The invention discloses a steering chassis of a wheeled mobile robot and a control method of the steering chassis, and belongs to the technical field of mobile chassis, the steering chassis comprises a mobile frame, a steering mechanism, a suspension mechanism, a driving mechanism and a control system, the bottom of the mobile frame is correspondingly provided with steering motor frames along the front and rear ends of the central axis; the two steering mechanisms are correspondingly installed on the steering motor frame, the four suspension mechanisms are arranged at the front end and the rear end of the two sides of the movable frame respectively, the two ends of each steering mechanism are in transmission connection with the corresponding suspension mechanism, and the four driving mechanisms are correspondingly connected to the suspension mechanisms. The control system comprises a vehicle control unit, a vehicle speed sensor and a visual sensor, wherein the vehicle speed sensor and the visual sensor are in communication connection with the vehicle control unit, and the vehicle control unit receives monitoring signals transmitted by the vehicle speed sensor and the visual sensor and controls the steering mechanism and the driving mechanism to cooperatively steer. The maneuverability, the safety and the stability and the adaptability to various terrains of the steering chassis can be improved.
本发明公开了一种轮式移动机器人的转向底盘及其控制方法,属于移动底盘技术领域,转向底盘包括移动车架、转向机构、悬架机构、驱动机构和控制系统,移动车架底部沿着中轴线前后端对应设置有转向电机架,转向机构包括对应安装在转向电机架上的两组,悬架机构包括分别设置在移动车架两侧前后端的四组,每一转向机构两端分别与对应的悬架机构传动连接,驱动机构包括对应连接在悬架机构的四组;控制系统包括车辆整车控制器以及与车辆整车控制器通讯连接的车速传感器和视觉传感器,车辆整车控制器接受车速传感器和视觉传感器传输的监测信号并控制转向机构和驱动机构协同转向动作。本发明可提高转向底盘的机动灵活性、安全稳定性以及多种地形适应性。
Steering chassis of wheeled mobile robot and control method thereof
一种轮式移动机器人的转向底盘及其控制方法
2024-10-01
Patent
Electronic Resource
Chinese
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