阅读说明：本技术 一种三个全向移动平台刚性连接系统 (Rigid connection system for three omnidirectional mobile platforms ) 是由 李波 段三军 王志华 李远桥 宋策 于 2019-10-10 设计创作，主要内容包括：本发明涉及一种三个全向移动平台刚性连接系统,涉及全向移动平台技术领域。本发明中,通过液压锁将三个全向移动平台刚性连接,中间平台作为主控平台,它的管理融合模块接收前、后平台的状态数据,进行状态监控和故障处理,分析平台运行模式；应用控制模块向前、后平台发送控制指令,针对不同状态对本平台的电机扭矩进行限制,实现三车的同步控制。同现有技术相比,本发明的刚性连接的移动平台同步性好,平台间没有相对移动。中间平台的管理融合模块监控各平台状态、处理故障、分析平台运行模式,确保各平台的控制安全性。在加减速状态下,对中间平台电机驱动器执行扭矩限制策略,不允许超过额定扭矩,三车联动稳定性好。(The invention relates to a rigid connection system for three omnidirectional mobile platforms, and relates to the technical field of omnidirectional mobile platforms. In the invention, three omnidirectional mobile platforms are rigidly connected through a hydraulic lock, a middle platform is used as a main control platform, and a management fusion module of the system receives state data of a front platform and a rear platform, carries out state monitoring and fault processing and analyzes the operation mode of the platforms; the application control module sends control instructions to the front platform and the rear platform, and limits the motor torque of the platform according to different states, so that synchronous control of three vehicles is realized. Compared with the prior art, the mobile platforms in rigid connection have good synchronism and do not move relatively. And a management fusion module of the intermediate platform monitors the state of each platform, processes faults and analyzes the operation mode of the platform, so that the control safety of each platform is ensured. Under the acceleration and deceleration state, the torque limiting strategy is executed on the motor driver of the middle platform, the rated torque is not allowed to be exceeded, and the three-vehicle linkage stability is good.)

1. The utility model provides a three omnidirectional movement platform rigid connection system, its characterized in that includes preceding moving platform (1), middle platform (2), back moving platform (3), the butt joint lock locking mechanical system between preceding moving platform (1) and middle platform (2) to and the butt joint lock locking mechanical system of the same structure between middle platform (2) and back moving platform (3), butt joint lock locking mechanical system is used for realizing the direct rigid connection of two platforms.

2. The system according to claim 1, characterized in that the docking lock locking mechanism between the front moving platform (1) and the middle platform (2) comprises a thin cylinder (4), a docking lock pin fixing plate (5), a docking lock shaft (6), a docking lock hole fixing plate (8); wherein, butt joint lock needle fixed plate (5) are fixed in middle platform (2) front side, butt joint lockhole fixed plate (8) are fixed in the front and are removed platform (1), when thin hydro-cylinder (4) on butt joint lock needle fixed plate (5) stretches out, can drive butt joint locking axle (6) and insert butt joint locking hole (7) on butt joint lockhole fixed plate (8), thereby realize the butt joint lock and lock, and then realize the rigid connection of preceding movable platform (1) and middle platform (2), middle platform (2) and back movable platform (3) realize rigid connection with same mode.

3. The system according to claim 2, characterized in that the docking lock hole (7) is a kidney hole structure.

4. A system according to claim 3, characterized in that the front moving platform (1), the intermediate platform (2), the rear moving platform (3) each comprise a motorized driving structure, a platform body (12), a mecanum wheel set (13) and a laser scanner (14); the electric driving structures of the 3 platforms are the same, and the electric driving structures comprise a driving motor (10) and a motor driver (11), wherein the motor driver (11) is used for controlling the speed of the driving motor (10), the driving motor (10) is used for driving a Mecanum wheel set (13) to rotate so as to realize the omnidirectional movement of the platform body (12), and a laser scanner (14) is used for detecting obstacles around the platform so as to realize the safety protection of the platform;

the intermediate platform (2) is provided with a management fusion module and an application control module, wherein the function realization process of the management fusion module comprises the following steps: detecting whether the data of the front moving platform (1) and the rear moving platform (3) are valid or not; if all valid, then judge whether there is the trouble in 3 platforms, include: low battery, driver alarm, sensor fault and other faults, if fault, displaying fault state; if no fault exists, continuously checking whether the 3 platforms are in rigid connection; if the three platforms are rigidly connected, continuously checking whether 3 platforms have sudden stops, if not, continuously judging whether the front moving platform (1) and the rear moving platform (3) are in an auxiliary vehicle mode and the middle platform (2) is in a main vehicle mode, if not, judging whether any state is not satisfied and not allowing three-vehicle linkage, and under the normal condition, analyzing the data characteristics of laser scanners (14) of the three platforms to confirm surrounding obstacle information, and starting a safety protection mode once obstacles exist in the moving direction of the platforms, wherein the three-vehicle linkage comprises a fault state mode, a sudden stop mode, an acceleration mode, a constant speed operation mode and a deceleration mode;

the application control module is used for executing different control strategies on the platform aiming at different modes of the three-vehicle linkage:

in the fault state mode, the mobile control instruction is not executed, and the platform is prevented from walking in the fault state;

in the emergency stop mode, the emergency stop platform driving loop is in a power-off state, and a movement control instruction is not executed;

in the acceleration mode, 3 platforms require synchronous acceleration to run, so that extrusion of the rigidly connected platforms caused by asynchronous acceleration is avoided, and a motor driver (11) enters a platform fault state mode due to fault alarm of overlarge torque; therefore, after the application control module sends an acceleration control command to the forward moving platform (1) and the backward moving platform (3), the middle platform (2) executes the acceleration control command in a delayed mode, the motion of the 3 platforms is ensured to be consistent in time, under the starting acceleration mode, the torque of the motor driver (11) of the middle platform (2) is limited, the rated torque is not allowed to be exceeded, and the middle platform (2) is allowed to be extruded and moved in a short time;

under the uniform speed operation mode, the moving speeds of the three vehicles are consistent, normal walking is realized, the normal control mode is executed, and the maximum torque mode of the intermediate platform (2) is recovered;

in a deceleration mode, 3 platforms require synchronous deceleration running, after a control module sends a deceleration control instruction to a forward moving platform (1) and a backward moving platform (3), the self deceleration is controlled in a delayed mode until the platforms stop completely, and in the deceleration process, a torque limiting strategy is executed on a motor driver (11) of an intermediate platform (2) without allowing the rated torque to be exceeded;

in the safety protection mode, an obstacle exists in the moving direction of the platform, the application control module starts the deceleration mode in the direction of the obstacle, if the obstacle information is not eliminated, the deceleration mode is decelerated to be completely stopped, and if the obstacle is eliminated, the acceleration mode is started until the constant-speed operation mode is entered.

5. The system according to claim 1, characterized in that the three moving platforms front (1), middle (2) and rear (3) can be moved by individual remote control and height adjusted by hydraulic suspension.

6. The system according to claim 1, wherein the front mobile platform (1) is provided with a 485 communication connector (9), and a communication line is connected through the 485 communication connector (9) to enable communication between the two vehicles.

7. The system according to claim 1, characterized in that the intermediate platform (2) is provided with a 485 communication connector (9), and a communication line is connected through the 485 communication connector (9) to enable communication between the two vehicles.

8. The system according to claim 1, wherein the rear mobile platform (3) is provided with a 485 communication connector (9), and a communication line is connected through the 485 communication connector (9) to enable communication between the two vehicles.

9. The system according to claim 1, characterized in that after the 3 mobile platforms are rigidly connected, 485 interface communication is adopted between the middle platform (2) and the front mobile platform (1) to realize data transmission.

10. The system according to claim 1, characterized in that after the 3 mobile platforms are rigidly connected, 485 interface communication is adopted between the middle platform (2) and the rear mobile platform (3) to realize data transmission.

Technical Field

The invention relates to the technical field of omnidirectional mobile platforms, in particular to a rigid connection system for three omnidirectional mobile platforms.

Background

When the omnidirectional mobile platform based on Mecanum wheels is used for transporting an overlong and overweight object, a plurality of platforms are required to be connected in series for cooperative control. At present, a non-rigid connection mode is generally adopted to realize multi-vehicle cooperative control on multiple platforms. The non-rigidly connected platforms are controlled asynchronously, so that the platforms move relatively to each other, and the bearing object and the platforms move relatively. Aiming at carrying high-precision bearing objects which are not allowed to move relatively, such as wearing parts and the like, 3 platforms need to be rigidly connected and then controlled, and the motion synchronization among the platforms is ensured.

Disclosure of Invention

Technical problem to be solved

The technical problem to be solved by the invention is as follows: how to realize a system which can rigidly connect 3 platforms and then control the 3 platforms to ensure the motion synchronization among the platforms.

(II) technical scheme

In order to solve the technical problem, the invention provides a rigid connection system of three omnidirectional moving platforms, which comprises a front moving platform 1, a middle platform 2, a rear moving platform 3, a butt joint lock locking mechanism between the front moving platform 1 and the middle platform 2, and a butt joint lock locking mechanism with the same structure between the middle platform 2 and the rear moving platform 3, wherein the butt joint lock locking mechanism is used for realizing direct rigid connection of the two platforms.

Preferably, the docking lock locking mechanism between the front moving platform 1 and the middle platform 2 comprises a thin oil cylinder 4, a docking lock pin fixing plate 5, a docking lock shaft 6 and a docking lock hole fixing plate 8; wherein, butt joint lock needle fixed plate 5 is fixed in middle platform 2 front side, and butt joint lockhole fixed plate 8 is fixed at preceding moving platform 1, and thin hydro-cylinder 4 on the butt joint lock needle fixed plate 5 can drive butt joint locking axle 6 and insert butt joint lockhole 7 on the butt joint lockhole fixed plate 8 when stretching out to realize the butt joint lock and lock, and then realize the rigid connection of preceding moving platform 1 and middle platform 2, middle platform 2 realizes rigid connection with back moving platform 3 with same mode.

Preferably, the docking locking hole 7 is a kidney hole structure.

Preferably, the front moving platform 1, the middle platform 2 and the rear moving platform 3 each comprise an electric driving structure, a platform body 12, a mecanum wheel set 13 and a laser scanner 14; the electric driving structures of the 3 platforms are the same, and the electric driving structures comprise a driving motor 10 and a motor driver 11, wherein the motor driver 11 is used for controlling the speed of the driving motor 10, the driving motor 10 is used for driving a Mecanum wheel set 13 to rotate so as to realize the omnidirectional movement of a platform body 12, and a laser scanner 14 is used for detecting obstacles around the platform so as to realize the safety protection of the platform;

the intermediate platform 2 is used as a main control device and is provided with a management fusion module and an application control module, wherein the function realization process of the management fusion module comprises the following steps: detecting whether the data of the front moving platform 1 and the rear moving platform 3 are valid; if all valid, then judge whether there is the trouble in 3 platforms, include: low battery, driver alarm, sensor fault and other faults, if fault, displaying fault state; if no fault exists, continuously checking whether the 3 platforms are in rigid connection; if the three platforms are rigidly connected, continuously checking whether sudden stop exists on the 3 platforms, if no sudden stop exists, continuously judging whether the front moving platform 1 and the rear moving platform 3 are in an auxiliary vehicle mode and the middle platform 2 is in a main vehicle mode, if any state is not satisfied, not allowing three-vehicle linkage, and under the normal condition, the three-vehicle linkage comprises a fault state mode, a sudden stop mode, an acceleration mode, a constant speed running mode and a deceleration mode, simultaneously analyzing the data characteristics of the laser scanners 14 of the three platforms, confirming surrounding obstacle information, and starting a safety protection mode once obstacles exist in the moving direction of the platforms;

the application control module is used for executing different control strategies on the platform aiming at different modes of the three-vehicle linkage:

in the fault state mode, the mobile control instruction is not executed, and the platform is prevented from walking in the fault state;

in the emergency stop mode, the emergency stop platform driving loop is in a power-off state, and a movement control instruction is not executed;

in the acceleration mode, 3 platforms require synchronous acceleration to run, so that extrusion of the rigidly connected platforms caused by asynchronous acceleration is avoided, and the motor driver 11 enters a platform fault state mode due to over-torque fault alarm; therefore, after the application control module sends the acceleration control command to the forward moving platform 1 and the backward moving platform 3, the middle platform 2 executes the acceleration control command in a delayed manner, so that the motion of the 3 platforms is consistent in time, and in the starting acceleration mode, the torque of the motor driver 11 of the middle platform 2 is limited, the torque is not allowed to exceed the rated torque, and the middle platform 2 is allowed to be extruded and moved in a short time, so that the running stability of three vehicles is ensured;

under the uniform speed operation mode, the moving speeds of the three vehicles are consistent, normal walking is realized, the normal control mode is executed, and the maximum torque mode of the middle platform 2 is recovered;

in the deceleration mode, 3 platforms require synchronous deceleration running, after the application control module sends deceleration control instructions to the forward moving platform 1 and the backward moving platform 3, the self deceleration is controlled in a delayed mode until the self deceleration is completely stopped, and in the deceleration process, a torque limiting strategy is executed on a motor driver 11 of the middle platform 2, and the rated torque is not allowed to be exceeded;

in the safety protection mode, an obstacle exists in the moving direction of the platform, the application control module starts the deceleration mode in the direction of the obstacle, if the obstacle information is not eliminated, the deceleration mode is decelerated to be completely stopped, and if the obstacle is eliminated, the acceleration mode is started until the constant-speed operation mode is entered.

Preferably, the three moving platforms of the front moving platform 1, the middle platform 2 and the rear moving platform 3 can be controlled and moved by independent remote control, and the height can be adjusted by hydraulic suspension.

Preferably, the front mobile platform 1 is provided with a 485 communication connector 9, and the 485 communication connector 9 is connected with a communication line, so that the two vehicles can communicate with each other.

Preferably, the intermediate platform 2 is provided with a 485 communication connector 9, and the 485 communication connector 9 is connected with a communication line to enable the two vehicles to communicate with each other.

Preferably, a 485 communication connector 9 is arranged on the rear mobile platform 3, and a communication line is connected through the 485 communication connector 9, so that the two vehicles can communicate with each other.

Preferably, after the 3 mobile platforms are rigidly connected, 485 interfaces are adopted for communication between the middle platform 2 and the front mobile platform 1, so that data transmission is realized.

Preferably, after the 3 mobile platforms are rigidly connected, 485 interfaces are adopted for communication between the middle platform 2 and the rear mobile platform 3, so that data transmission is realized.

(III) advantageous effects

In the invention, three omnidirectional mobile platforms are rigidly connected through a hydraulic lock, a middle platform is used as a main control platform, and a management fusion module of the system receives state data of a front platform and a rear platform, carries out state monitoring and fault processing and analyzes the operation mode of the platforms; the application control module sends control instructions to the front platform and the rear platform, and limits the motor torque of the platform according to different states, so that synchronous control of three vehicles is realized. Compared with the prior art, the mobile platforms in rigid connection have good synchronism and do not move relatively. And a management fusion module of the intermediate platform monitors the state of each platform, processes faults and analyzes the operation mode of the platform, so that the control safety of each platform is ensured. Under the acceleration and deceleration state, the torque limiting strategy is executed on the motor driver of the middle platform, the rated torque is not allowed to be exceeded, and the three-vehicle linkage stability is good.

Drawings

FIG. 1 is a schematic diagram of three omni-directional mobile platforms in an unflattened state;

FIG. 2 is a schematic view of an inter-platform docking lock locking mechanism;

FIG. 3 is a schematic diagram of the rigid connection state of three platforms;

FIG. 4 is a schematic diagram of the internal structure of a single platform;

FIG. 5 is a schematic diagram of data transfer between platforms;

FIG. 6 is a flow chart of the management fusion module function.

Detailed Description

In order to make the objects, contents, and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.

The invention provides a rigid connection system of an omnidirectional mobile platform, which comprises a front mobile platform 1, a middle platform 2, a rear mobile platform 3, a butt joint lock locking mechanism between the front mobile platform 1 and the middle platform 2, and a butt joint lock locking mechanism with the same structure between the middle platform 2 and the rear mobile platform 3, wherein the butt joint lock locking mechanism is used for realizing rigid connection between the two platforms. Fig. 1 shows a state that three omnidirectional moving platforms based on Mecanum wheels are not rigidly connected, and the three moving platforms, namely a front moving platform 1, a middle platform 2 and a rear moving platform 3, can be moved by single remote control and are adjusted in height through hydraulic suspension.

The docking lock locking mechanism of the middle platform 2 and the front moving platform 1 shown in fig. 2 comprises a thin oil cylinder 4, a docking lock pin fixing plate 5, a docking lock shaft 6 and a docking lock hole fixing plate 8; wherein, butt joint lock needle fixed plate 5 is fixed in middle platform 2 front side, and butt joint lockhole fixed plate 8 is fixed at preceding moving platform 1, and thin hydro-cylinder 4 on the butt joint lock needle fixed plate 5 can drive butt joint locking axle 6 and insert butt joint lockhole 7 on the butt joint lockhole fixed plate 8 when stretching out to realize the butt joint lock and lock, and then realize the rigid connection of preceding moving platform 1 and middle platform 2, middle platform 2 realizes rigid connection with back moving platform 3 with same mode. Wherein, butt joint locking hole 7 is waist hole structure, and three car linkage in-processes, even the uneven state in road surface appears, short distance highly misplaced can appear in two platforms. 485 communication connectors 9 are arranged on the three platforms respectively, communication lines are connected through the 485 communication connectors 9, communication between the two vehicles can be achieved, and fig. 3 is a schematic diagram of rigid connection states of the three platforms.

Fig. 4 is a schematic diagram of the internal structure of a single platform, that is, the front moving platform 1, the middle platform 2, and the rear moving platform 3 each include a motor-driven structure, a platform body 12, a mecanum wheel set 13, and a laser scanner 14; the electric drive structure of 3 platforms is the same, including driving motor 10 and motor driver 11, motor driver 11 is used for carrying out speed control to driving motor 10, and driving motor 10 is used for driving mecanum wheel group 13 rotatory, realizes the 12 omnidirectional movement of platform body, and laser scanner 14 is used for detecting platform barrier all around, realizes safety protection to the platform.

Fig. 5 is a schematic diagram of data transmission between platforms. After the 3 mobile platforms are rigidly connected, 485 interfaces are respectively adopted between the middle platform 2 and the front mobile platform 1 and between the middle platform and the rear mobile platform 3 for communication, so that data transmission is realized.

The intermediate platform 2 is used as a main control device and has a management fusion module and an application control module, wherein the function implementation flow of the management fusion module is shown in fig. 6, and the method comprises the following steps: detecting whether the data of the front moving platform 1 and the rear moving platform 3 are valid; if all valid, then judge whether there is the trouble in 3 platforms, include: low battery, driver alarm, sensor fault and other faults, if fault, displaying fault state; if no fault exists, continuously checking whether the 3 platforms are in rigid connection; if the three platforms are rigidly connected, continuously checking whether sudden stop exists on the 3 platforms, if no sudden stop exists, continuously judging whether the front moving platform 1 and the rear moving platform 3 are in an auxiliary vehicle mode and the middle platform 2 is in a main vehicle mode, if any state is not satisfied, not allowing three-vehicle linkage, and under the normal condition, the three-vehicle linkage comprises a fault state mode, a sudden stop mode, an acceleration mode, a constant speed running mode and a deceleration mode, simultaneously analyzing the data characteristics of the laser scanners 14 of the three platforms, confirming surrounding obstacle information, and starting a safety protection mode once obstacles exist in the moving direction of the platforms;

the application control module is used for executing different control strategies on the platform aiming at different modes of the three-vehicle linkage:

in the fault state mode, the mobile control instruction is not executed, and the platform is prevented from walking in the fault state;

in the emergency stop mode, the emergency stop platform driving loop is in a power-off state, and a movement control instruction is not executed;

in the acceleration mode, 3 platforms require synchronous acceleration to run, so that extrusion of the rigidly connected platforms caused by asynchronous acceleration is avoided, and the motor driver 11 enters a platform fault state mode due to over-torque fault alarm; therefore, after the application control module sends the acceleration control command to the forward moving platform 1 and the backward moving platform 3, the middle platform 2 executes the acceleration control command in a delayed manner, so that the motion of the 3 platforms is consistent in time, and in the starting acceleration mode, the torque of the motor driver 11 of the middle platform 2 is limited, the torque is not allowed to exceed the rated torque, and the middle platform 2 is allowed to be extruded and moved in a short time, so that the running stability of three vehicles is ensured;

under the uniform speed operation mode, the moving speeds of the three vehicles are consistent, normal walking is realized, the normal control mode is executed, and the maximum torque mode of the middle platform 2 is recovered;

in a deceleration mode, 3 platforms require synchronous deceleration running, after the application control module sends deceleration control instructions to the forward moving platform 1 and the backward moving platform 3, the self deceleration is controlled in a delayed mode until the platforms stop completely, in the deceleration process, a torque limiting strategy is executed on a motor driver 11 of the middle platform 2, the rated torque is not allowed to be exceeded, and the stability of the platform deceleration is ensured;

in the safety protection mode, an obstacle exists in the moving direction of the platform, the application control module starts the deceleration mode in the direction of the obstacle, if the obstacle information is not eliminated, the deceleration mode is decelerated to be completely stopped, if the obstacle is eliminated, the acceleration mode is started until the constant-speed operation mode is entered, and in the mode, a plurality of modes are required to be switched randomly, so that the moving stability is ensured.

In the invention, the management fusion module of the intermediate platform 2 monitors the state of each platform, processes faults and analyzes the moving mode of the platform, and the application control module carries out delay control and execution torque limitation strategies on different modes, thereby ensuring the stability and the safety of the three-vehicle linkage.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.