并将监控信息传输至操作面板，使用者或智能自动化***能够根据每个轮胎的状态信息及路况信息作出相对应的指令，精确控制每个轮胎的方向、速率，达到智能自动化安全驾驶。The invention effectively monitors the power system of the vehicle, and transmits the monitoring information to the operation panel. The user or the intelligent automation system can make corresponding instructions according to the status information and road condition information of each tire, and accurately control the operation of each tire. Direction and speed to achieve intelligent automated safe driving.
附图说明Description of the drawings
图1是本发明较佳实施例的方框图；Figure 1 is a block diagram of a preferred embodiment of the present invention;
图2是本发明较佳实施例之轮胎组的示意图；Figure 2 is a schematic diagram of a tire set according to a preferred embodiment of the present invention;
图3是本发明较佳实施例之轮胎组角度变换的示意图。Fig. 3 is a schematic diagram of the angle change of the tire group according to the preferred embodiment of the present invention.
具体实施方式detailed description
以下结合实施例对本发明作进一步的描述。The present invention will be further described below in conjunction with embodiments.
如图1所示，一种车辆动力控制***，包括控制模块1、监控模块2、驱动电机3、转向电机4、旋转电机5、伸缩臂11、电源7以及至少两个轮胎81；监控模块2电连接于控制模块1，控制模块1电连接于驱动电机3的控制部、转向电机4的控制部、旋转电机5的控制部、伸缩臂11的控制部，电源7为各模块和电机提供电能。电源7为蓄电池和/或发电机。本实施例是较佳的，旋转电机5和伸缩臂11都采用的；也可以是单采用旋转电机5或伸缩臂11的减配版。As shown in Figure 1, a vehicle power control system includes a control module 1, a monitoring module 2, a drive motor 3, a steering motor 4, a rotating motor 5, a telescopic arm 11, a power source 7 and at least two tires 81; a monitoring module 2 Electrically connected to the control module 1. The control module 1 is electrically connected to the control section of the drive motor 3, the control section of the steering motor 4, the control section of the rotating electric machine 5, and the control section of the telescopic arm 11. The power supply 7 provides power for each module and motor . The power source 7 is a battery and/or a generator. This embodiment is preferable, and both the rotating motor 5 and the telescopic arm 11 are used; it can also be a reduced version of the rotating motor 5 or the telescopic arm 11 alone.
如图2所示，每个轮胎81至少对应配置一个驱动电机3、转向电机4、电动刹车片10、监控模块2、伸缩臂11、旋转电机5，电动刹车片10设置在轮胎81内侧，驱动电机3驱动轮胎81旋转，转向电机4驱动主要由轮胎81、电动刹车片10、驱动电机3组成的驱动轮组转向，转向电机4与车架9之间通过伸缩臂11连接，旋转电机5驱动转向电机4与伸缩臂11轴向旋转，旋转电机5固定在车架9上。每个轮胎81可单独设置一个控制模块，也可设置一个总的控制模块1控制每个轮胎81对应配置的部件。驱动电机3可以是轮毂电机，安装在轮胎81的轮毂处与轮胎81形成一体。驱动电机3用于驱动轮胎81旋转行进；转向电机4用于驱动轮胎81进行转向转动；伸缩臂11用于改变车辆底板与地面的距离或车架9与轮胎81之间的距离；旋转电机5用于驱动伸缩臂11前后 转动以改变伸缩臂11与地面的夹角，如图3所示；在上下坡时，旋转电机5驱动伸缩臂11减小与重力方向的夹角，使得重力方向与伸缩臂11延伸方向一致。转向电机4和旋转电机5均设有传动机构和抱紧锁定机构，在被电机驱动的相关部件转动到设定位置后，抱紧锁定机构锁定相关电机的转子。As shown in Figure 2, each tire 81 is configured with at least one drive motor 3, steering motor 4, electric brake pad 10, monitoring module 2, telescopic arm 11, and rotating motor 5. The electric brake pad 10 is arranged inside the tire 81 to drive The motor 3 drives the tire 81 to rotate, and the steering motor 4 drives the driving wheel set mainly composed of the tire 81, the electric brake pad 10, and the drive motor 3 to steer. The steering motor 4 and the frame 9 are connected by a telescopic arm 11, and the rotating motor 5 drives The steering motor 4 and the telescopic arm 11 rotate axially, and the rotating motor 5 is fixed on the frame 9. Each tire 81 can be individually provided with a control module, or a general control module 1 can be provided to control the components corresponding to each tire 81. The driving motor 3 may be an in-wheel motor, which is installed at the hub of the tire 81 to be integrated with the tire 81. The driving motor 3 is used to drive the tire 81 to rotate and travel; the steering motor 4 is used to drive the tire 81 for steering rotation; the telescopic arm 11 is used to change the distance between the vehicle floor and the ground or the distance between the frame 9 and the tire 81; the rotating motor 5 Used to drive the telescopic arm 11 to rotate back and forth to change the angle between the telescopic arm 11 and the ground, as shown in Figure 3; when going up and down, the rotating motor 5 drives the telescopic arm 11 to reduce the angle with the direction of gravity, so that the direction of gravity and The extension direction of the telescopic arm 11 is the same. Both the steering motor 4 and the rotating motor 5 are provided with a transmission mechanism and a holding and locking mechanism. After the relevant parts driven by the motor rotate to a set position, the holding and locking mechanism locks the rotor of the relevant motor.
监控模块2包括状态监控模块21和路况监控模块22；状态监控模块21设置在被监控部件上；路况监控模块22设置在连接车架91上，位置在轮胎81的上方。The monitoring module 2 includes a state monitoring module 21 and a road condition monitoring module 22; the state monitoring module 21 is arranged on the monitored component; the road condition monitoring module 22 is arranged on the connecting frame 91 and is located above the tire 81.
状态监控模块21为实时转速传感器、实时方向传感器、实时温度传感器、实时臂长传感器、实时夹角传感器、实时胎压传感器中的之一或至少两种传感器的组合。The state monitoring module 21 is one of a real-time speed sensor, a real-time direction sensor, a real-time temperature sensor, a real-time arm length sensor, a real-time angle sensor, and a real-time tire pressure sensor, or a combination of at least two sensors.
路况监控模块22包括雷达监控器和视频监控器中的之一或两者的组合。The road condition monitoring module 22 includes one or a combination of a radar monitor and a video monitor.
伸缩臂11为液压伸缩臂或电动伸缩臂中的之一或两者的组合。本实施例中，伸缩臂11为液压伸缩臂。The telescopic arm 11 is one of a hydraulic telescopic arm or an electric telescopic arm or a combination of both. In this embodiment, the telescopic arm 11 is a hydraulic telescopic arm.
还包括操作面板6，操作面板6电连接于控制模块1；操作面板6的界面设置包括轮胎81的方向控制键、加速控制键、减速控制键、最大速率控制键、匀速控制键、转向角速度控制键、加速度控制键、轮胎与车架的距离控制键、伸缩臂与车架的夹角控制键。电源7电连接于操作面板6，操作面板6电连接于控制模块1，控制模块1电连接于电动刹车片10、伸缩臂11、状态监控模块21、路况监控模块22。该操作面板6包括：显示单元和按键单元，本实例优选的是可触摸操作的显示屏。It also includes an operation panel 6, which is electrically connected to the control module 1. The interface settings of the operation panel 6 include tire 81 direction control keys, acceleration control keys, deceleration control keys, maximum speed control keys, constant speed control keys, and steering angle speed control Key, acceleration control key, distance control key between tire and frame, and angle control key between telescopic arm and frame. The power supply 7 is electrically connected to the operation panel 6, the operation panel 6 is electrically connected to the control module 1, and the control module 1 is electrically connected to the electric brake pad 10, the telescopic arm 11, the state monitoring module 21, and the road condition monitoring module 22. The operation panel 6 includes a display unit and a key unit. In this example, a touch-operable display screen is preferred.
一种车辆动力控制方法，包括以下步骤：A vehicle power control method includes the following steps:
S1：监控模块2将监控信息传输到控制模块1，并将监控信息显示在操作面板6上，供使用者了解。S1: The monitoring module 2 transmits the monitoring information to the control module 1, and displays the monitoring information on the operation panel 6 for users to understand.
路况监控模块22的雷达监控器和视频监控器将每个轮胎81所在的路况信息传输至控制模块1；状态监控模块21的实时转速传感器将每个轮胎81的实时转速信息传输至控制模块1，状态监控模块21的实时方向传感器将每个轮胎81的实时方向信息传输至控制模块1，状态监控模块21的实时温度传感器将每个轮胎81的实时温度信息传输至控制模块1；状态监控模块21的实时胎压传 感器将每个轮胎81的实时胎压信息传输至控制模块1；状态监控模块21的实时臂长传感器将每个轮胎81的伸缩臂11的实时臂长信息传输至控制模块1；状态监控模块21的实时夹角传感器将每个轮胎81的伸缩臂11与车架9的实时角度信息传输至控制模块1。The radar monitor and video monitor of the road condition monitoring module 22 transmit the road condition information of each tire 81 to the control module 1; the real-time speed sensor of the status monitoring module 21 transmits the real-time rotational speed information of each tire 81 to the control module 1. The real-time direction sensor of the state monitoring module 21 transmits the real-time direction information of each tire 81 to the control module 1, and the real-time temperature sensor of the state monitoring module 21 transmits the real-time temperature information of each tire 81 to the control module 1; the state monitoring module 21 The real-time tire pressure sensor of each tire 81 transmits the real-time tire pressure information of each tire 81 to the control module 1; the real-time arm length sensor of the status monitoring module 21 transmits the real-time arm length information of the telescopic arm 11 of each tire 81 to the control module 1; The real-time included angle sensor of the status monitoring module 21 transmits the real-time angle information of the telescopic arm 11 and the frame 9 of each tire 81 to the control module 1.
S2：根据操作面板6的显示信息，使用者选择操作面板6相对应的界面，通过操作面板6发送指令到控制模块1；或智能自动化***根据收到的信息进行处理并发送指令到控制模块1。S2: According to the display information of the operation panel 6, the user selects the interface corresponding to the operation panel 6, and sends instructions to the control module 1 through the operation panel 6; or the intelligent automation system processes according to the received information and sends the instructions to the control module 1 .
S3：控制模块1根据指令控制驱动电机3、转向电机4、旋转电机5、伸缩臂11及电动刹车片10的动作。S3: The control module 1 controls the actions of the driving motor 3, the steering motor 4, the rotating motor 5, the telescopic arm 11 and the electric brake pad 10 according to the instruction.
S3步骤中的动作分别为控制模块1根据指令控制驱动电机3调整该轮胎81的速率；控制模块1根据指令控制转向电机4调整该轮胎81的方向；控制模块1根据指令控制伸缩臂11调整伸缩臂11的伸缩长度；控制模块1根据指令控制旋转电机5调整该轮胎81对应的伸缩臂11与车架的9夹角；控制模块1根据指令控制电动刹车片10控制该轮胎81的减速。The actions in step S3 are that the control module 1 controls the driving motor 3 to adjust the speed of the tire 81 according to the instruction; the control module 1 controls the steering motor 4 to adjust the direction of the tire 81 according to the instruction; the control module 1 controls the telescopic arm 11 to adjust the expansion and contraction according to the instruction The telescopic length of the arm 11; the control module 1 controls the rotating motor 5 to adjust the angle between the telescopic arm 11 corresponding to the tire 81 and the frame 9 according to the instruction; the control module 1 controls the electric brake pad 10 to control the deceleration of the tire 81 according to the instruction.
速度加速控制的形式包括：每个轮胎81的各自加速控制、轮胎81全部的同时同步加速控制、所有前轮的同时同步加速控制、所有后轮的同时同步加速控制、所有中间轮胎81的同时同步加速控制、所有左侧轮胎81的同时同步加速控制、所有右侧轮胎81的同时同步加速控制或其组合；速度加速控制的调节包括：轮胎81对应的驱动电机3调整该轮胎81的速度、对应的驱动电机3不对该轮胎81施加任何前进的动力或者阻力而使该轮胎81处于自由行进模式。The form of speed acceleration control includes: individual acceleration control of each tire 81, simultaneous synchronous acceleration control of all tires 81, simultaneous synchronous acceleration control of all front wheels, simultaneous synchronous acceleration control of all rear wheels, and simultaneous synchronization of all middle tires 81 Acceleration control, simultaneous synchronous acceleration control of all left tires 81, simultaneous synchronous acceleration control of all right tires 81, or a combination thereof; the adjustment of speed acceleration control includes: the driving motor 3 corresponding to the tire 81 adjusts the speed of the tire 81 and the corresponding The driving motor 3 does not apply any forward power or resistance to the tire 81 so that the tire 81 is in a free running mode.
速度减速控制的形式包括：每个轮胎81的各自减速控制、轮胎81全部的同时同步减速控制、所有前轮的同时同步减速控制、所有后轮的同时同步减速控制、所有中间轮胎81的同时同步减速控制、所有左侧轮胎81的同时同步减速控制、所有右侧轮胎81的同时同步减速控制或者其组合；速度减速控制的调节包括：轮胎81对应的电动刹车片10控制该轮胎81的减速、对应的电动刹车片10不对该轮胎81施阻力而使该轮胎81处于自由行进模式。The form of speed deceleration control includes: individual deceleration control for each tire 81, simultaneous synchronous deceleration control for all tires 81, simultaneous synchronous deceleration control for all front wheels, simultaneous synchronous deceleration control for all rear wheels, and simultaneous synchronization for all middle tires 81 Deceleration control, simultaneous synchronous deceleration control of all left tires 81, simultaneous synchronous deceleration control of all right tires 81, or a combination thereof; the adjustment of speed deceleration control includes: the electric brake pad 10 corresponding to the tire 81 controls the deceleration of the tire 81, The corresponding electric brake pad 10 does not apply resistance to the tire 81 and makes the tire 81 in a free running mode.
方向的控制包括：车辆每个轮胎81的各自方向控制、全部轮胎81的同时同步方向控制、所有前轮的同时同步方向控制、所有后轮的同时同步方向控制、 所有中间轮胎81的同时同步方向控制、所有左侧轮胎81的同时同步方向控制、所有右侧轮胎81的同时同步方向控制或组合。Direction control includes: respective direction control of each tire 81 of the vehicle, simultaneous synchronization direction control of all tires 81, simultaneous synchronization direction control of all front wheels, simultaneous synchronization direction control of all rear wheels, simultaneous synchronization direction of all middle tires 81 Control, simultaneous synchronous direction control of all left tires 81, simultaneous synchronous direction control of all right tires 81, or combination.
在另一实施例中，状态监控模块21为实时转速传感器和实时方向传感器的组合；路况监控模块22设为视频监控器；伸缩臂11设为电动伸缩臂。In another embodiment, the status monitoring module 21 is a combination of a real-time speed sensor and a real-time direction sensor; the road condition monitoring module 22 is set as a video monitor; and the telescopic arm 11 is set as an electric telescopic arm.
车辆动力控制方法，S1：通过监控模块2将监控信息传输到控制模块1，并将监控信息显示在操作面板6上，供使用者看。路况监控模块22的视频监控器将每个轮胎81所在的路况信息传输至控制模块1，实时转速传感器将每个轮胎81的实时转速信息传输至控制模块1，实时方向传感器将每个轮胎81的实时方向信息传输至控制模块1。Vehicle power control method, S1: The monitoring information is transmitted to the control module 1 through the monitoring module 2, and the monitoring information is displayed on the operation panel 6 for the user to see. The video monitor of the road condition monitoring module 22 transmits the road condition information of each tire 81 to the control module 1. The real-time rotational speed sensor transmits the real-time rotational speed information of each tire 81 to the control module 1, and the real-time direction sensor transmits the information of each tire 81 Real-time direction information is transmitted to the control module 1.
S2：根据操作面板6显示信息，使用者或智能自动化***选择操作面板6相对应的界面，通过操作面板6发送指令到控制模块1；S2: According to the information displayed on the operation panel 6, the user or the intelligent automation system selects the interface corresponding to the operation panel 6, and sends instructions to the control module 1 through the operation panel 6;
S3：控制模块1根据指令控制驱动电机3、转向电机4、旋转电机的5转动以及电动刹车片10、伸缩臂11的动作。控制模块1根据指令控制驱动电机3调整该轮胎81的速度；控制模块1根据指令控制转向电机4调整该轮胎81的方向；控制模块1根据指令控制旋转电机5调整该轮胎81对应的伸缩臂11与车架9的角度；控制模块1根据指令控制电动刹车片10控制该轮胎81的减速；控制模块1根据指令控制伸缩臂11调整该轮胎81所对应的车架与地面的距离。S3: The control module 1 controls the rotation of the driving motor 3, the steering motor 4, the rotating motor 5, and the actions of the electric brake pad 10 and the telescopic arm 11 according to the instructions. The control module 1 controls the driving motor 3 to adjust the speed of the tire 81 according to the instruction; the control module 1 controls the steering motor 4 to adjust the direction of the tire 81 according to the instruction; the control module 1 controls the rotating motor 5 to adjust the telescopic arm 11 corresponding to the tire 81 according to the instruction The angle with the frame 9; the control module 1 controls the electric brake pad 10 to control the deceleration of the tire 81 according to the instruction; the control module 1 controls the telescopic arm 11 according to the instruction to adjust the distance between the frame and the ground corresponding to the tire 81.
以四轮汽车为例，两个前轮各自的轴心所对应的线段的中心点为A，两个后轮各自的轴心所对应的线段的中心点B。AB所在的直线为该车辆的中轴线之一，AB线段的中心点C，在C点处作一条垂直AB的直线CD，AB直线与CD直线分别与地面水平。Taking a four-wheel vehicle as an example, the center point of the line segment corresponding to the respective axis centers of the two front wheels is A, and the center point B of the line segment corresponding to the respective axis centers of the two rear wheels. The straight line where AB is located is one of the central axis of the vehicle. The central point C of the AB line segment is a vertical AB straight line CD at point C. The AB straight line and the CD straight line are respectively level with the ground.
不管该车辆的四个轮胎81现状是不是都朝向AB方向，当通过操作面板6上的:“全部轮胎同时同步方向控制”的模式时候，只需要调制操作面板6上的方向控制键就能够全部统一实时让四个轮胎81的方向一致，或者通过带传感器的摇动手柄实现更直观的控制。比如可以让轮胎81的方向全部与CD直线平行，然后同速率驱动每个轮胎81就实现了该车辆的平行移动，该移动方向与AB垂直。Regardless of whether the four tires 81 of the vehicle are facing the direction AB or not, when the mode of "all tires simultaneous direction control" on the operation panel 6 is used, only the direction control keys on the operation panel 6 need to be modulated. Uniform and real-time make the directions of the four tires 81 the same, or realize more intuitive control by shaking the handle with sensors. For example, the direction of the tires 81 can be all parallel to the CD line, and then each tire 81 can be driven at the same speed to realize the parallel movement of the vehicle, and the direction of movement is perpendicular to AB.
不管该车辆的四个轮胎81现状是不是都朝向AB方向，当通过操作面板6 上的:“每个轮胎各自方向控制”的模式时候，四个轮胎81的轴心所在的长方形的外接圆O(以C点为圆心)，当把每个轮胎81的方向分别调整为与外接圆O的切线方向一致的时候，当驱动一个轮胎81的驱动电机3的时候或者全部驱动的时候，就能实现该车辆的原地360度在水平方向的旋转。Regardless of whether the four tires 81 of the vehicle are facing the direction AB or not, when the mode of "control each tire's direction" on the operation panel 6, the circumscribed circle O of the rectangle where the axis of the four tires 81 is located (Take point C as the center of the circle). When the direction of each tire 81 is adjusted to be consistent with the tangent direction of the circumscribed circle O, it can be achieved when driving the driving motor 3 of one tire 81 or when driving all of them. The rotation of the vehicle in the horizontal direction at 360 degrees.
当车辆上坡的时候，首先通过旋转电机5控制每个轮胎81的伸缩臂11的方向与重力的方向一致，然后控制后面两个轮胎81的伸缩臂11伸展而使后面的车身与地面的距离增加，从而达到在上坡的过程中车身还是保持水平而增加驾乘的舒适度。下坡同理。When the vehicle is going uphill, firstly, the direction of the telescopic arm 11 of each tire 81 is controlled by the rotating motor 5 to be consistent with the direction of gravity, and then the telescopic arms 11 of the two rear tires 81 are controlled to extend to make the distance between the rear body and the ground Increase, so as to achieve that the body remains level during the uphill process to increase driving comfort. The same goes for downhill.
本发明对车辆的动力***进行有效的监控，并将监控信息传输操作面板，使用者或智能自动化***能够根据每个轮胎的状态信息及路况信息作出相对应的指令，精确控制每个轮胎的方向、速率，达到智能自动化安全驾驶。The invention effectively monitors the power system of the vehicle and transmits the monitoring information to the operation panel. The user or intelligent automation system can make corresponding instructions according to the status information and road condition information of each tire, and accurately control the direction of each tire , Speed, achieve intelligent automated safe driving.

Claims (9)

  1. 一种车辆动力控制***，其特征在于：包括控制模块(1)、监控模块(2)、驱动电机(3)、转向电机(4)、旋转电机(5)和/或伸缩臂(11)、以及至少两个轮胎(81)；监控模块(2)电连接于控制模块(1)，控制模块(1)电连接于驱动电机(3)的控制部、转向电机(4)的控制部、旋转电机(5)的控制部和/或伸缩臂(11)的控制部；A vehicle power control system, which is characterized by: comprising a control module (1), a monitoring module (2), a drive motor (3), a steering motor (4), a rotating motor (5) and/or a telescopic arm (11), And at least two tires (81); the monitoring module (2) is electrically connected to the control module (1), and the control module (1) is electrically connected to the control part of the drive motor (3), the control part of the steering motor (4), and the rotation The control part of the motor (5) and/or the control part of the telescopic arm (11);
    每个轮胎(81)至少对应配置一个驱动电机(3)、转向电机(4)、电动刹车片(10)、监控模块(2)、伸缩臂(11)和/或旋转电机(5)，电动刹车片(10)设置在轮胎(81)内侧，驱动电机(3)驱动轮胎(81)旋转，转向电机(4)驱动主要由轮胎(81)、电动刹车片(10)、驱动电机(3)组成的驱动轮组转向，转向电机(4)与车架(9)之间通过伸缩臂(11)连接，旋转电机(5)驱动转向电机(4)与伸缩臂(11)轴向旋转，旋转电机(5)固定在车架(9)上。Each tire (81) is configured with at least one drive motor (3), steering motor (4), electric brake pad (10), monitoring module (2), telescopic arm (11) and/or rotating motor (5), electric The brake pad (10) is arranged inside the tire (81), the driving motor (3) drives the tire (81) to rotate, and the steering motor (4) is driven by the tire (81), electric brake pad (10), and driving motor (3) The steering motor (4) is connected with the frame (9) through the telescopic arm (11), and the rotating motor (5) drives the steering motor (4) and the telescopic arm (11) to rotate axially and rotate. The motor (5) is fixed on the frame (9).
  2. 根据权利要求1所述的车辆动力控制***，其特征在于：监控模块(2)包括状态监控模块(21)和路况监控模块(22)；状态监控模块(21)设置在被监控部件上；路况监控模块(22)设置在连接车架(91)上，位置在轮胎(81)的上方。The vehicle power control system according to claim 1, characterized in that: the monitoring module (2) includes a state monitoring module (21) and a road condition monitoring module (22); the state monitoring module (21) is arranged on the monitored component; and the road condition The monitoring module (22) is arranged on the connecting frame (91), and the position is above the tire (81).
  3. 根据权利要求2所述的车辆动力控制***，其特征在于：状态监控模块(21)为实时转速传感器、实时方向传感器、实时温度传感器、实时臂长传感器、实时夹角传感器、实时胎压传感器中的之一或至少两种传感器的组合。The vehicle power control system according to claim 2, wherein the status monitoring module (21) is a real-time speed sensor, a real-time direction sensor, a real-time temperature sensor, a real-time arm length sensor, a real-time included angle sensor, and a real-time tire pressure sensor. One or a combination of at least two sensors.
  4. 根据权利要求2所述的车辆动力控制***，其特征在于：路况监控模块(22)包括雷达监控器和视频监控器中的之一或两者的组合。The vehicle power control system according to claim 2, characterized in that the road condition monitoring module (22) comprises one or a combination of a radar monitor and a video monitor.
  5. 根据权利要求1所述的车辆动力控制***，其特征在于：伸缩臂(11)为液压伸缩臂或电动伸缩臂中的之一或两者的组合。The vehicle power control system according to claim 1, wherein the telescopic arm (11) is one of a hydraulic telescopic arm or an electric telescopic arm or a combination of both.
  6. 根据权利要求1所述的车辆动力控制***，其特征在于：还包括操作面板(6)，操作面板(6)电连接于控制模块(1)；操作面板(6)的界 面包括轮胎(81)的方向控制键、加速控制键、减速控制键、最大速率控制键、匀速控制键、转向角速度控制键、加速度控制键、轮胎与车架的距离控制键、伸缩臂与车架的夹角控制键。The vehicle power control system according to claim 1, characterized in that it further comprises an operation panel (6), the operation panel (6) is electrically connected to the control module (1); the interface of the operation panel (6) includes tires (81) The direction control key, acceleration control key, deceleration control key, maximum rate control key, constant speed control key, steering angle speed control key, acceleration control key, distance control key between tire and frame, and angle control key between telescopic arm and frame .
  7. 一种车辆动力控制方法，其特征在于，包括以下步骤：A vehicle power control method, characterized by comprising the following steps:
    S1：监控模块将监控信息传输到控制模块，并将监控信息显示在操作面板上，供使用者了解；S1: The monitoring module transmits the monitoring information to the control module, and displays the monitoring information on the operation panel for users to understand;
    S2：根据操作面板显示信息，使用者选择操作面板相对应的界面，通过操作面板发送指令到控制模块；或智能自动化***发送指令到控制模块；S2: According to the information displayed on the operation panel, the user selects the interface corresponding to the operation panel and sends instructions to the control module through the operation panel; or the intelligent automation system sends instructions to the control module;
    S3：控制模块根据指令控制驱动电机、转向电机、旋转电机、电动刹车片、伸缩臂的动作。S3: The control module controls the actions of the drive motor, steering motor, rotating motor, electric brake pads, and telescopic arm according to instructions.
  8. 根据权利要求7所述的车辆动力控制方法，其特征在于：S1步骤中，路况监控模块的雷达监控器或视频监控器将每个轮胎所在的路况信息传输至控制模块，状态监控模块将每个轮胎的实时转速信息、实时方向信息、实时温度信息、实时胎压信息、伸缩臂的实时臂长信息、伸缩臂与车架的实时角度信息传输至控制模块。The vehicle power control method according to claim 7, characterized in that: in step S1, the radar monitor or video monitor of the road condition monitoring module transmits the road condition information of each tire to the control module, and the status monitoring module transmits each The real-time tire speed information, real-time direction information, real-time temperature information, real-time tire pressure information, real-time boom length information of the telescopic arm, real-time angle information of the telescopic arm and the frame are transmitted to the control module.
  9. 根据权利要求7所述的车辆动力控制方法，其特征在于：S3步骤中的动作分别为控制模块根据指令控制驱动电机调整该轮胎的转速；控制模块根据指令控制转向电机调整该轮胎的方向；控制模块根据指令控制伸缩臂调整伸缩臂的伸缩长度；控制模块根据指令控制旋转电机调整该轮胎组件与车架的夹角；控制模块根据指令控制电动刹车片控制该轮胎的转动速度。The vehicle power control method according to claim 7, wherein the actions in step S3 are respectively that the control module controls the driving motor to adjust the tire speed according to the instruction; the control module controls the steering motor to adjust the direction of the tire according to the instruction; The module controls the telescopic arm to adjust the telescopic length of the telescopic arm according to the instruction; the control module controls the rotating motor to adjust the angle between the tire assembly and the frame according to the instruction; the control module controls the electric brake pad to control the rotation speed of the tire according to the instruction.
PCT/CN2019/125463 2019-02-27 2019-12-15 Vehicle power control system and method WO2020173184A1 (en)

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