CN109178124B - Full-freedom chassis based on target tracking and control method - Google Patents
Full-freedom chassis based on target tracking and control method Download PDFInfo
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- CN109178124B CN109178124B CN201811106478.7A CN201811106478A CN109178124B CN 109178124 B CN109178124 B CN 109178124B CN 201811106478 A CN201811106478 A CN 201811106478A CN 109178124 B CN109178124 B CN 109178124B
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- 238000012545 processing Methods 0.000 claims description 7
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- 238000004364 calculation method Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 6
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 238000005457 optimization Methods 0.000 description 14
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/20—Endless-track steering having pivoted bogie carrying track
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
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Abstract
The invention relates to a full-freedom-degree chassis based on target tracking and a control method, wherein the full-freedom-degree chassis comprises a frame, a left front wheel, a right front wheel, a left rear wheel and a right rear wheel which are arranged on the frame, wherein a driving traveling device I for driving the left front wheel and the right front wheel to travel simultaneously, a driving traveling device II for driving the left rear wheel and the right rear wheel to travel simultaneously, a driving redirecting device I for driving the left front wheel and the right front wheel to turn simultaneously, and a driving redirecting device II for driving the left rear wheel and the right rear wheel to turn simultaneously are arranged on the frame. The invention makes the two front wheels and the two rear wheels walk and redirect at the same time through the mutually independent driving devices, realizes circular motion around the fixed point, is convenient for tracking the target, ensures that the transmission power and the steering power are not interfered with each other, realizes the omnidirectional rotation, forward and backward movement of the chassis, can adapt to various environmental characteristics and has high flexibility.
Description
Technical Field
The invention relates to the field of tracked vehicle chassis, in particular to a full-freedom chassis based on target tracking and a control method.
Background
With the development of science and technology, more and more manual operations are replaced by robots, so that the operation efficiency is greatly improved. However, due to the limitation on movement, the robot cannot be used in severe environments, for example, when powder around a dust tank is pushed into the tank in industry, dust causes harm to the health of workers, due to the fact that the tank top is covered by scattered dust, the existing robot cannot normally move, the tank opening is located at the center position, the moving track of the robot takes a circle around the center of the tank opening as the center of a circle, the existing robot cannot realize the circumferential running around a fixed point to track a target, the application range is limited, and the manual pushing cannot be replaced.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the full-freedom chassis based on target tracking and the control method, and the chassis has good steering flexibility and low manufacturing cost and can realize circumferential running around a fixed point.
The invention provides a full-freedom chassis based on target tracking, which comprises a frame, a left front wheel, a right front wheel, a left rear wheel and a right rear wheel which are arranged on the frame, wherein a driving traveling device I for driving the left front wheel and the right front wheel to travel simultaneously, a driving traveling device II for driving the left rear wheel and the right rear wheel to travel simultaneously, a driving redirecting device I for driving the left front wheel and the right front wheel to steer simultaneously, and a driving redirecting device II for driving the left rear wheel and the right rear wheel to steer simultaneously are arranged on the frame.
According to the scheme, the chassis integrally moves through the driving traveling device I and the driving traveling device II, the driving redirecting device I and the driving redirecting device II respectively drive the left front wheel, the right front wheel, the left rear wheel and the right rear wheel to redirect and rotate, the driving traveling device I and the driving traveling device II respectively drive the two front wheels and the two rear wheels to realize independent adjustment of linear speeds of the front wheels and the rear wheels, and therefore circular movement taking a fixed point as a circle center is realized.
As optimization, the left front wheel, the right front wheel, the left rear wheel and the right rear wheel are crawler wheels, worm wheels for driving the crawler wheel main wheels to rotate are arranged on the crawler wheel frame, and worm gears which are installed on the frame in a penetrating way through bearings are connected in a meshed way. The wheel in this optimization scheme adopts the athey wheel, can adapt to abominable operating mode to conveniently carry out omnidirectional adjustment, be connected with the main wheel through setting up worm wheel, worm mechanism, make things convenient for power equipment's installation, the transmission is steady reliable, and the worm wheel can with main wheel coaxial coupling, also can be connected with the main wheel through transmission such as belt drive or chain drive.
As optimization, the driving traveling device I comprises a synchronous traveling chain wheel I fixedly installed on the worm corresponding to the left front wheel and the right front wheel, and a synchronous traveling chain I connected with the two synchronous traveling chain wheels I, and a traveling motor I fixedly arranged on the frame is connected with one of the worm corresponding to the left front wheel and the right front wheel. This optimization scheme drives one of them worm through walking motor I and rotates, utilizes synchronous walking sprocket I and synchronous walking chain I to drive another worm and rotate simultaneously to the walking in the time of having realized left front wheel and right front wheel, for easy to assemble, walking motor I accessible bevel gear drive worm rotates.
As optimization, a tensioning device is arranged in the synchronous walking chain I, the tensioning device comprises a pulling plate hinged with the frame through a rotating shaft and a tensioning wheel which is arranged on the pulling plate on one side of the rotating shaft and meshed with the synchronous chain I, and a tensioning spring connected with the frame is arranged on the pulling plate on the other side of the rotating shaft. The tensioning device of the optimization scheme pulls the pulling plate through the tensioning spring, so that the tensioning wheel is always clung to the synchronous chain I, tensioning of the synchronous chain I is achieved, and synchronism and reliability of rotation of the left front wheel and the right front wheel are guaranteed.
As the optimization, drive redirecting means I is including fixing the motor I that changes to on the frame, coaxial cover is equipped with the cover that turns to that is connected through bearing and frame on the worm, turns to and sets up the opening that supplies worm and worm wheel meshing to pass through on the cover, turn to the cover and pass through cross axle and track wheel carrier coupling, turn to the excircle of cover and be equipped with the sprocket, turn to between the cover corresponding with left front wheel and right front wheel through the annular toothed chain I connection with sprocket meshing, turn to one of them cover that corresponds with left front wheel and right front wheel and pass through bevel gear transmission and change to motor I and be connected. According to the optimization scheme, one steering sleeve is driven to rotate through the redirection motor I, and the other steering sleeve is driven to rotate simultaneously through the annular toothed chain I, so that the left front wheel and the right front wheel rotate at the same rotation angle simultaneously, and the steering reliability is ensured; bevel gear transmission can make and change direction motor I horizontal setting, reduces the height of equipment, has increased holistic stability.
As optimization, the driving redirecting device II comprises a redirecting motor II fixed on the frame, steering sleeves corresponding to the left rear wheel and the right rear wheel are connected through an annular toothed chain II meshed with the chain teeth, and one steering sleeve corresponding to the left rear wheel and the right rear wheel is connected with the redirecting motor II through bevel gear transmission. According to the optimization scheme, one steering sleeve is driven to rotate through the redirecting motor II, and the other steering sleeve is driven to rotate simultaneously through the annular toothed chain II, so that the left rear wheel and the right rear wheel rotate at the same rotation angle simultaneously, and the steering reliability is ensured; bevel gear transmission can make the motor II transversely set up, reduces the height of equipment, has increased holistic stability.
As optimization, the transverse shaft is positioned in front of the horizontal section of the crawler wheel, and the horizontal section of the crawler wheel is connected with the steering sleeve through a gas spring. According to the optimization scheme, the gas spring is arranged, when the front end of the crawler wheel is pressed onto the protrusion, the gas spring is contracted in a homeotropic mode, a damping effect is achieved, and jolt of equipment is reduced.
As optimization, the worm comprises a suspension shaft and a worm sleeve sleeved on the suspension shaft and meshed with the worm wheel, the suspension shaft is connected with the worm sleeve through a key, limiting platforms are respectively arranged on the suspension shaft on the upper side and the lower side of the worm sleeve, and the distance between the limiting platform above the worm sleeve and the worm sleeve is 0.8-1 times of the thread pitch of the worm sleeve. When the track wheel carrier rotates along with the steering sleeve, the worm wheel rotates along with the worm, due to the action of the threaded belt, axial interaction force exists between the worm wheel and the worm, the worm sleeve is axially displaced under the action force by the aid of the optimized scheme, the frame is prevented from inclining, the worm sleeve and the suspension shaft are connected through keys, circumferential rotation is prevented, normal rotation of the worm wheel is guaranteed, the worm sleeve is prevented from falling by the aid of the limiting table, enough displacement space of the worm sleeve is guaranteed by the aid of the distance between the limiting table above the worm sleeve and the worm sleeve, and meanwhile, the worm wheel is prevented from being influenced by overlarge displacement space.
As an optimization, the frame comprises a bottom plate provided with the left front wheel, the right front wheel, the left rear wheel and the right rear wheel, and a top plate positioned above the bottom plate, wherein the bottom plate and the top plate are respectively provided with a placing through hole. The setting of this optimizing scheme frame has alleviateed weight to can also conveniently install the part between roof and bottom plate through setting up placing the through-hole, conveniently overhaul, leave more spaces for the bottom plate below simultaneously, improved the passability of chassis.
A control method of a full-freedom chassis based on target tracking comprises the following steps:
(1) The left front wheel and the left rear wheel are driven to walk simultaneously through the driving traveling device I, the left rear wheel and the right rear wheel are driven to walk simultaneously through the driving traveling device II, the left front wheel and the left rear wheel are driven to turn simultaneously through the driving redirecting device I, and the left rear wheel and the right rear wheel are driven to turn simultaneously through the driving redirecting device II, so that the whole machine moves along the circumference taking the fixed point as the circle center;
(2) A laser sensor is arranged in the center of the front edge of the frame, the distance r between the center point of the front edge of the frame and a fixed point is measured through the laser sensor, and measured data are transmitted to a central processing unit;
(3) Front and rear wheel steering algorithm: the frame is square, the side length of the frame is L, the included angle A between the front wheel and the front edge of the frame is arctan (L/2 r), the included angle C between the rear wheel and the rear edge of the frame is arctan [ L/2 (r+L) ], the central processing unit calculates the numerical values of A and C, wherein A is the angle required to rotate the front wheel, C is the angle required to rotate the front wheel, then the rotation angles A and C are respectively calculated, 4000 pulses are emitted after the adopted motor rotates for one turn, a pulse motor rotates by 0.09 DEG, the pulse number required by the motor for driving the front wheel is 0.09 arctan (L/2 r), and the pulse number required by the motor for driving the rear wheel is 0.09 arctan [ L/2 (r+L) ];
(4) Chassis linear velocity algorithm: the calculation of the linear speed of the crawler wheel is v=l/t, wherein l is the circumference of the crawler wheel walking in unit time, namely the pulse distance of the motor driving wheel in unit time, t is the time required by the total number of emitted pulses, c is set as the circumference of the crawler wheel, the distance of one pulse is c/4000, x is set as the required pulse number x, x is the required total pulse distance (c/4000), and the linear speed of the crawler wheel is: v= [ x (c/4000) ]/t
According to the method, the left front wheel and the left rear wheel are driven to walk simultaneously through the driving traveling device I, the left rear wheel and the right rear wheel are driven to walk simultaneously through the driving traveling device II, the left front wheel and the left rear wheel are driven to turn simultaneously through the driving redirecting device I, the left rear wheel and the right rear wheel are driven to turn simultaneously through the driving redirecting device II, the distance between the center point of the front edge of the frame and a fixed point is measured through the laser sensor, and the central processing unit can obtain the rotation angles of the front wheel and the rear wheel and the linear speed of the chassis according to an algorithm formula in the method, so that the traveling motors and the redirecting motors are controlled to rotate, and the whole machine moves along the circumference taking the fixed point as the circle center.
The beneficial effects of the invention are as follows: the two front wheels simultaneously walk and simultaneously redirect through the mutually independent driving device, the two rear wheels simultaneously walk and simultaneously redirect, circular motion is realized around the fixed point, the target is conveniently tracked, transmission power and steering power are not interfered with each other, omnidirectional rotation, forward and backward movement of the chassis are realized, the chassis is adaptable to various environmental characteristics, the chassis has high flexibility, the two front wheels and the two rear wheels respectively share one walking motor and redirecting motor, the number of power sources is reduced, and the chassis is lighter.
Drawings
FIG. 1 is an isometric view I of the present invention;
FIG. 2 is an isometric view II of the present invention;
FIG. 3 is a side view of the present invention;
FIG. 4 is a cross-sectional view A-A of FIG. 3;
FIG. 5 is a schematic view of the tensioner in the synchronous traveling chain I;
FIG. 6 is a schematic diagram of an algorithm for the rotation angle of the front and rear wheels;
the figure shows:
1. the frame, 2, synchronous walking sprocket I, 3, right front wheel, 4, annular toothed chain I, 5, left front wheel, 6, left rear wheel, 7, overspeed device tensioner, 7.1, arm-tie, 7.2, take-up pulley, 7.3, pivot, 7.4, tensioning spring, 8, synchronous walking sprocket I, 9, worm wheel, 10, redirection motor I, 11, worm, 11.1, suspension axle, 11.2, worm cover, 12, walking motor II, 13, redirection motor II, 14, walking motor I, 15, driven sprocket, 16, driving sprocket, 17, gas spring, 18, main wheel, 19, cross axle, 20, steering cover.
Detailed Description
In order to clearly illustrate the technical characteristics of the scheme, the scheme is explained below through a specific embodiment.
The full-freedom chassis based on target tracking as shown in fig. 1 comprises a frame 1, and a left front wheel 5, a right front wheel 3, a left rear wheel 6 and a right rear wheel which are arranged on the frame 1, wherein the frame comprises a bottom plate provided with the left front wheel, the right front wheel, the left rear wheel and the right rear wheel, and a top plate positioned above the bottom plate, the bottom plate and the top plate are provided with placing through holes, each motor and other elements can be placed between the top plate and the bottom plate, and the disassembly, the assembly and the maintenance are convenient through the placing through holes, and meanwhile, the weight of the whole chassis is reduced. The frame 1 is provided with a driving traveling device I for driving the left front wheel 5 and the right front wheel 3 to travel simultaneously, a driving traveling device II for driving the left rear wheel 6 and the right rear wheel to travel simultaneously, a driving redirecting device I for driving the left front wheel and the right front wheel to steer simultaneously, and a driving redirecting device II for driving the left rear wheel 6 and the right rear wheel to steer simultaneously.
The left front wheel, the right front wheel, the left rear wheel and the right rear wheel are crawler wheels, worm gears 9 which drive the crawler wheel main wheels 18 to rotate through a transmission device are arranged on crawler wheel frames, and worm gears 11 which are installed on the frame 1 in a penetrating way through bearings are connected with the worm gears 9 in a meshed way. The worm 11 comprises a suspension shaft 11.1 and a worm sleeve 11.2 sleeved on the suspension shaft and meshed with the worm wheel 9, the suspension shaft 11.1 is connected with a top plate through a bearing and connected with the worm sleeve 11.2 through a key, limiting platforms are respectively arranged on the suspension shafts on the upper side and the lower side of the worm sleeve, and the distance between the limiting platform above the worm sleeve and the worm sleeve is equal to the thread pitch of the threads of the worm sleeve. The transmission comprises a driving sprocket 16 coaxial with the worm wheel and a driven sprocket 15 coaxial with the main wheel 18, the driving sprocket 16 and the driven sprocket 15 being connected by a transmission chain.
The driving traveling device I comprises a synchronous traveling chain wheel I2 fixedly installed on worms corresponding to the left front wheel and the right front wheel, and a synchronous traveling chain I8 connected with the two synchronous traveling chain wheels I, a traveling motor I14 fixedly arranged on a frame bottom plate and connected with the worm corresponding to the left front wheel, and the traveling motor I drives the worm to rotate through bevel gear transmission.
The tensioning device 7 is arranged in the synchronous walking chain I8, the tensioning device 7 comprises a pulling plate 7.1 hinged with the frame through a rotating shaft 7.3, and a tensioning wheel 7.2 which is arranged on the pulling plate on one side of the rotating shaft and meshed with the synchronous chain I, and a tensioning spring 7.4 connected with the frame is arranged on the pulling plate on the other side of the rotating shaft.
The driving traveling device II comprises a synchronous traveling chain wheel II fixedly installed on worms corresponding to the left rear wheel and the right rear wheel, and a synchronous traveling chain II connected with the two synchronous traveling chain wheels II, wherein the worm corresponding to the right rear wheel is connected with a traveling motor II 12 fixedly arranged on a frame bottom plate, and the traveling motor II 12 drives the worm to rotate through bevel gear transmission.
The driving redirection device I comprises a redirection motor I10 fixed on a frame bottom plate, a steering sleeve 20 connected with the frame bottom plate through a bearing is coaxially sleeved on the worm, a gap for the worm and a worm wheel to mesh and pass through is formed in the steering sleeve 20, the steering sleeve is connected with a crawler wheel frame through a transverse shaft 19 in a shaft mode, a vertical plate penetrating the transverse shaft is fixedly connected to the steering sleeve, the transverse shaft 19 is located in front of a crawler wheel horizontal section, and the crawler wheel horizontal section is connected with the steering sleeve through a gas spring 17. The outer circle of the steering sleeve is provided with a sprocket, the steering sleeves corresponding to the left front wheel and the right front wheel are connected through an annular toothed chain I4 meshed with the sprocket, and the steering sleeve corresponding to the right front wheel is coaxially and fixedly connected with a bevel gear and is connected with a redirection motor I10 through bevel gear transmission.
The driving redirection device II comprises a redirection motor II 13 fixed on a frame bottom plate, steering sleeves corresponding to the left rear wheel and the right rear wheel are connected through an annular toothed chain II meshed with the chain teeth, and a bevel gear is coaxially fixedly connected on the steering sleeve corresponding to the left rear wheel and is connected with the redirection motor II through bevel gear transmission.
When the device is used, the 48V walking motor I and the 48V walking motor II rotate positively to drive the chassis to move radially towards the fixed target direction, and after the device reaches a specified position, the walking motor I and the walking motor II rotate reversely to drive the chassis to return to the initial position according to the original path; the direction-changing motor I drives the left front wheel and the right front wheel to rotate at the same time by a set angle, the direction-changing motor II drives the left rear wheel and the right rear wheel to rotate at the same time by a set angle, and then the traveling motor I and the traveling motor II drive the whole machine to integrally move; the rotation angles of the front wheel and the rear wheel are respectively controlled, and the traveling speed after redirection is respectively controlled, so that the steering of the front wheel and the rear wheel at different angles and the differential traveling of the front wheel and the rear wheel are realized, the whole vehicle can complete the circumferential traveling action around a fixed point, and the target tracking function is realized.
A control method of a full-freedom chassis based on target tracking specifically comprises the following steps:
(1) The left front wheel and the left rear wheel are driven to walk simultaneously through the driving traveling device I, the left rear wheel and the right rear wheel are driven to walk simultaneously through the driving traveling device II, the left front wheel and the left rear wheel are driven to turn simultaneously through the driving redirecting device I, and the left rear wheel and the right rear wheel are driven to turn simultaneously through the driving redirecting device II, so that the turning angles of the two groups of crawler wheels can be different, the adaptability is higher, the whole machine moves along the circumference taking the fixed point as the circle center, and the aim of conveniently tracking the whole machine is realized;
(2) A laser sensor is arranged in the center of the front edge of the frame, the distance r between the center point of the front edge of the frame and a fixed point is measured through the laser sensor, and measured data are transmitted to a central processing unit;
(3) Front and rear wheel steering algorithm: the frame is square, the side length of the frame is L, the included angle A between the front wheel and the front edge of the frame is arctan (L/2 r), the included angle C between the rear wheel and the rear edge of the frame is arctan [ L/2 (r+L) ], the central processing unit calculates the numerical values of A and C, wherein A is the angle required to rotate the front wheel, C is the angle required to rotate the front wheel, then the rotation angles A and C are respectively calculated, 4000 pulses are emitted after the adopted motor rotates for one turn, a pulse motor rotates by 0.09 DEG, the pulse number required by the motor for driving the front wheel is 0.09 arctan (L/2 r), and the pulse number required by the motor for driving the rear wheel is 0.09 arctan [ L/2 (r+L) ];
(4) Chassis linear velocity algorithm: the calculation of the linear speed of the crawler wheel is v=l/t, wherein l is the circumference of the crawler wheel walking in unit time, namely the pulse distance of the motor driving wheel in unit time, t is the time required by the total number of emitted pulses, c is set as the circumference of the crawler wheel, the distance of one pulse is c/4000, x is set as the required pulse number x, x is the required total pulse distance (c/4000), and the linear speed of the crawler wheel is: v= [ x (c/4000) ]/t.
Of course, the above description is not limited to the above examples, and the technical features of the present invention that are not described may be implemented by or by using the prior art, which is not described herein again; the above examples and drawings are only for illustrating the technical scheme of the present invention and not for limiting the same, and the present invention has been described in detail with reference to the preferred embodiments, and it should be understood by those skilled in the art that changes, modifications, additions or substitutions made by those skilled in the art without departing from the spirit of the present invention and the scope of the appended claims.
Claims (7)
1. The utility model provides a full degree of freedom chassis based on target tracking, includes frame (1), and install left front wheel (5), right front wheel (3), left rear wheel (6) and right rear wheel on frame (1), its characterized in that: the frame (1) is provided with a driving running gear I for driving the left front wheel (5) and the right front wheel (3) to run simultaneously, a driving running gear II for driving the left rear wheel (6) and the right rear wheel to run simultaneously, a driving redirecting device I for driving the left front wheel and the right front wheel to turn simultaneously, and a driving redirecting device II for driving the left rear wheel (6) and the right rear wheel to turn simultaneously; the left front wheel, the right front wheel, the left rear wheel and the right rear wheel are crawler wheels, worm wheels (9) for driving a crawler wheel main wheel (18) to rotate are arranged on a crawler wheel frame, and the worm wheels (9) are connected with worms (11) penetrating through bearings and arranged on the frame (1); the driving traveling device I comprises a synchronous traveling chain wheel I (2) fixedly arranged on worms corresponding to the left front wheel and the right front wheel, a synchronous traveling chain I (8) connected with the two synchronous traveling chain wheels I, and a traveling motor I (14) fixedly arranged on the frame and connected with one of the worms corresponding to the left front wheel and the right front wheel; the driving redirecting device I comprises a redirecting motor I (10) fixed on a frame, a steering sleeve (20) connected with the frame through a bearing is coaxially sleeved on the worm, a notch for the worm and a worm wheel to mesh and pass through is formed in the steering sleeve (20), the steering sleeve is connected with a crawler wheel frame through a transverse shaft (19) in a shaft mode, a sprocket is arranged on the outer circle of the steering sleeve, the steering sleeve corresponding to the left front wheel and the right front wheel is connected with the redirecting motor I (10) through an annular toothed chain I (4) meshed with the sprocket, and one of the steering sleeves corresponding to the left front wheel and the right front wheel is connected with the redirecting motor I (10) through bevel gear transmission.
2. The full degree of freedom chassis of claim 1, wherein: tensioning device (7) are installed in the synchronous walking chain I, tensioning device (7) are including through pivot (7.3) and articulated arm-tie (7.1) of frame to and install on the arm-tie of pivot one side and with synchronous chain I meshing take-up pulley (7.2), be equipped with on the arm-tie of pivot opposite side with frame connection's tensioning spring (7.4).
3. The full degree of freedom chassis of claim 1, wherein: the driving redirecting device II comprises a redirecting motor II (13) fixed on the frame, steering sleeves corresponding to the left rear wheel and the right rear wheel are connected through an annular toothed chain II meshed with the chain teeth, and one steering sleeve corresponding to the left rear wheel and the right rear wheel is connected with the redirecting motor II through bevel gear transmission.
4. The full degree of freedom chassis of claim 1, wherein: the transverse shaft (19) is positioned in front of the horizontal section of the crawler wheel, and the horizontal section of the crawler wheel is connected with the steering sleeve through the gas spring (17).
5. The full degree of freedom chassis of claim 1, wherein: the worm (11) comprises a suspension shaft (11.1) and a worm sleeve (11.2) sleeved on the suspension shaft and meshed with the worm wheel, the suspension shaft (11.1) is connected with the worm sleeve (11.2) through a key, limiting tables are respectively arranged on the suspension shafts on the upper side and the lower side of the worm sleeve, and the distance between the limiting tables above the worm sleeve and the worm sleeve is 0.8-1 times of the thread pitch of the worm sleeve.
6. The full degree of freedom chassis of claim 1, wherein: the frame comprises a bottom plate provided with a left front wheel, a right front wheel, a left rear wheel and a right rear wheel, and a top plate positioned above the bottom plate, wherein the bottom plate and the top plate are respectively provided with a placing through hole.
7. A control method of the full-freedom chassis based on object tracking according to claim 1, characterized in that:
(1) The left front wheel and the left rear wheel are driven to walk simultaneously through the driving traveling device I, the left rear wheel and the right rear wheel are driven to walk simultaneously through the driving traveling device II, the left front wheel and the left rear wheel are driven to turn simultaneously through the driving redirecting device I, and the left rear wheel and the right rear wheel are driven to turn simultaneously through the driving redirecting device II, so that the whole machine moves along the circumference taking the fixed point as the circle center;
(2) A laser sensor is arranged in the center of the front edge of the frame, the distance r between the center point of the front edge of the frame and a fixed point is measured through the laser sensor, and measured data are transmitted to a central processing unit;
(3) Front and rear wheel steering algorithm: the frame is square, the side length of the frame is L, the included angle A between the front wheel and the front edge of the frame is arctan (L/2 r), the included angle C between the rear wheel and the rear edge of the frame is arctan [ L/2 (r+L) ], the central processing unit calculates the numerical values of A and C, wherein A is the angle required to rotate the front wheel, C is the angle required to rotate the front wheel, then the rotation angles A and C are respectively calculated, 4000 pulses are emitted after the adopted motor rotates for one turn, a pulse motor rotates by 0.09 DEG, the pulse number required by the motor for driving the front wheel is 0.09 arctan (L/2 r), and the pulse number required by the motor for driving the rear wheel is 0.09 arctan [ L/2 (r+L) ];
(4) Chassis linear velocity algorithm: the calculation of the linear speed of the crawler wheel is v=l/t, wherein l is the circumference of the crawler wheel walking in unit time, namely the pulse distance of the motor driving wheel in unit time, t is the time required by the total number of emitted pulses, c is set as the circumference of the crawler wheel, the distance of one pulse is c/4000, x is set as the required pulse number x, x is the required total pulse distance (c/4000), and the linear speed of the crawler wheel is: v= [ x (c/4000) ]/t.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811106478.7A CN109178124B (en) | 2018-09-21 | 2018-09-21 | Full-freedom chassis based on target tracking and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811106478.7A CN109178124B (en) | 2018-09-21 | 2018-09-21 | Full-freedom chassis based on target tracking and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109178124A CN109178124A (en) | 2019-01-11 |
| CN109178124B true CN109178124B (en) | 2024-02-27 |
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| CN112810710B (en) * | 2019-02-25 | 2022-09-06 | 泉州市比邻三维科技有限公司 | 3D printing robot's that conveniently turns to crawler-type running gear |
| CN110143236A (en) * | 2019-05-07 | 2019-08-20 | 华南理工大学 | A kind of AGV is synchronous to turn to chassis structure |
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| CN209023001U (en) * | 2018-09-21 | 2019-06-25 | 周斌 | A kind of full freedom degree chassis based on target tracking |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106184444B (en) * | 2016-09-21 | 2019-08-27 | 苏州瑞得恩光能科技有限公司 | Track takeup and crawler-tread |
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| JP2000050711A (en) * | 1998-08-12 | 2000-02-22 | Kubota Corp | Traveling apparatus for rice transplanter |
| CN101077717A (en) * | 2007-06-22 | 2007-11-28 | 北京理工大学 | Small-sized 6-track whole topographic form mobile robot |
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| CN109178124A (en) | 2019-01-11 |
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