The invention relates to the field of wheeled robots, in particular to a foldable and reconfigurable variable-tread all-terrain trolley and a control method thereof. The overall structure of the foldable and reconfigurable variable-wheel-track all-terrain trolley is composed of a posture adjusting assembly, a driving wheel assembly, a bottom supporting plate, a top supporting plate, a first driven wheel assembly and a second driven wheel assembly. The control architecture is composed of an attitude sensing module, a steering control module, an included angle control module and a four-wheel speed cooperative control module. The trolley body is completely symmetrical about the neutral plane of the bottom supporting plate and the neutral plane of the top supporting plate, the wheel track and the shape of the trolley are continuously changed through a multi-time whole-circle rotation foldable mechanism, so that the trolley has the capacity of crossing different terrain obstacles. Meanwhile, due to the fact that the front and back faces and the front and back sides are not distinguished, all-directional maneuvering characteristics are achieved; and the stability of the wheel type trolley is further improved, so that the wheel type trolley has a wide social application prospect.

    本发明涉及轮式机器人领域,特别涉及一种可折展重构变轮距全地形小车及其控制方法。所发明的可折展重构变轮距全地形小车的总体结构由姿态调节组件、驱动轮组件、底部支撑板、顶部支撑板和第一、第二被动轮组件构成;其控制架构由姿态感知模块、转向控制模块、夹角控制模块和四轮速度协同控制模块组成。车体关于底部支撑板与顶部支撑板的中性面完全对称,通过多次整周回转可折展机构来连续改变小车的轮距和形态,使其具备了跨越不同地形障碍的能力,同时由于其不区分正反面和前后侧,具备了全方位的机动性能,也进一步提升了其稳定性,使该轮式小车具有广泛的社会运用前景。


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    Title :

    Foldable and reconfigurable variable-wheel-track all-terrain trolley and control method of foldable and reconfigurable variable-wheel-track all-terrain trolley


    Additional title:

    一种可折展重构变轮距全地形小车及其控制方法


    Contributors:
    CHEN GUANGRONG (author) / MA MING (author) / WU YU (author) / LU HUAFENG (author) / WANG XIANGYANG (author) / BAO JUNYU (author) / YANG XINHUA (author) / QU FUJIE (author) / WEI WENZHE (author) / GUO SHENG (author)

    Publication date :

    2021-09-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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