The invention discloses a crawler chassis capable of omni-directionally adjusting the mass center, correcting and estimating the pose and a control method of the crawler chassis. The crawler chassis comprises four lifting oil cylinders arranged at the front end of a machine frame in the walking direction of an agricultural machine. A controller, a tilt angle sensor and a displacement sensor are respectively arranged at the top of the rack; a tensioning oil cylinder is arranged at the rear end of the bottom of the rack in the agricultural machine walking direction and connected with a tensioning wheel, a driving wheel is arranged at the front end of the upper surface of the bottom of the rack in the agricultural machine walking direction, a belt supporting wheel is arranged in the center of the upper surface of the bottom of the rack, and a leveling mechanism is arranged in the middle of the bottom of the rack. When the crawler chassis travels on a cross slope and a longitudinal slope, the mass center can be ensured to be within a certain horizontal range, the adaptive capacity to bumpy road surfaces is improved, and the problems that production conditions of hills and mountains in China are complex, and inorganic materials are available are solved. According to the control method, chassis pose adjustment and new pose estimation are combined, pre-correction estimation and real-time updating of the chassis mass center pose are achieved, and the adaptive capacity and automatic operation capacity of the agricultural machine chassis to the terrain are effectively improved.
本发明公开了一种全向调节质心校正估计位姿的履带底盘及其控制方法,履带底盘包括设于机架上农机行走方向前端的四个升降油缸;机架顶部分别设有控制器、倾角传感器和位移传感器;机架底部农机行走方向后端设有张紧油缸,张紧油缸连接张紧轮,机架底部上表面农机行走方向前端设有驱动轮,机架底部上表面中心位置设有托带轮,机架底部中间设有调平机构。该履带底盘在横坡与纵坡行走时可确保质心在一定水平范围内,提高对崎岖不平路面的适应能力,解决了我国丘陵山地生产条件复杂,无机可用的问题。本发明控制方法将底盘位姿调节和新位姿估计相结合,实现底盘质心位姿预校正估计与实时更新,有效提升了农机底盘对地形的适应能力与自动运行能力。
Crawler chassis capable of adjusting centroid in all directions, correcting estimated pose and control method of crawler chassis
一种全向调节质心校正估计位姿的履带底盘及其控制方法
2023-11-17
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |