CN108382458A - Mobile mechanism and control method for movement - Google Patents
Mobile mechanism and control method for movement Download PDFInfo
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- CN108382458A CN108382458A CN201810169919.1A CN201810169919A CN108382458A CN 108382458 A CN108382458 A CN 108382458A CN 201810169919 A CN201810169919 A CN 201810169919A CN 108382458 A CN108382458 A CN 108382458A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of mobile mechanism and control method for movement, are related to mobile device field.The control method for movement includes：Deflecting roller according to target diversion angle control mobile mechanism turns to；Judge whether the real-time steering angle of deflecting roller is equal to target diversion angle；When real-time steering angle is equal to target diversion angle, control the driving vehicle wheel rotation of mobile mechanism both sides respectively according to target rotational velocity ratio, to complete, in mobile mechanism, at it, the steering on direction that moves forward and backward is mobile, mobile and rotation movement of keeping straight on, target rotational speed is corresponding with target diversion angle, the ratio of the velocity of rotation of the driving wheel of characterization mobile mechanism both sides.This method has the characteristics that steering is more smooth steady, and can complete the steering movement to move forward and backward on direction, straight trip movement and the rotation movement in mobile mechanism.
Description
Technical field
The present invention relates to mobile device fields, in particular to mobile mechanism and control method for movement.
Background technology
With the arrival of intellectualization times, mobile robot comes into people’s lives more and more.And moving machine
Device people is an important branch in robotics, and wherein mobile mechanism is during mobile robot completes itself function
One of critical component.There are wheeled (such as four wheeled, two-wheeled, omnidirection formula, crawler type), sufficient formula in mobile mechanism common at present
(such as 6 foots, 4 foots, 2 foots), hybrid (with wheel and foot), special formula (such as absorption type, rail mounted, snake formula) type.
Existing common wheeled locomotion mechanism has the advantages such as speed is fast, efficient, motion artifacts are low；While there is also
Obstacle climbing ability is poor, turning radius is big, the shortcomings of can not achieve rotation, in addition, it is existing can rotation mobile robot it is universal
Using a kind of wheel of entitled omni-directional wheel or the wheel of entitled Mecanum wheel, still, both of which is unable to control direction,
And it is easy to deviate moving direction in complicated road conditions environment so that traveling, which is obstructed, even to be stopped, and the two wants use environment
It asks high, can only be used in clean smooth environment, work is difficult in complex road condition environment.
In view of this, R ＆ D design goes out, a kind of turning radius is small, and can realize the mobile mechanism of rotation and mobile control
Method is particularly important.
Invention content
The purpose of the present invention is to provide a kind of control method for movement, this method, which has, turns to more smooth stable spy
Point, and the steering movement to move forward and backward on direction, straight trip movement and rotation movement in mobile mechanism can be completed.
Another object of the present invention is to provide a kind of mobile mechanism, which completes to move using control method for movement
It is dynamic, have the characteristics that steering is more smooth steady, and the steering to move forward and backward on direction in mobile mechanism can be completed
Mobile, straight trip movement and rotation movement.
The present invention provides a kind of technical solution：
In a first aspect, an embodiment of the present invention provides a kind of control method for movement, it is applied to wheeled mobile mechanism, it is described
Control method for movement includes：The deflecting roller that the mobile mechanism is controlled according to target diversion angle turns to；Judge the deflecting roller
Real-time steering angle whether be equal to the target diversion angle；When real-time steering angle be equal to the target diversion angle, according to
The driving vehicle wheel rotation for controlling the mobile mechanism both sides respectively according to target rotational velocity ratio, to complete in mobile mechanism at it
Steering movement, straight trip movement and the rotation movement to move forward and backward on direction, the target rotational speed and the target turn
It is corresponding to angle, characterize the ratio of the velocity of rotation of the driving wheel of the mobile mechanism both sides.
With reference to first aspect, in the first realization method of first aspect, according to described in the control of target diversion angle
Before the step of deflecting roller of mobile mechanism turns to, the control method for movement further includes：Detect multiple continuous realities
When velocity of rotation, and generate real-time velocity of rotation collection, the real-time velocity of rotation collection be the mobile mechanism it is continuous in real time
The set of rotation data；According to real-time velocity of rotation data set generation target rotational velocity ratio；According to target rotational speed ratio
Value generates target diversion angle.
With reference to first aspect and its above-mentioned realization method, in second of realization method of first aspect, according to target
Before the step of deflecting roller of mobile mechanism described in controlling steering angle turns to, the control method for movement further includes：According to institute
It states destination path section and generates corresponding target diversion radius, destination path deviation and target moving distance, the target road
Diameter segment table levies the pending mobile route of the mobile mechanism；Target diversion radius corresponding to foundation destination path section and road
Diameter is biased to generate target diversion angle.
With reference to first aspect and its above-mentioned realization method, in the third realization method of first aspect, according to described in
Before the step of destination path section generates corresponding target diversion radius, destination path is biased to and target moving distance, institute
Stating control method for movement further includes：Preset path information is divided into continuous destination path section, the preset path information representation
The mobile route of the mobile mechanism.
With reference to first aspect and its above-mentioned realization method, in the 4th kind of realization method of first aspect, according to target
After velocity of rotation ratio controls the step of driving vehicle wheel rotation of the mobile mechanism both sides respectively, the control method for movement
Further include：Judge whether the real-time displacement distance of the mobile mechanism is equal to the target corresponding with the destination path section and moves
Dynamic distance, the real-time displacement distance characterize the distance that the mobile mechanism actually moves in the destination path section；When
The real-time displacement distance is equal to target moving distance, and the mobile mechanism executes right therewith according to destination path section generation
The step of target diversion radius, destination path deviation and target moving distance for answering and later step.
Second aspect, an embodiment of the present invention provides a kind of mobile mechanism, including vehicle assembly and control acquisition component, institutes
It includes that frame body, deflecting roller, steering actuator and two driving wheels, two driving wheels are all connected to institute to state vehicle assembly
One end of frame body is stated, the deflecting roller is connected to one far from the driving wheel of the frame body by the steering actuator
End, the control acquisition component include control module, rotation direction sensor and two rotation sensors, the control module respectively with
The steering actuator, the rotation direction sensor and two rotation sensors, two driving wheel electrical connections, two
The rotation sensor is respectively arranged in two driving wheels, and the rotation direction sensor is installed on the steering actuator；
The velocity of rotation that two rotation sensors are respectively used to detect two driving wheels in real time is turned in real time with generating two
Dynamic speed, and it is sent to the control module, the control module receives continuously the repeatedly real-time velocity of rotation and generates
Real-time velocity of rotation collection, then generate target diversion angle and target rotational velocity ratio, institute according to the velocity of rotation information collection
It states control module and controls the steering actuator drive deflecting roller steering, rotation direction sensor according to the target diversion angle
Real-time steering angle for detecting the deflecting roller, it is described that the control module judges whether the real-time steering angle is equal to
Target diversion angle, when the real-time steering angle is equal to the target diversion angle, the control module controls the steering
Wheel keeps the steering angle, and controls two driving vehicle wheel rotations respectively according to the target rotational velocity ratio.
In conjunction with second aspect, in the first realization method of second aspect, the control acquisition component further includes path
Memory module, the path memory module are electrically connected with the control module, and the path memory module is for storing the shifting
The preset path information of motivation structure, the control module can control the driving wheel and institute according to the preset path information
It states and turns to actuator so that the mobile mechanism moves along the preset path information.
In conjunction with second aspect and its above-mentioned realization method, in second of realization method of second aspect, the control is adopted
It further includes human-computer interaction module to collect component, and the human-computer interaction module is electrically connected with the control module, and human-computer interaction module is used
In response user's operation and by the control module preset path information is inputted to the path memory module.
In conjunction with second aspect and its above-mentioned realization method, in the third realization method of second aspect, the control is adopted
It further includes locating module to collect component, and the locating module is electrically connected with the control module, and the locating module is for detecting institute
The position of mobile mechanism is stated to generate real-time position information, and sends the real-time position information to the control module, it is described
Control module judges the position of the mobile mechanism according to the real-time position information.
In conjunction with second aspect and its above-mentioned realization method, in the 4th kind of realization method of second aspect, the control is adopted
Collection component further includes distance measuring sensor and scanning rotating member, and the distance measuring sensor passes through the scanning rotating member and the frame body
Rotation connection, the distance measuring sensor and the scanning rotating member are electrically connected with the control module, the distance measuring sensor
Distance of obstacle information for measuring the barrier around the mobile mechanism is simultaneously sent to the control module, the scanning
Rotating member detects real-time azimuthal of the distance measuring sensor relative to the frame body for driving the distance measuring sensor to rotate
Information to be sent to the control module, according to the distance of obstacle information and the real-time azimuthal information give birth to by the control module
At obstacle position information.
Compared with prior art, the advantageous effect of mobile mechanism provided in an embodiment of the present invention and control method for movement is：
This method is after the target diversion angle for completing to generate with target rotational speed is completed to turn to, then controls mobile mechanism
It is rotated with target rotational speed, so that the steering of mobile mechanism is more smooth steady, reduces mill of the mobile mechanism when turning to
Damage, and then also avoid the frame body shake brought by abrasion.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described.It should be appreciated that the following drawings illustrates only certain embodiments of the present invention, therefore it is not construed as pair
The restriction of range.It for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
The structural schematic diagram for the mobile mechanism that Fig. 1 is provided by the embodiment of the present invention；
Fig. 2 is that schematic diagram is moved in the rotation of mobile mechanism provided in an embodiment of the present invention；
The structural schematic block diagram of the control acquisition component for the mobile mechanism that Fig. 3 is provided by the embodiment of the present invention；
Fig. 4 is the schematic process flow diagram for the control method for movement that second embodiment of the embodiment of the present invention provides；
Fig. 5 is the relevant part flow signal of real-time velocity of rotation of control method for movement provided in an embodiment of the present invention
Figure；
Fig. 6 is the relevant part flow signal of preset path information of control method for movement provided in an embodiment of the present invention
Figure；
Fig. 7 is the relevant part flow signal of completion destination path section of control method for movement provided in an embodiment of the present invention
Figure.
Icon：100- mobile mechanisms；120- vehicle assemblies；121- frame bodies；122- drives wheel；123- turns to actuator；
124- deflecting rollers；125- vibration-damped components；110- controls acquisition component；111- rotation direction sensors；112- rotation sensors；114- rangings
Sensor；115- human-computer interaction modules；113- control modules；The paths 116- memory module；117- locating modules；118- scannings turn
Moving part.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.Obviously, described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this field is common
The every other embodiment that technical staff is obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it is to be understood that, the instructions such as term "upper", "lower", "inner", "outside", "left", "right"
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings or the invention product using when usually put
Orientation or positional relationship or the orientation or positional relationship that usually understands of those skilled in the art, be merely for convenience of retouching
It states the present invention and simplifies description, do not indicate or imply the indicated equipment or element must have a particular orientation, with specific
Azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " etc. are only used for distinguishing description, it is not understood to indicate or imply relatively important
Property.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also include other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, " setting ", " even
Connect " etc. terms shall be understood in a broad sense, for example, " connection " may be a fixed connection, may be a detachable connection, or integrally connect
It connects；It can be mechanical connection, can also be electrical connection；Can be directly connected to, can also be indirectly connected with by intermediary, it can
To be the connection inside two elements.For the ordinary skill in the art, can understand as the case may be above-mentioned
The concrete meaning of term in the present invention.
Below in conjunction with the accompanying drawings, the specific implementation mode of the present invention is described in detail.In the absence of conflict, following
Embodiment and embodiment in feature can be combined with each other.
Existing common wheeled locomotion mechanism has the advantages such as speed is fast, efficient, motion artifacts are low；While there is also
Obstacle climbing ability is poor, turning radius is big, the shortcomings of can not achieve rotation, in addition, it is existing can rotation mobile robot it is universal
Using a kind of wheel of entitled omni-directional wheel or the wheel of entitled Mecanum wheel, still, both of which is unable to control direction,
And it is easy to deviate moving direction in complicated road conditions environment so that traveling, which is obstructed, even to be stopped, and the two wants use environment
It asks high, can only be used in clean smooth environment, work is difficult in complex road condition environment.
A kind of mobile mechanism of offer of the embodiment of the present invention and control method for movement, the mobile mechanism use control method for movement
Mobile mechanism's movement is controlled, to realize that mobile mechanism's rotation etc. is mobile, and its turning radius is small, and can realize that rotation is moved
Function.
First embodiment：
Referring to Fig. 1, the structural schematic diagram for the mobile mechanism 100 that Fig. 1 is provided by the embodiment of the present invention.
The mobile mechanism 100 includes vehicle assembly 120, which is used to complete the mobile work of mobile mechanism 100
Make, and make it have smaller turning radius, and can be around itself rotation so that the mobile mechanism 100 is so that the moving machine
Structure 100 has preferable mobility, is suitble to work under narrow environment.
It is specifically：Vehicle assembly 120 includes frame body 121, deflecting roller 124, turns to actuator 123 and two driving wheels
122, two driving wheels 122 are all connected to one end of frame body 121, and deflecting roller 124 is connected to frame body by turning to actuator 123
One end of 121 separate driving wheel 122, mobile driving element of two driving wheels 122 as mobile mechanism 100, is used for
Frame body 121 and appurtenances movement, deflecting roller 124 is driven to complete mobile mechanism 100 under the driving effect of actuator in movement
The task that Shi Fangxiang changes, deflecting roller 124 and driving wheel 122 are respectively arranged at the both ends of frame body 121, to improve mobile mechanism
The stability of 100 movements, and increase the bearing capacity of mobile mechanism 100.
Wherein, the axis collinear setting of two driving wheels 122, i.e., the axis extended line of two driving wheels 122 overlap,
Referring to Fig. 3, schematic diagram is moved in the rotation that Fig. 3 is mobile mechanism 100 provided in an embodiment of the present invention.When the axis of deflecting roller 124
Line extended line passes through the center of two driving wheels 122, and when two driving wheels 122 are rotated with opposite and equal speed
When, deflecting roller 124 and two driving wheels 122 will be rotated around the center of two driving wheels 122 so that moving machine
Structure 100 can be rotated around the center of two driving wheels 122 so that mobile mechanism 100 can work under narrow environment so that
Even if mobile mechanism 100 works under the limited environment in space its if having higher mobility, improve mobile mechanism 100
Place adaptability.
Please continue to refer to Fig. 1, preferably, the deflecting roller 124 and steering actuator 123 in vehicle assembly 120 are respectively
Two, two deflecting rollers 124 are connected to the one of the separate driving wheel 122 of frame body 121 by two steering actuators 123 respectively
Reinforce the bearing capacity of mobile mechanism 100, also, two to improve stability when mobile mechanism 100 moves in the both sides at end
The distance between deflecting roller 124 is less than the distance between two driving wheels 122, to improve the spirit of the steering of mobile mechanism 100
Activity.
Further, the axial width of driving wheel 122 is more than the axial width of deflecting roller 124, to improve mobile mechanism
100 it is mobile when stability, and increase mobile mechanism 100 turn to when flexibility, also, drive wheel 122 diameter
More than the diameter of deflecting roller 124, the flexibility of the steering of mobile mechanism 100 is further improved.
Preferably, vehicle assembly 120 further includes vibration-damped component 125, deflecting roller 124 is driven by vibration-damped component 125 and steering
Part 123 connects so that mobile mechanism 100 can stablize on the ground of pavement roughness to travel, and improves the road surface of mobile mechanism 100
Adaptability.
It is understood that can also be connected by vibration-damped component 125 between driving wheel 122 and frame body 121 so that mobile
Mechanism 100 still can keep stable contact on the ground of pavement roughness with ground so that mobile mechanism 100, which has, to stablize
Driving capability, improve mobile mechanism 100 road surface adaptability.
Referring to Fig. 2, the structure for controlling acquisition component 110 for the mobile mechanism 100 that Fig. 2 is provided by the embodiment of the present invention
Schematic block diagram.
The mobile mechanism 100 further includes control acquisition component 110, and control acquisition component 110 is for controlling vehicle assembly
120 so that steering on direction that moves forward and backward is mobile, mobile and rotation movement of keeping straight at it for vehicle assembly 120.
It includes control module 113, rotation direction sensor 111 and two rotation sensors 112, control to control acquisition component 110
Module 113 is electric with steering actuator 123,112, two driving wheels of rotation direction sensor 111 and two rotation sensors 122 respectively
Connection, two rotation sensors 112 are respectively arranged in two driving wheels 122, and rotation direction sensor 111 is installed on steering actuator
123, control module 113 is respectively to turning to actuator 123 and two 122 independent controls of driving wheel so that 100 knot of mobile mechanism
Structure is compact, small volume so that mobile mechanism 100 can work under narrow environment, and the place for improving mobile mechanism 100 is suitable
It should be able to power.
Control module 113, which can control, turns to the drive steering of deflecting roller 124 of actuator 123 so that the axis of deflecting roller 124
Extended line passes through the center of two driving wheels 122, then controls two driving wheels 122 and rotated with opposite and equal speed,
So, deflecting roller 124 and two driving wheels 122 are just rotated around the center of two driving wheels 122, with reality
Function of the existing mobile mechanism 100 around the center rotation of two driving wheels 122.
With deflecting roller 124 preceding, driving 122 posterior moving direction of wheel is direction of advance, is said by taking direction of advance as an example
It is bright：
Two rotation sensors 112 are respectively used to detect the velocity of rotation of two driving wheels 122 in real time to generate two
Real-time velocity of rotation, and it is sent to control module 113；
Control module 113 receives multiple continuous real-time velocities of rotation, and generates real-time velocity of rotation collection；
The variation of the real-time velocity of rotation for two driving wheels 122 that control module 113 is concentrated according to velocity of rotation information
Rate, it is dynamic to generate two target rotational speed；
Control module 113 generates target rotational velocity ratio according further to two target rotational speed；
Control module 113 generates target further according to the distance between target rotational velocity ratio and two driving wheels 122
Steering angle is specially：The target diversion radius of mobile mechanism 100 is characterized with R, which is two driving vehicles
The distance between the center of wheel 122 to steering center of circle；L characterizes the distance between two driving wheels 122；K characterizes target
Velocity of rotation ratio, K are the mesh of target rotational speed and right side driving wheel 122 that direction of advance upper left side drives wheel 122
Mark the ratio of velocity of rotation；Mobile mechanism 100 will surround when turning to and turn to center of circle rotation, then K can also characterize mobile mechanism
100 when turning to, and the driving wheel 122 in left side is apart from turning to the driving wheel 122 on the distance between center of circle and right side apart from turning
To the ratio in the distance between the center of circle, i.e.,：K=(R-L)/(R+L), since L and K according to above-mentioned formula it is known that can then calculate
Go out target diversion radius R；
Control module 113 is according to the position relationship between target diversion radius and deflecting roller 124 and driving wheel 122, i.e.,
It can be calculated so that the target diversion angle that the axis extended line of steered wheel passes through the steering center of circle；
Control module 113 is controlled according to target diversion angle turns to the drive steering of deflecting roller 124 of actuator 123；
Control module 113 judges whether real-time steering angle is equal to target diversion angle, and rotation direction sensor 111 is for detecting
The real-time steering angle of deflecting roller 124, when real-time steering angle is equal to target diversion angle, control module 113 controls deflecting roller
124 keep steering angle, and control two driving wheels 122 according to target rotational velocity ratio and rotate, so that mobile mechanism
100 steering is more smooth steady, reduces abrasion of the mobile mechanism 100 when turning to, and then also avoid the frame brought by abrasion
Body 121 is shaken.
Please continue to refer to Fig. 2, preferably, control acquisition component 110 further includes path memory module 116, path storage
Module 116 is electrically connected with control module 113, and path memory module 116 is used to store the preset path information of mobile mechanism 100,
Mobile mechanism 100 can control driving wheel 122 according to preset path information and turn to actuator 123 so that mobile mechanism 100
It is mobile, to enrich the function of mobile mechanism 100, increase the intelligence degree of mobile mechanism 100.
Further, control acquisition component 110 further includes human-computer interaction module 115, human-computer interaction module 115 and control mould
Block 113 is electrically connected, and human-computer interaction module 115 is for responding user's operation and by control module 113 to path memory module 116
Preset path information is inputted, to enrich the function of mobile mechanism 100, increases the intelligence degree of mobile mechanism 100.It is appreciated that
, which can be that graphical human-machine interacts device, can also be voice man-machine interaction device.User can lead to
It crosses operation human-computer interaction module 115 and inputs preset path information, preset path information is transmitted through control module 113 and is stored in road
Diameter memory module 116.
Mobile mechanism 100 can move according to preset path information as follows：
Control module 113 transfers the preset path information stored in path memory module 116；
Preset path information is divided into multiple continuous destination path sections by control module 113；
Control module 113 generates corresponding target diversion radius, target road according to the curvature of each destination path section
Diameter is biased to and target moving distance；
Control module 113 is according to the target diversion radius and the determining target diversion circle of path deviation corresponding to destination path section
The heart, then generate target diversion angle according to the target diversion center of circle.
Control module 113 controls according to target diversion angle and turns to actuator 123 so that two deflecting rollers 124 and two
Drive the extended line of the axis of wheel 122 compared to the steering center of circle, so that the steering of mobile mechanism 100 is more smooth steady,
Abrasion of the mobile mechanism 100 when turning to is reduced, and then the frame body brought by abrasion 121 is also avoided to shake.
Control module 113 judges whether real-time steering angle is equal to target diversion angle, and rotation direction sensor 111 is for detecting
The real-time steering angle of deflecting roller 124, when real-time steering angle is equal to target diversion angle, control module 113 controls deflecting roller
124 keep steering angle, and control two driving wheels 122 according to target rotational velocity ratio and rotate, so that mobile mechanism
100 steering is more smooth steady, reduces abrasion of the mobile mechanism 100 when turning to, and then also avoid the frame brought by abrasion
Body 121 is shaken.
Further, control acquisition component 110 further includes locating module 117, locating module 117 and 113 electricity of control module
Connection, locating module 117 send real time position letter for detecting the position of mobile mechanism 100 to generate real-time position information
For breath to control module 113, control module 113 judges position and the mobile mechanism of mobile mechanism 100 according to real-time position information
100 in the destination path section by starting to have moved the real-time displacement distance of cumulative calculation.It is understood that control module 113
It can also judge whether mobile mechanism 100 completes destination path section according to the comparison of target moving distance and real-time displacement distance
Movement, when the movement of destination path section is completed in mobile mechanism 100, control module 113 transfers next section of target road again
Data corresponding to diameter section, and turn to actuator 123 according to the data control corresponding to destination path section and complete to turn to, then control
Two driving wheels 122 rotate.
Preferably, control acquisition component 110 further includes distance measuring sensor 114 and scanning rotating member 118, wave ranging sensing
Device 114 is rotatablely connected by scanning rotating member 118 and frame body 121, distance measuring sensor 114 and scan rotating member 118 with control
Module 113 be electrically connected, distance measuring sensor 114 and scanning rotating member 118 be used for detect the barrier around mobile mechanism 100 with
Obtain obstacle position information.
Wherein, distance of obstacle information of the distance measuring sensor 114 for measuring the barrier around mobile mechanism 100 is concurrent
It send to control module 113, scanning rotating member 118 detects 114 phase of distance measuring sensor for driving distance measuring sensor 114 to rotate
For the real-time azimuthal information of frame body 121 to be sent to control module 113, control module 113 is according to distance of obstacle information and reality
When azimuth information dyspoiesis object location information, when obstacle position information is located on the corresponding position of preset path information,
Control module 113 can control mobile mechanism 100 and stop movement, and mobile mechanism 100 is avoided to bump against with barrier, improve moving machine
The operation stability of structure 100, it is to be understood that the obstacle position information can also be added to default by control module 113
Routing information, user can check obstacle position information by human-computer interaction module 115, to facilitate user's timely processing obstacle
Object improves the intelligence degree of mobile mechanism 100.
The operation principle for the mobile mechanism 100 that first embodiment is provided is：
The mobile mechanism 100 turns to actuator 123 and two driving wheels 122 by 113 independent control of control module,
Compact-sized, turning radius is small, and can realize the locomotive functions such as rotation.
Wherein, the real-time velocity of rotation of mobile mechanism 100 is detected by rotation sensor 112, then according to multiple continuous real-time
The real-time velocity of rotation collection that velocity of rotation generates generates target rotational speed and target diversion angle ratio, by control module 113
Control mobile mechanism 100 is diverted to target diversion angle, when rotating wheel is diverted to target diversion angle, control module 113
Control driving wheel 122 starts to rotate, so that the steering of mobile mechanism 100 is more smooth steady, reduces mobile mechanism 100 and exists
Abrasion when steering, and then the frame body brought by abrasion 121 is also avoided to shake.
In summary：
A kind of mobile mechanism 100 that first embodiment of the invention provides, it is small with turning radius, and can realize rotation
Mobile function.
Second embodiment：
Referring to Fig. 4, Fig. 4 is the flow schematic block for the control method for movement that second embodiment of the embodiment of the present invention provides
Figure, the mobile mechanism 100 which is used to control described in first embodiment moves, to complete in mobile mechanism
100 in its movement of steering on direction that moves forward and backward, straight trip movement and rotation movement.
This control method for movement includes the following steps：
Step S101, the deflecting roller 124 according to target diversion angle control mobile mechanism 100 turn to；Step S101 by
The control of control module 113 in first embodiment turns to actuator 123 and executes.
Step S102, judges whether the real-time steering angle of deflecting roller 124 is equal to target diversion angle；Step S102 by
The real-time steering angle that control module 113 in first embodiment is detected according to rotation direction sensor 111 executes.
Step S103, when real-time steering angle is equal to target diversion angle, foundation target rotational velocity ratio controls respectively
The driving wheel 122 of 100 both sides of mobile mechanism rotates, and is turned on direction with completing to move forward and backward at it in mobile mechanism 100
To movement, straight trip is mobile and rotation is moved, and wherein target diversion angle is corresponding with target rotational speed, works as mobile mechanism
When 100 foundation target diversion angles and velocity of rotation move, deflecting roller 124 and the axis extended line of driving wheel 122 are logical
Cross the steering center of circle.Step S103 is executed by the control module 113 in first embodiment.When rotating wheel is diverted to target steering angle
When spending, control module 113 just controls driving wheel 122 and starts to rotate, so that the steering of mobile mechanism 100 is more smooth flat
Surely, abrasion of the mobile mechanism 100 when turning to is reduced, and then the frame body brought by abrasion 121 is also avoided to shake.
Referring to Fig. 5, Fig. 5 is the relevant part of real-time velocity of rotation of control method for movement provided in an embodiment of the present invention
Flow diagram.
Further, before step S101, control method for movement further includes：
Step S104 detects multiple continuous real-time velocities of rotation, and generates real-time velocity of rotation collection.Step S104
By in first embodiment rotation sensor 112 and control module 113 execute.
Step S105, according to real-time velocity of rotation data set generation target rotational velocity ratio, real-time velocity of rotation collection is
The set of the continuous real-time rotation data of mobile mechanism 100.Step S105 is held by the control module 113 in first embodiment
Row.
Step S106 generates target diversion angle according to target rotational speed.S106 is by first embodiment for the step
Control module 113 executes.
It is understood that above-mentioned target diversion angle or target rotational speed can also be provided by other equipment, example
Such as navigation device.
Referring to Fig. 6, Fig. 6 is the relevant part of preset path information of control method for movement provided in an embodiment of the present invention
Flow diagram.
Preferably, before step S101, control method for movement can also include：
Preset path information is divided into continuous destination path section, is moved described in the preset path information representation by step S107
The mobile route of motivation structure 100, step S107 are executed by the control module 113 in first embodiment.
Step S108 generates corresponding target diversion radius, destination path deviation and target according to destination path section
Displacement distance；Step S108 is executed by the control module 113 in first embodiment.
Step S109, according to the target diversion radius and path deviation generation target steering angle corresponding to destination path section
Degree；Step S109 is executed by the control module 113 in first embodiment.
Referring to Fig. 7, Fig. 7 is the relevant portion of completion destination path section of control method for movement provided in an embodiment of the present invention
Split flow schematic diagram.
Preferably, after step s 103, control method for movement can also include：
Step S1010, judges whether the real-time displacement distance of mobile mechanism 100 is equal to target corresponding with destination path section
Displacement distance, the distance that real-time displacement distance characterization mobile mechanism 100 actually moves in the destination path section.The step
S1010 by first embodiment control module 113 and rotation sensor 112 execute.
When being equal to target moving distance in real-time displacement distance, step S108 is executed, to complete mobile mechanism 100 according to pre-
If the task of routing information movement.
The operation principle of control method for movement that second embodiment provides is：
After the target diversion angle for completing to generate with target rotational speed is completed to turn to, then mobile mechanism is controlled respectively
100 both sides are driven motor vehicle wheels and are rotated with target rotational speed, so that the steering of mobile mechanism 100 is more smooth steady, subtract
Abrasion of the few mobile mechanism 100 when turning to, and then the frame body brought by abrasion 121 is also avoided to shake.
Wherein, by the real-time velocity of rotation collection collected, either routing information or preset path information obtain target diversion angle
Go out, and after mobile mechanism 100 completes target moving distance, executes, recycled again depending on new target diversion angle is generated
At the mobile task of mobile mechanism 100.
In summary：
A kind of control method for movement provided in an embodiment of the present invention, this method have the characteristics that steering is more smooth steady,
And it can complete to move in the steering movement to move forward and backward on direction, straight trip movement and the rotation of mobile mechanism 100.
The foregoing is merely the preferred embodiments of the embodiment of the present invention, are not intended to restrict the invention, for ability
For the technical staff in domain, in the absence of conflict, the feature in the above embodiments can be combined with each other, and the present invention can be with
There are various modifications and variations.All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on,
It should be included within protection scope of the present invention.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of control method for movement, it is applied to wheeled mobile mechanism, which is characterized in that the control method for movement includes：
The deflecting roller that the mobile mechanism is controlled according to target diversion angle turns to；
Judge whether the real-time steering angle of the deflecting roller is equal to the target diversion angle；
When real-time steering angle is equal to the target diversion angle, foundation target rotational velocity ratio controls the moving machine respectively
The driving vehicle wheel rotation of structure both sides, to complete, in mobile mechanism, at it, the steering on direction that moves forward and backward is mobile, keeps straight on and moves
And rotation movement, the target rotational speed is corresponding with the target diversion angle, characterizes the mobile mechanism both sides
The driving wheel velocity of rotation ratio.
2. control method for movement according to claim 1, which is characterized in that controlling the shifting according to target diversion angle
Before the step of deflecting roller of motivation structure turns to, the control method for movement further includes：
Multiple continuous real-time velocities of rotation is detected, and generates real-time velocity of rotation collection, the real-time velocity of rotation collection is institute
State the set of the continuous real-time rotation data of mobile mechanism；
According to real-time velocity of rotation data set generation target rotational velocity ratio；
Target diversion angle is generated according to target rotational velocity ratio.
3. control method for movement according to claim 1, which is characterized in that controlling the shifting according to target diversion angle
Before the step of deflecting roller of motivation structure turns to, the control method for movement further includes：
Corresponding target diversion radius, destination path deviation and target moving distance are generated according to destination path section, it is described
Destination path segment table levies the pending mobile route of the mobile mechanism；
According to the target diversion radius and path deviation generation target diversion angle corresponding to destination path section.
4. control method for movement according to claim 3, which is characterized in that generated therewith according to the destination path section
Before the step of corresponding target diversion radius, destination path deviation and target moving distance, the control method for movement also wraps
It includes：
Preset path information is divided into continuous destination path section, the movement of mobile mechanism described in the preset path information representation
Path.
5. control method for movement according to claim 3, which is characterized in that controlled respectively according to target rotational velocity ratio
After the step of making the driving vehicle wheel rotation of the mobile mechanism both sides, the control method for movement further includes：
Judge whether the real-time displacement distance of the mobile mechanism is equal to the target movement corresponding with the destination path section
Distance, the real-time displacement distance characterize the distance that the mobile mechanism actually moves in the destination path section；
When being equal to target moving distance in the real-time displacement distance, the mobile mechanism executes according to the destination path Duan Sheng
It is biased at corresponding target diversion radius, destination path and the step of target moving distance and later step.
6. a kind of mobile mechanism, which is characterized in that including vehicle assembly and control acquisition component, the vehicle assembly includes frame
Body, deflecting roller turn to actuator and two driving wheels, and two driving wheels are all connected to one end of the frame body, institute
State one end far from the driving wheel that deflecting roller is connected to the frame body by the steering actuator, the control acquisition
Component includes control module, rotation direction sensor and two rotation sensors, the control module respectively with the steering actuator,
The rotation direction sensor and two rotation sensors, two driving wheel electrical connections, two rotation sensors
Two driving wheels are respectively arranged in, the rotation direction sensor is installed on the steering actuator；
Two rotation sensors are respectively used to detect the velocity of rotation of two driving wheels in real time to generate two realities
When velocity of rotation, and be sent to the control module, the control module receives continuously repeatedly the real-time velocity of rotation simultaneously
Real-time velocity of rotation collection is generated, then target diversion angle and target rotational speed ratio are generated according to the velocity of rotation information collection
Value, the control module control the steering actuator according to the target diversion angle and the deflecting roller are driven to turn to, turn to
Sensor is used to detect the real-time steering angle of the deflecting roller, the control module judge the real-time steering angle whether etc.
In the target diversion angle, when the real-time steering angle is equal to the target diversion angle, the control module controls institute
It states deflecting roller and keeps the steering angle, and control two driving wheels respectively according to the target rotational velocity ratio and turn
It is dynamic.
7. mobile mechanism according to claim 6, which is characterized in that the control acquisition component further includes path storage mould
Block, the path memory module are electrically connected with the control module, and the path memory module is for storing the mobile mechanism
Preset path information, the control module can control the driving wheel and the steering according to the preset path information
Actuator is so that the mobile mechanism moves along the preset path information.
8. mobile mechanism according to claim 7, which is characterized in that the control acquisition component further includes human-computer interaction mould
Block, the human-computer interaction module are electrically connected with the control module, and human-computer interaction module is for responding user's operation and passing through institute
It states control module and inputs the preset path information to the path memory module.
9. mobile mechanism according to claim 7, which is characterized in that the control acquisition component further includes locating module,
The locating module is electrically connected with the control module, and the locating module is for detecting the position of the mobile mechanism to generate
Real-time position information, and the real-time position information is sent to the control module, the control module is according to the real-time position
Confidence ceases the position for judging the mobile mechanism.
10. mobile mechanism according to claim 6, which is characterized in that the control acquisition component further includes ranging sensing
Device and scanning rotating member, the distance measuring sensor are rotatablely connected by the scanning rotating member and the frame body, and the ranging passes
Sensor and the scanning rotating member are electrically connected with the control module, and the distance measuring sensor is for measuring the mobile mechanism
Around barrier distance of obstacle information and be sent to the control module, the scanning rotating member is for driving the survey
Away from sensor rotation, and the distance measuring sensor is detected relative to the real-time azimuthal information of the frame body to be sent to the control
Module, the control module is according to the distance of obstacle information and the real-time azimuthal information dyspoiesis object location information.
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| CN109062218A (en) * | 2018-08-29 | 2018-12-21 | 广州市君望机器人自动化有限公司 | Control the method and device of robot driving path |
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| CN108382458B (en) | 2020-06-16 |
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Effective date of registration: 20230625 Address after: Room B1005, No. 228, Qiaotou Street, Beishan Village, Xinjiao South Road, Haizhu District, Guangzhou, Guangdong 510000 Patentee after: Liu Yajun Address before: 510000 Guangzhou high tech Industrial Development Zone, Guangdong Province, 31 Kefeng Road, No. a220, building G1, Zhongchuang space, South China new materials innovation park, 49 Patentee before: GUANGZHOU DREAMONE ROBOT AUTOMATION Co.,Ltd. |