Adaptive robot for vehicles

An adaptive robot for vehicles, comprising an active centrifugal force counteracting structure and a controller, wherein,

• the active centrifugal force counteracting structure comprises a first base plate, a support seat, a swing frame, multiple swing arms and a first screw motor assembly, wherein a lower side of the support seat is suitable for being fixedly mounted on the first base plate, an upper side of the support seat is provided with a first mounting seat, an outer side of the swing frame is provided with a plurality of pin shafts, one end of each swing arm is rotatably connected to one of the pin shafts of the swing frame, the other end of each swing arm is rotatably connected to the first mounting seat, the first screw motor assembly is mounted on the first base plate and comprises a first screw motor, a movable end of the first screw motor assembly is connected to the swing frame, and the first screw motor assembly is configured to drive the swing frame to perform a rolling motion according to a first control signal sent by the controller to compensate for a centrifugal force;
• the controller is configured to:
• obtain current vehicle posture data, determine a driving scene of the vehicle according to the vehicle posture data, and when the driving scene is a sharp turn, send the first control signal, the first control signal including an expected rotational speed of the first screw motor;
• wherein the controller calculates the expected rotational speed of the first screw motor includes:
• calculating an expected compensation angle of the centrifugal force according to the driving scene and the vehicle posture data;
• calculating an angle between a first swing arm located on one side of the swing frame and ground according to the expected compensation angle and a kinematic equation of the active centrifugal force counteracting structure among the swing arms;
• calculating a moving pair length of the first screw motor assembly according to the angle between the first swing arm and the ground and an installation position of the first screw motor;
• and
• calculating an expected rotational speed of the first screw motor according to the moving pair length of the first screw motor assembly, the angle between the first swing arm and the ground and the expected compensation angle.