The invention discloses a motor sweeper and an anti-roll control method and device thereof and a storage medium, the motor sweeper comprises a water tank, and the method comprises the steps that the current liquid level of the water tank is obtained, and the current whole vehicle mass and the current mass center position of the motor sweeper are obtained according to the current liquid level of the water tank; updating a dynamic model of the sweeper according to the current whole vehicle mass and the current mass center position, and constructing an anti-roll prediction model of the sweeper according to the updated dynamic model; and according to the anti-roll prediction model, obtaining a steering wheel target rotation angle, and according to the steering wheel target rotation angle, carrying out anti-roll control on the sweeper. Therefore, by considering the liquid level change of the water tank in the sweeping operation process, the current whole vehicle mass and the current mass center position of the sweeping vehicle are dynamically identified, and the dynamic model and the anti-roll prediction model of the sweeping vehicle are updated in real time, so that the anti-roll control precision is improved, the roll-over risk of the sweeping vehicle is reduced, and the stability and safety of the sweeping vehicle are ensured.

    本发明公开了一种清扫车及其防侧倾控制方法、装置和存储介质,其中,清扫车包括水箱,方法包括:获取水箱当前液位,并根据水箱当前液位获取清扫车的当前整车质量和当前质心位置;根据当前整车质量和当前质心位置更新清扫车的动力学模型,并根据更新后的动力学模型构建清扫车的防侧倾预测模型;根据防侧倾预测模型获取方向盘目标转角,并根据方向盘目标转角对清扫车进行防侧倾控制。由此,通过考虑清扫作业过程中的水箱液位变化,动态辨识清扫车的当前整车质量和当前质心位置,并实时更新清扫车的动力学模型和防侧倾预测模型,从而,提高防侧倾控制精度,降低清扫车侧翻风险,确保清扫车的稳定性和安全性。


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    Title :

    Sweeper, anti-roll control method and device thereof and storage medium


    Additional title:

    清扫车及其防侧倾控制方法、装置和存储介质


    Contributors:
    CHEN KAI (author) / CAI NIANCHUN (author) / ZHANG BIN (author) / ZHANG SUIHAN (author) / HU XIAOLIN (author) / SU WAN (author) / SHAO JIANG (author) / LUO XINLIANG (author)

    Publication date :

    2023-03-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / E01H STREET CLEANING , Reinigen von Straßen



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