WO2024251314A1 - Châssis de véhicule robotique à chenilles triangulaires pouvant être commandées indépendamment et perception tactile de forme et de conformité de terrain - Google Patents

Châssis de véhicule robotique à chenilles triangulaires pouvant être commandées indépendamment et perception tactile de forme et de conformité de terrain Download PDF

Info

Publication number
WO2024251314A1
WO2024251314A1 PCT/CZ2023/000021 CZ2023000021W WO2024251314A1 WO 2024251314 A1 WO2024251314 A1 WO 2024251314A1 CZ 2023000021 W CZ2023000021 W CZ 2023000021W WO 2024251314 A1 WO2024251314 A1 WO 2024251314A1
Authority
WO
WIPO (PCT)
Prior art keywords
wheel
support frame
arm support
drive unit
track
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CZ2023/000021
Other languages
English (en)
Inventor
Bedřich HIMMEL
Tomáš Svoboda
Martin Pecka
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Czech Technical University In Prague
Original Assignee
Czech Technical University In Prague
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Czech Technical University In Prague filed Critical Czech Technical University In Prague
Priority to PCT/CZ2023/000021 priority Critical patent/WO2024251314A1/fr
Publication of WO2024251314A1 publication Critical patent/WO2024251314A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/12—Arrangement, location, or adaptation of driving sprockets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/065—Multi-track vehicles, i.e. more than two tracks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/10—Bogies; Frames
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/14—Arrangement, location, or adaptation of rollers

Definitions

  • the invention relates to chassis for mobile vehicles, more specifically, tracked chassis for robotic mobile vehicles, wherein the chassis is provided with independently controllable triangular tracks.
  • the individual parts of the triangular track or wheel are arranged in such a way that the endless revolving track wound around the vertices of the triangular arrangement of rotatable members can be moved forward and backward and at the same time the entire triangular track/wheel can rotate on its central axis.
  • the independently controllable tracks are provided with means for tactile perception of terrain shape and compliance.
  • the document US8695735B2 describes a triangular continuous track device for direct replacement of a conventional tire and wheel combination found commonly on cars, trucks and other vehicles.
  • a hub on the device is provided for direct bolt onto vehicles with a standard wheel bolt pattern.
  • a track tensioning feature allows the track to be installed or repaired without removing the device from the vehicle.
  • Grooves on the wheels are provided that engage with ribs on the inside of the track to efficiently transfer power from a power wheel in direct communication with the vehicle's axle to the two bottom idle wheels.
  • the wheel according to the above-described document is not configured to rotate about its central axis passing through the shaft by which it is attached to the chassis, which is substantially disadvantageous for accurate passing through the complex terrain, and hence it has not tactile perception capability.
  • the robot includes a main body and four triangular crawler wheels disposed on the main body, and the main body includes an upper casing, a middle casing and a lower casing, and the upper casing and the lower casing are fixed on the middle casing, and the upper casing is provided with an image pickup mechanism.
  • the middle frame has an external antenna at the end of the middle frame, and the middle frame includes a bracket plate having a hollow portion in the middle.
  • the bracket plate is provided with an upward first convex edge and a downward second convex edge, and the upper side of the bracket plate is provided with a circuit board.
  • the lower side of the bracket plate is fixedly connected to the driving motor and the gear set, and the upper shell and the lower shell are fixed on the middle frame for convenient installation, and the hollow part is arranged in the middle of the bracket plate, the weight is reduced, the fixing is convenient, and the fixing is firm.
  • the wheels of the robot are not configured to rotate about its central axis of the shaft.
  • the wheels according to said document are also not provided with means for tactile perception of the terrain shape and compliance.
  • a tracked robot Compared to a wheeled robot, a tracked robot has more excellent terrain permeability and a larger contact area with the surface, but its control is more energydemanding.
  • Auxiliary tracks can increase the stability of the robot and improve the ability to pass through rugged terrain. Still, autonomous adjustment of the position of auxiliary tracks is not a simple task, and their incorrect position can lead to loss of stability and failure of the robot. Maintaining the desired position of the auxiliary tracks is energy- intensive in many cases, and the robot consumes energy even when it is not actively moving.
  • Robots with legged chassis have a very good ability to overcome obstacles. Still, they are often slow, and energy-intensive as they consume energy even when they are not actively moving, and their robustness depends entirely on the locomotion control algorithm.
  • Present invention relates to a robotic vehicle chassis with at least four independently controllable triangular tracks and tactile perception of terrain shape and compliance, wherein the individual elements of the wheel are formed in such a way that a revolving track wound around the vertices of the triangular arrangement of rotatable members can be moved forward and backward at the same time and furthermore the entire wheel can rotate on its central axis, which a major advantage addressing some of the problems of the state-of-the-art solutions.
  • the technical problem to be solved by the present invention is to provide a vehicle chassis with triangular track wheels.
  • the proposed wheels offer high ability to overcome obstacles, inherent robustness, resistance to steering errors, and energy efficiency, providing information about the terrain on which it is located and the ability to respond to dynamic terrain changes quickly.
  • the robotic chassis with triangular tracked wheels comprises a fixed structure of the main body of the chassis equipped with at least and preferably exactly four independently actuated triangular tracked wheels.
  • Each triangular tracked wheel is configured to rotate its three-arm support frame and drive the endless revolving track on its circumference.
  • the triangular tracked wheel comprises a three-arm support frame, each arm of which ends with a wheel adapted for guiding the endless revolving track and preventing sliding of the endless revolving track to the sides.
  • One of the end wheels is mechanically coupled to the endless revolving track drive unit, which provides control of the endless revolving track movement with the possibility of setting the maximum allowed force for the endless revolving track movement.
  • the track drive unit also provides information about the current position and speed of the endless revolving track, along with information about the electrical power applied to the drive unit’s motor to achieve the desired motion.
  • Each arm of the three-arm triangular tracked wheel support frame is further equipped with a 3-axis torque and force sensor providing information about the mechanical stress of each of the arms of the three-arm triangular tracked wheel support frame.
  • the information about the mechanical stress of each of the arms of the three-arm support frame of the triangular tracked wheel is used to calculate the estimate of the contact forces between the chassis and the surrounding terrain. Thanks to the actual measurement of the forces and torques acting on each of the arms of the three-arm support frame of the triangular tracked wheel, it is possible to immediately react to dynamic changes in the surrounding terrain, such as its subsidence, yielding, or sliding.
  • the triangular tracked wheel is attached to the main body by a hollow bracket with an inserted hollow shaft firmly connected to the three-arm support frame of the triangular tracked wheel.
  • the hollow shaft is used to transmit torque from the driving unit of turning the three-arm support frame to the three-arm support frame and thus to control the angular position of the three-arm support frame of the triangular tracked wheel.
  • the driving unit for rotating the three-arm triangular tracked wheel support frame is equipped with a locking mechanism, which eliminates the need to supply power to the unit to maintain the desired orientation of the three-arm triangular tracked wheel support frame.
  • the drive unit for turning the three-arm support frame of the triangular tracked wheel allows to precisely set the desired orientation of the three-arm support frame of the triangular tracked wheel.
  • the drive unit also allows setting of the maximum allowable torque to achieve this angular position, providing feedback on the current orientation of the triangular tracked wheel and the torque needed to achieve it.
  • a limitation of the locking mechanism of the drive unit is the absence of compliance of the angular position by the action of external forces, assuming a limited torque of the power unit.
  • this limitation is eliminated due to i) the measurement of the external forces acting on the three-arm support frame of the triangular tracked wheel, and ii) the possibility to actively control the orientation of the three-arm support frame of the triangular tracked wheel based on the action of external forces, if desired.
  • the proposed chassis with triangular tracked wheels is primarily intended for overcoming obstacles in urban or industrial environments (stairs, curbs). In addition to that, thanks to the continuous rotation of the triangular tracked wheels and simultaneous movement of their endless revolving tracks, it can traverse more difficult terrain than a wheeled robot of comparable size, even in natural unpaved terrain.
  • the proposed chassis is far more robust and resistant to inaccurate control of the orientation of the triangular tracked wheels.
  • the chassis provides detailed information about contact with the surrounding terrain that conventional mobile robot chassis are unable to provide. Information about contact with the surrounding terrain is then further used to estimate the type and properties of the terrain and to react to sudden changes in the terrain (e.g., subsidence, yielding, or damage to the supporting surface).
  • vision sensors and suitable algorithms it is then possible to predict the characteristics of the terrain that the robot is about to enter and, on this basis, to choose more suitable parameters for the control algorithm of the robot’s movement.
  • Each triangular tracked wheel unit is preferably equipped with an electronic control and sensor processing unit (not shown) that provides control of the motors and reading and processing data from sensors located on the unit such as motor current sensors, absolute and incremental encoders and 3-axis torque and force sensor.
  • the electronic control and sensor processing unit executes commands from a superior control system which is responsible for control of the whole robot and provides real time information of the state of the triangular tracked wheel (positions, velocities, currents, forces, torques) to the superior control system.
  • the inner control loop of the electronic control and sensor processing unit can directly react on sensor data without involving the superior control system and inferring non-trivial information about the acting forces, it can for example mimic mechanical compliance of the triangular tracked wheel when desired.
  • the electronic control and sensor processing unit can thus offer more advanced high-level control commands than usual motor control units used for mobile robots.
  • the superior control system can run common high- level control and state estimation algorithms such as factorgraph-based localization or linear-quadratic regulator control.
  • One guiding wheel of each triangular tracked wheel is preferably provided with an additional wheel attached to its side. When moving on a flat surface and with a corresponding orientation of the three-arm support frame of the triangular tracked wheel, the additional wheel eliminates the vibrations formed by the profile of the endless revolving track and facilitates smooth movement on a flat paved surface.
  • Figure 1 shows a side view of robotic vehicle chassis according to this invention provided with triangular tracks
  • Figure 2 shows a side view triangular track wheel having three-arm support frame, each arm of which ends with a wheel adapted for guiding the endless revolving track and preventing sliding of the endless revolving track and each arm is provided with 3-axis torque and force sensor;
  • Figure 3 shows top view of triangular track wheel coupled with drive unit of the endless revolving track and drive unit for turning the three-arm support frame;
  • Figure 4 shows top view of robotic vehicle chassis (according to this invention provided with four triangular tracks;
  • the vehicle chassis on Figs. 1 to 4 with triangular tracked wheels consists of rigid structure main chassis body 1 provided with four independently actuated triangular tracked wheels 2, Each triangular tracked wheel 2 is arranged to rotate its three-arm support frame 21 , as well as drive the endless revolving track 25 on its circumference.
  • the triangular tracked wheel 2 comprises a three-arm support frame 21 , each arm of which ends with a wheel 22 adapted for guiding the endless revolving track 25 and preventing sliding of the endless revolving track 25 to the sides.
  • One of the end wheels 22 is mechanically coupled by means of a chain transmission 23 to the inner hollow shaft 24, which transmits torque from the endless revolving track drive unit 26.
  • the endless revolving track drive unit 26 consists of an electric motor 261 equipped with a shaft angular position sensor, a gearbox 262 made up of gear wheels, and a motor control unit enabling control of the motor 261 tor torque, position, and speed.
  • the drive unit 26 of the endless revolving track provides control of the speed of movement of the endless revolving track 25 with the possibility of setting the maximum allowed force for the endless revolving track 25 and provides information on the current position and speed of the endless revolving track 25 along with information on the energy supplied to the electric motor 261 required to move the endless revolving track 25.
  • Each of the arms of the three-arm support frame 21 is provided with a 3-axis force and torque sensor 27, providing information about the mechanical stress of each of the arms.
  • the 3-axis force and torque sensors 27 are connected by means of rotary connectors (slip rings) and wires leading through the inner hollow shaft 24 to the control unit of the 3-axis torque and force sensors 27 located in the main chassis body 1.
  • the triangular tracked wheel 2 is attached to the main body 1 by means of a hollow bracket 11 in which the inserted hollow shafts 24, 28 are placed concentrically.
  • the inner hollow shaft 24 serves to transmit the torque from the drive unit 26 of the endless revolving track 25 to the endless revolving track 25, while the outer hollow shaft 28 firmly connected to the three-arm support frame 21 serves to transmit the torque from the drive unit 29 for turning the three-arm support frame 21 to the three-arm support frame 21 and thus to control the position and rotation of the three-arm support frame 21.
  • the drive unit 29 for turning the three-arm support frame 21 is, in contrast to the commonly used drive units consisting of an electric motor with a conventional gearbox, equipped with a self-locking gearbox, and therefore there is no need to supply energy to the drive unit 29 for turning the three-arm support frame 21 to maintain the set position of the three-arm support frame 21.
  • This achieves significant energy savings and avoids the problems associated with motors driven into position at load and zero speed, where a significant amount of heat is generated, which can lead to overheating and damage to the motor.
  • the drive unit 29 for turning the three-arm support frame 21 consists of two electronically coupled electric motors 291 equipped with shaft angular position sensors, a self-locking gearbox made of a worm gear with two worms 292 and one worm wheel 293. and a motor control unit enabling the control of motors 291 for torque, position, and speed.
  • the driving unit 29 for turning the three-arm support frame 21 allows setting the angular position of the three-arm support frame 21 or the continuous rotation of the three-arm support frame 21 at a specified speed with the possibility of setting the maximum allowed force for the rotation of the three-arm support frame 21 and provides information about the current position and speed of the three-arm support frame 21 together with information about the energy supplied to the motors 291.
  • Each triangular tracked wheel 2 unit is provided with an electronic control and sensor processing unit (not shown) that provides control of the motors 261, 291 and reading and processing data from sensors located on the wheel 2 unit such as motor current sensors, absolute and incremental encoders and 3-axis torque and force sensor 27.
  • a limitation of the self-locking drive used is the absence of mechanical compliance, due to which the angular position can be changed by the action of external forces if the drive unit's torque is limited. In the presented solution, this limitation is eliminated thanks to the measurement of external forces acting on the chassis and the possibility of active angular positioning of the three-arm support, frame 21 based on the measurements. In addition, it is possible to achieve mechanical compliance of the self-locking drive by cyclic bidirectional torque excitation at the limit of static friction.
  • the present invention is industrially utilizable particularly in the field of mobile robotic systems with chassis that require high and efficient traversability over various types of terrain with minimal or reduced energy demands or prolonged working time.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un châssis de véhicule robotique doté de chenilles triangulaires pouvant être commandées indépendamment et d'une perception tactile de la forme et de la conformité du terrain qui comprend un corps de châssis principal à structure rigide (1) pourvu d'au moins quatre roues à chenilles triangulaires pouvant être commandées indépendamment (2). Chaque roue à chenille (2) est conçue pour faire tourner son cadre de support à trois bras (21) au moyen d'une unité d'entraînement (29) et pour entraîner une bande rotative sans fin (25) sur sa circonférence au moyen d'une unité d'entraînement (26) de la bande rotative sans fin. Chaque bras du cadre de support à trois bras (21) est en outre équipé d'un capteur (27) de couple et de force à trois axes configuré pour fournir des informations concernant la contrainte mécanique de chacun des bras du cadre de support à trois bras (21) pour calculer l'estimation des forces de contact entre le corps de châssis principal (1) et le terrain environnant.
PCT/CZ2023/000021 2023-06-06 2023-06-06 Châssis de véhicule robotique à chenilles triangulaires pouvant être commandées indépendamment et perception tactile de forme et de conformité de terrain Ceased WO2024251314A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CZ2023/000021 WO2024251314A1 (fr) 2023-06-06 2023-06-06 Châssis de véhicule robotique à chenilles triangulaires pouvant être commandées indépendamment et perception tactile de forme et de conformité de terrain

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CZ2023/000021 WO2024251314A1 (fr) 2023-06-06 2023-06-06 Châssis de véhicule robotique à chenilles triangulaires pouvant être commandées indépendamment et perception tactile de forme et de conformité de terrain

Publications (1)

Publication Number Publication Date
WO2024251314A1 true WO2024251314A1 (fr) 2024-12-12

Family

ID=86903984

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CZ2023/000021 Ceased WO2024251314A1 (fr) 2023-06-06 2023-06-06 Châssis de véhicule robotique à chenilles triangulaires pouvant être commandées indépendamment et perception tactile de forme et de conformité de terrain

Country Status (1)

Country Link
WO (1) WO2024251314A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1832501A2 (fr) * 2006-03-10 2007-09-12 National Institute of Advanced Industrial Science and Technology Robot à chenilles
WO2012060743A1 (fr) * 2010-11-01 2012-05-10 Atlas Copco Rock Drills Ab Agencement pour stabiliser un véhicule transportant un appareil de forage de roches
US8695735B2 (en) 2011-02-18 2014-04-15 Angelo Afanador Triangle track vehicle wheel
WO2018035750A1 (fr) 2016-08-24 2018-03-01 李玉婷 Robot ayant des roues à chenilles triangulaires
CN110466631A (zh) * 2019-07-16 2019-11-19 江苏大学 一种行星三角履带式行走机构

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1832501A2 (fr) * 2006-03-10 2007-09-12 National Institute of Advanced Industrial Science and Technology Robot à chenilles
WO2012060743A1 (fr) * 2010-11-01 2012-05-10 Atlas Copco Rock Drills Ab Agencement pour stabiliser un véhicule transportant un appareil de forage de roches
US8695735B2 (en) 2011-02-18 2014-04-15 Angelo Afanador Triangle track vehicle wheel
WO2018035750A1 (fr) 2016-08-24 2018-03-01 李玉婷 Robot ayant des roues à chenilles triangulaires
CN110466631A (zh) * 2019-07-16 2019-11-19 江苏大学 一种行星三角履带式行走机构

Similar Documents

Publication Publication Date Title
US7789175B2 (en) Modular dual wheel drive assembly, wheeled devices that include modular dual wheel drive assemblies and methods for moving and/or maneuvering wheeled devices using modular dual wheel drive assemblies
US7891445B1 (en) Ball-drive propulsion device
JP2001199356A (ja) 全方向移動車両とその制御方法
EP1547843A4 (fr) Systeme de moteur-roue pour roue directrice
US12234624B2 (en) Motor control for electrically powered power machine
CN106379409A (zh) 角度可控动力差速全向轮及其控制方法以及全向移动平台
CN218052601U (zh) 一种挂轨机器人可调抱紧行走机构
CN213057206U (zh) 舵轮机构及运输车
WO2024251314A1 (fr) Châssis de véhicule robotique à chenilles triangulaires pouvant être commandées indépendamment et perception tactile de forme et de conformité de terrain
WO2021106894A1 (fr) Ensemble moyeu présentant une fonction de direction et véhicule équipé dudit ensemble
CN215513858U (zh) 全向底盘结构
CN118141620B (zh) 一种电动轮椅及其自主越障控制方法、设备及存储介质
CN206750011U (zh) 自平衡装置及电动车辆
KR20090060523A (ko) 장륜차량의 암형 현가장치용 조향장치
CN216374784U (zh) 全向驱动机构及移动机器人
CN205499099U (zh) 一种履带式无人搬运小车
Wagner et al. Design and control of a passively steered, dual axle vehicle
CN113027694B (zh) 转运机构、叶根移送小车、叶尖移送小车及叶片转运系统
CN222846394U (zh) 一种全向agv叉车
WO2019181663A1 (fr) Système de direction et véhicule équipé de celui-ci
CN115027582A (zh) 一种5g机器人
CN211685398U (zh) 一种基于轮毂电机的全地形科研小车平台
CN114750584A (zh) 可横向行走底盘
CN114013214A (zh) 一种主动全向轮及其运动方法
CN210822526U (zh) 一种全向差分驱动舵轮

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23733203

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE