WO2021217988A1

WO2021217988A1 - Movement control method and apparatus, storage medium, and computer device

Info

Publication number: WO2021217988A1
Application number: PCT/CN2020/112377
Authority: WO
Inventors: 郜开开; 周宸; 周宝; 陈远旭
Original assignee: 平安科技（深圳）有限公司
Priority date: 2020-04-28
Filing date: 2020-08-31
Publication date: 2021-11-04
Also published as: CN111580512B; CN111580512A

Abstract

A movement control method and apparatus, a storage medium, and a computer device, relating to the technical field of artificial intelligence. The invention aims to use actual velocity data of two moving wheels to obtain actual linear velocity data and actual angular velocity data, so as to correct velocity data of the two wheels, thereby reducing velocity errors, and reducing left and right oscillations during the moving process. The control method comprises: receiving a movement control request, and generating a movement control path according to the coordinates of a destination carried in the request (101); processing acquired actual velocity data of two wheels to obtain actual linear velocity data and actual angular velocity data, comparing the actual linear velocity data and the actual angular velocity data respectively with ideal linear velocity data and ideal angular velocity data obtained by means of analyzing the movement control path, and acquiring a comparison result (102); and correcting movement velocity data of the two wheels according to the comparison result, and controlling the two wheels to move to the destination along the movement control path (103). The invention is applicable to movement control.

Description

Mobile control method, device, storage medium and computer equipment

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on April 28, 2020, the application number is 202010349003.1, and the invention title is "mobile control method, device, storage medium and computer equipment", the entire content of which is incorporated by reference In this application.

Technical field

This application relates to the field of artificial intelligence technology, in particular to a mobile control method, device, storage medium and computer equipment.

Background technique

The mobile robot is a comprehensive system integrating environment perception, navigation and path planning, and movement control. Mobile robots can not only accept human remote control commands, but also can make behavioral decisions autonomously according to the environment to complete designated tasks. Its main role is to assist or replace some of the dangerous, fatigue and repetitive work of human beings. It is currently widely used in long-time, high-strength, harsh environmental conditions and high-risk work areas.

At present, the inventor realizes that most mobile robots driven by dual differential wheels use the left and right wheels to completely decouple the wheel speed, that is, directly decompose the linear and angular speed of the robot into the speed of the left and right wheels. This approach is very simple and easy to implement, but the disadvantage is that the difference in the resistance of the left and right wheels and the difference in the dynamic response characteristics result in the difference between the actual combined speed of the left and right wheels and the expected combined speed. This difference will cause movement errors and increase The amplitude of the left and right swing during the movement.

Summary of the invention

In view of this, this application provides a movement control method, device, storage medium, and computer equipment. The main purpose is to use the actual speed data of the two-wheel movement to obtain the actual linear velocity data and the actual angular velocity data. By comparing the actual linear velocity data , The actual angular velocity data, the ideal linear velocity data, the ideal angular velocity data, and then the two-wheel speed is corrected, so as to reduce the speed error caused by the movement, and reduce the left and right swing during the movement.

According to one aspect of the present application, a method for movement control is provided, including:

Receiving a movement control request, and generating a movement control path according to the destination coordinates carried in the request;

The actual linear velocity data and the actual angular velocity data obtained by processing the acquired actual speeds of the two wheels are respectively compared with the ideal linear velocity data and the ideal angular velocity data obtained by analyzing the movement control path to obtain a comparison result;

Correcting the speed data of the two wheels according to the comparison result to control the two wheels to move to the destination along the movement control path.

According to the second aspect of the present application, a mobile control device is provided, including:

A generating unit, configured to receive a movement control request, and generate a movement control path according to the destination coordinates carried in the request;

The correction unit is used to control the two wheels to move along the movement control path, and to correct the movement speed data of the two wheels in real time.

According to a third aspect of the present application, a storage medium is provided, the storage medium stores at least one executable instruction, and the execution instruction causes a processor to perform the following steps: receiving a movement control request, and according to the request carried in the request The destination coordinates generate the movement control path; the actual linear velocity data and the actual angular velocity data obtained by processing the acquired two-wheel actual velocity data are respectively compared with the ideal linear velocity data and the ideal angular velocity data obtained by analyzing the movement control path, Obtain a comparison result; according to the comparison result, correct the movement speed data of the two wheels to control the two wheels to move to the destination along the movement control path.

According to the fourth aspect of the present application, a computer device is provided, which includes a processor, a memory, a communication interface, and a communication bus. The processor, the memory, and the communication interface communicate with each other through the communication bus, and The memory is used to store at least one executable instruction, and the executable instruction causes the processor to perform the following steps: receiving a movement control request, generating a movement control path according to the destination coordinates carried in the request; The actual linear velocity data and the actual angular velocity data obtained by processing the actual wheel speed data are respectively compared with the ideal linear velocity data and ideal angular velocity data obtained by analyzing the movement control path to obtain a comparison result; according to the comparison result, the two-wheel movement The speed data is modified to control the two wheels to move to the destination along the movement control path.

This application can use the actual speed of the two-wheel movement to obtain the actual linear velocity and the actual angular velocity. By comparing the actual linear velocity data, the actual angular velocity data with the ideal linear velocity data, and the ideal angular velocity data, the two-wheel velocity data can be corrected to reduce Speed error caused by small movement, and reduce the left and right swing produced during the movement.

Description of the drawings

Fig. 1 shows a flow chart of a dual mobility control method provided by an embodiment of the present application;

FIG. 2 shows a schematic diagram of speed adjustment provided by an embodiment of the present application;

FIG. 3 shows another schematic diagram of speed adjustment provided by an embodiment of the present application;

FIG. 4 shows a schematic structural diagram of a mobile control device provided by an embodiment of the present application;

Fig. 5 shows a schematic diagram of the physical structure of a computer device provided by an embodiment of the present application.

Detailed ways

Hereinafter, exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. Although the drawings show exemplary embodiments of the present disclosure, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

The technical solution of the present application can be applied to the field of artificial intelligence and/or smart city technology, which helps to improve the mobile effect of robots and realize smart life.

As described in the background art, at present, most mobile robots driven by dual differential wheels use the left and right wheels to completely decouple the wheel speed, that is, directly decompose the moving linear velocity and angular velocity of the robot into the left and right wheel speeds. This approach is very simple and easy to implement, but the disadvantage is that the difference in the resistance of the left and right wheels and the difference in the dynamic response characteristics result in the difference between the actual combined speed of the left and right wheels and the expected combined speed. This difference will cause movement errors and increase The amplitude of the left and right swing during the movement.

In order to solve the foregoing problem, an embodiment of the present application provides a mobility control method. As shown in FIG. 1, the method includes:

101. Receive a movement control request, and generate a movement control path according to the destination coordinates carried in the request.

For the embodiment of this application, after receiving the movement control request, the movement control request is parsed to obtain the destination coordinates carried in the movement control request. The destination coordinates can be obtained through the Global Positioning System (GPS) , And the obstacle coordinates can be configured in the pre-selected area, so that the obstacle can be automatically avoided when the path is generated to ensure that the movement control path is unobstructed. It should be noted that when the path needs to be automatically generated, the shortest time-consuming path can be automatically generated; in special cases, the corresponding movement path can also be configured according to the path node set by the user, for example, point A is the starting point, and B The point is the end point of the destination, and the generated movement path can be a straight path from A to B. When the user specifies the path to pass through the intermediate point C, the shortest path through the point C can also be automatically generated.

102. Use the actual linear velocity data and the actual angular velocity data obtained by processing the acquired two-wheel actual velocity data to compare with the ideal linear velocity data and ideal angular velocity data obtained by analyzing the movement control path, respectively, to obtain a comparison result.

For the embodiment of this application, the actual moving speed of the left and right wheels of the two-wheeled differential robot can be obtained, and the actual linear velocity algorithm and the actual angular velocity algorithm can be used to process the actual moving velocity to obtain the actual linear velocity and the actual angular velocity; The movement control path can obtain the ideal angular velocity and the ideal linear velocity of the two-wheeled differential robot at each coordinate point, and compare the actual linear velocity and the actual angular velocity with the ideal linear velocity and the ideal angular velocity respectively, so as to achieve Real-time monitoring of speed to facilitate subsequent correction of speed errors.

103. Correct the movement speed data of the two wheels according to the comparison result, so as to control the two wheels to move to the destination along the movement control path.

For the embodiment of the present application, after the corresponding movement control path is generated, it can be controlled to move along the movement control path. At the same time, the real-time moving speed of the robot can be compared with the ideal speed, and the speed of the robot can be corrected and adjusted through the built-in correction mechanism, so that the robot can control the movement according to the configured speed. Specifically, the two wheels can be controlled to move along the movement control path, and the moving speed of the two wheels can be collected and corrected in real time.

Further, in order to better explain the process of the above-mentioned movement control method, as a refinement and extension of the above-mentioned embodiment, the embodiments of the present application provide several optional embodiments, but are not limited thereto, and the details are as follows:

In an optional embodiment of the present application, the step 102 may specifically include: analyzing the movement control path to obtain ideal linear velocity data, ideal angular velocity data, and turning point coordinates corresponding to the straight line between the turning point and the turning point of the path .

Wherein, the turning point may be a point on the path that needs to be controlled to move in a turning direction. By analyzing the movement control path, the coordinates corresponding to the position of the turning point in the path and the turning angle corresponding to the turning point can be obtained. For the angle, the corresponding ideal angular velocity data can be obtained according to the angle of rotation, so as to accurately move to the position of the rotation point and steer according to the predetermined angle. In addition, by analyzing the moving path, the linear path information between every two turning points can also be obtained, including the length of the linear path, and the corresponding ideal linear velocity data and ideal angular velocity data, so that the robot can move along a straight line for a predetermined length Reach the next turning point.

For the embodiment of the present application, the step 102 may specifically include: using a preset ideal velocity algorithm to process the ideal linear velocity data and the ideal angular velocity data to obtain the ideal straight line between the turning points and the turning points of the two wheels. Speed data.

Wherein, the ideal linear velocity data can be obtained according to the generated movement control path. Generally, the ideal linear velocity on the entire movement control path can be the same. For example, the ideal linear velocity on the entire movement control path can be 1m/ s; the ideal angular velocity data can be obtained through turning point information, for example, if the turning angle at turning point a is 90°, the ideal angular velocity corresponding to the 90° turning angle can be found locally at 18 rad/s. The corresponding relationship between the angle of rotation and the ideal angular velocity is pre-stored locally; and the ideal angular velocity may be zero when the linear segment moves. Specifically, the ideal velocity algorithm is used to process the ideal linear velocity and the ideal angular velocity as the ideal velocity of a cruise ship, so as to facilitate subsequent corrections based on the ideal velocity.

For the embodiment of the present application, the step 102 may specifically further include: using a preset actual linear velocity algorithm and actual angular velocity algorithm to process the acquired two-wheel actual velocity data to obtain actual linear velocity data and actual angular velocity data.

Wherein, the actual speed data of the two wheels may specifically include the first actual speed data v ₁ and the second actual speed data v ₂ , which may respectively represent the actual speed values of the left wheel and the right wheel, which can be specified by Obtained by an encoder, which can be used to convert angular displacement or linear displacement into electrical signals. Specifically, the actual linear velocity of the current movement can be obtained using the actual linear velocity algorithm and the actual velocity of the two wheels; the actual angular velocity of the current movement can be obtained using the actual angular velocity algorithm and the actual velocity of the two wheels. The actual linear velocity and the actual angular velocity can be used as a scale for measuring the moving speed in the embodiment of the present application, and the actual linear velocity and the actual angular velocity are compared to determine whether speed correction is required.

For the embodiment of the present application, the step 102 may specifically further include: comparing the actual linear velocity data and the actual angular velocity data with the ideal linear velocity data and the ideal angular velocity data, respectively.

Specifically, the real-time linear velocity v and the real-time angular velocity w are respectively compared with the ideal linear velocity v* and the ideal angular velocity w*, and the comparison result is output. If the real-time linear velocity v is not equal to the ideal linear velocity v*, and/or the real-time angular velocity w is not equal to the ideal angular velocity w*, the two drives can be driven by a preset speed regulator. The speed of the wheels is adjusted and corrected separately.

For the embodiment of the present application, the step 102 may specifically further include: if the actual linear velocity data is not equal to the ideal linear velocity data, and/or the actual angular velocity data is not equal to the ideal angular velocity data, then The actual speed data of the two wheels is corrected according to a preset correction algorithm, so that the actual linear speed data and the actual angular speed data are respectively equal to the ideal linear speed data and the ideal angular speed data.

Among them, using the correction algorithm, ideal linear velocity, ideal angular velocity, actual linear velocity, and actual angular velocity, the data of the two wheels can be corrected, so that the two wheels can travel according to the set speed and trajectory. Specifically, if the actual linear velocity data is not equal to the ideal linear velocity data, and/or the actual angular velocity data is not equal to the ideal angular velocity data, then the two-wheel actual The speed data is corrected so that the actual linear velocity data and the actual angular velocity data are respectively equal to the ideal linear velocity data and the ideal angular velocity data; correspondingly, if the actual linear velocity data is equal to the ideal linear velocity If the data is equal, and the actual angular velocity data is equal to the ideal angular velocity data, then the two-wheel actual velocity data is not corrected.

In another optional embodiment of the present application, the ideal linear velocity data and the ideal angular velocity data are processed by using a preset ideal velocity algorithm to obtain the ideal velocity data of the two wheels in a straight line at each turning point and between turning points Specifically, it may include: processing the acquired ideal linear velocity data, ideal angular velocity data, and two-wheel axle length data according to a preset ideal velocity algorithm to obtain the first ideal velocity data and the second ideal velocity data. The preset ideal speed algorithm may include:

Among them: v ₁ ^* can be the first ideal velocity, v ₂ ^* can be the second ideal velocity, v ^* can be the ideal linear velocity, w ^* can be the ideal angular velocity, and l can be the length of the two-wheel axle. For example, the ideal linear velocity is v ^* =1m/s, the ideal angular velocity is w ^* ＝2rad/s, and the axle length of the two moving wheels is l=0.5m, then the first ideal velocity v ₁ ^* ＝0.5m/s can be obtained , The second ideal speed v ₂ ^* =1.5m/s, and the first ideal speed and the second ideal speed can be used to control the speed of the robot.

In another optional embodiment of the present application, the use of the preset actual linear velocity algorithm and actual angular velocity algorithm to process the acquired two-wheel actual velocity data to obtain actual linear velocity data and actual angular velocity data may specifically include: Use the preset actual linear velocity algorithm to process the acquired first actual velocity data and the second actual velocity data to obtain actual linear velocity data. The preset actual linear velocity algorithm may include:

Among them: v ₁ can be the first actual speed, v ₂ can be the second actual speed, and v can be the actual linear speed;

Use the preset actual angular velocity algorithm to process the acquired first actual velocity, the second actual velocity, and the length of the two-wheel axle to obtain the actual angular velocity. The preset actual angular velocity algorithm may include:

Among them: v ₁ can be the first actual speed, v ₂ can be the second actual speed, w can be the actual angular velocity, and l can be the length of the two-wheel axle. For example, the obtained first actual speed v ₁ =1m/s, the second actual speed v ₂ =2m/s, and the axle length of the two moving wheels l=0.5m, then the actual linear velocity v=1.5m/s can be obtained, The actual angular velocity w=2rad/s.

It should be noted that for the initial ideal linear velocity v* and ideal angular velocity w*, due to the existence of resistance, the linear velocity and angular velocity will be unevenly reduced. Therefore, real-time detection is required to obtain the real-time linear velocity and Angular velocity data, such as assuming that the initial ideal linear velocity and angular velocity of the robot are given v* and w* respectively; in the initial state, the robot can keep two wheels at the same time, but in real situations there will be friction, resistance, and motor transmission delays Difference, so it will cause a speed difference between the two wheels; assuming that the speed of wheel 1 is normal and the speed of wheel 2 is reduced, according to the linear speed calculation formula

It can be seen that the linear velocity of the robot will be smaller than the expected value at this time, and this error will be superimposed on the two wheels, so that the left and

right wheels

1 and 2 will increase speed at the same time; due to the generation of the wheel 2 speed error, according to the calculation formula of angular velocity

It can be seen that the angular velocity of the robot will be greater than the desired angular velocity at this time, and this error will also be superimposed on the left and right wheels, causing wheel 1 to decelerate and wheel 2 to accelerate. Therefore, the two-wheel real-time velocities v1 and v2 can be obtained through the encoder, and the real-time linear velocity v and the real-time angular velocity w can be obtained.

In still another optional embodiment of the present application, if the actual linear velocity data is not equal to the ideal linear velocity data, and/or the actual angular velocity data is not equal to the ideal angular velocity data, then according to the prediction The set correction algorithm corrects the actual speed data of the two wheels so that the actual linear velocity data and the actual angular velocity data are respectively equal to the ideal linear velocity data and the ideal angular velocity data, which may specifically include: Set the correction algorithm to process the first ideal speed, the second ideal speed, the ideal linear velocity, the ideal angular velocity, the actual linear velocity, and the actual angular velocity to obtain the first correction velocity and the second correction velocity. The preset correction algorithm ,include:

Where: said

Is the first modified speed, the

Is the second modified velocity, v ₁ ^* is the first ideal velocity, v ₂ ^* is the second ideal velocity, v ^* is the ideal linear velocity, w ^* is the ideal angular velocity, v is the actual linear velocity, and w is the actual angular velocity. For example, the first actual velocity v ₁ is 1m/s, the second actual velocity v ₂ is 2m/s, the ideal linear velocity v ^* is 1m/s, the ideal angular velocity is 0, the actual linear velocity is 1.5m/s, and the actual angular velocity 2rad/s, you can get the first correction speed

1.75m/s, the second correction speed

It is 0.75m/s, and then the two-wheel speed is corrected and controlled.

In yet another optional embodiment of the present application, the use of the preset actual linear velocity algorithm and actual angular velocity algorithm to process the acquired two-wheel actual velocity data to obtain actual linear velocity data and actual angular velocity data may specifically include: Analyze the pulse signal recorded by the encoder arranged on the two wheels, convert the pulse signal into the displacement data of the two-wheel movement; determine the quotient of the time difference between the displacement data and the pulse signal as the actual speed of the two-wheel movement.

For the embodiment of this application, the corresponding actual speed data can be obtained through an encoder arranged on the two wheels. The encoder can be used to record pulse signals to convert the displacement of the two wheels into electrical signals, and then pass the corresponding Decoding, converting the electrical signal into displacement data, using the displacement data and the time difference between adjacent pulse signals as the movement time, and correspondingly obtain the actual speed of the two-wheel movement.

In still another optional embodiment of the present application, the correcting the actual speed data of the two wheels may specifically further include: using a first motor and a second motor respectively arranged on the two wheels, according to the first motor and the second motor. The corrected speed data and the second corrected speed data correct the speed of the two wheels.

Specifically, the real-time speed correction of the two wheels can be completed through two closed-loop control loops. As shown in Figures 2 and 3, the upper closed-loop loop may be a linear velocity closed-loop control loop, and the lower closed-loop loop may be Angular velocity closed-loop control loop; ideal linear velocity and ideal angular velocity data can come from the navigation and movement control module, the actual linear velocity and angular velocity feedback value can be calculated according to the encoder pulse feedback of the left and right wheels; when the linear velocity feedback deviates from the linear velocity , The upper linear velocity closed-loop control loop can adjust the speed of the left and right wheels so that the linear velocity error approaches zero; when the angular velocity feedback is deviated from the angular velocity, the lower angular velocity closed-loop control loop can adjust the left and right wheel speeds so that the angular velocity error approaches zero. It should be noted that because the speed of a single wheel affects both the linear speed and the angular speed, when the speed of a certain wheel is deviated, the upper and lower loops can work at the same time, making the overall linear speed and angular speed error approach zero , By synthesizing the speed of the left and right wheels, the actual linear velocity and the angular velocity are obtained, as the closed-loop adjustment object, to achieve the control effect with the smallest error between the actual velocity and the desired velocity. Among them, Ctrl is the speed regulator of the driving wheels, responsible for speed closed-loop control; Motor1 and Motor2 are the left and right wheel drive motors respectively. The control frame calculates the speed of the left and right wheels in real time according to the speed limit error and the angular speed error, and controls the speed of the left and right wheels accordingly. For the embodiment of the present application, the control method works in real time during the movement of the robot, controls the linear velocity and angular velocity of the robot in real time, and can adapt to various combinations of linear velocity and angular velocity without special processing for special circumstances.

It should be noted that the embodiment of the present application comprehensively considers the decomposition relationship and coupling relationship of the left and right wheels, and treats the synthesized speed as a closed loop quantity to ensure that the error between the synthesized speed of the left and right wheels and the expected speed is minimized to the greatest extent. First of all, taking into account the friction, resistance, and motor transmission delay error in nature, the model is used to correct the speed difference or angle offset caused by these factors. Secondly, the closed-loop adjustment mechanism is cleverly used to continuously adjust the linear velocity and angular velocity error during the movement to ensure the minimum error between the actual velocity and the desired velocity. Finally, omni-directional movement can be realized without large offset, the accuracy of the displacement trajectory is ensured, and the final positioning accuracy and the smoothness of the movement curve can be improved.

In another optional embodiment of the present application, the step 102 may specifically further include: parsing the movement control path to obtain the angle data corresponding to the transit point of the path; and retrieving the angle data in a local pre-established database The corresponding ideal angular velocity data.

For the embodiment of this application, after the movement control path is generated and analyzed, it can be retrieved in a pre-established database according to the obtained turning point angle, and the ideal angular velocity data corresponding to the angle can be obtained. Follow-up comparisons and corrections to control the path of travel. In addition, before retrieving the ideal angular velocity data, the method further includes establishing a database locally, which stores the angle data, the ideal angular velocity data, and the corresponding relationship between the angle and the ideal angular velocity, so as to The angle data can quickly find the corresponding ideal angular velocity data, thereby improving the speed of data feedback.

Further, as a specific implementation of FIG. 1, an embodiment of the present application provides a movement control device. As shown in FIG. 4, the device includes: a generation unit 21, a comparison unit 22, and a correction unit 23,

The generating unit 21 may be configured to receive a movement control request, and generate a movement control path according to the destination coordinates carried in the request;

The comparison unit 22 may be used to compare the actual linear velocity data and the actual angular velocity data obtained by processing the acquired two-wheel actual velocity data with the ideal linear velocity data and the ideal angular velocity data obtained by analyzing the movement control path. ；

The correction unit 23 may be used to control the two wheels to move along the movement control path, and to correct the movement speed data of the two wheels in real time.

The comparison unit 22 includes:

The analysis module 221 can be used to analyze the movement control path to obtain ideal linear velocity data, ideal angular velocity data, and turning point coordinates corresponding to the straight line between the turning point and the turning point of the path;

The first processing module 222 may be used to process the ideal linear velocity data and the ideal angular velocity data by using a preset ideal velocity algorithm to obtain the ideal velocity data of the two wheels in a straight line at each turning point and between turning points;

The second processing module 223 may be used to process the acquired two-wheel actual speed data by using the preset actual linear velocity algorithm and actual angular velocity algorithm to obtain actual linear velocity data and actual angular velocity data;

The comparison module 224 may be used to compare the actual linear velocity data and the actual angular velocity data with the ideal linear velocity data and the ideal angular velocity data, respectively, to obtain a comparison result;

The correction module 225 may be used to correct the actual speed data of the two wheels according to the comparison result and the preset correction algorithm, so that the actual linear speed data and the actual angular speed data are respectively compared with the ideal linear speed data and the total speed data. The ideal angular velocity data are equal;

The first processing module 222 may be specifically configured to process the acquired ideal linear velocity data, ideal angular velocity data, and two-wheel axle length data according to a preset ideal velocity algorithm to obtain the first ideal velocity data. The ideal speed algorithm includes:

The first processing module 222 may also be specifically used to process the acquired ideal linear velocity data, ideal angular velocity data, and two-wheel axle length data according to a preset ideal velocity algorithm to obtain second ideal velocity data. Set the ideal speed algorithm, also includes:

Among them: v ₁ ^* is the first ideal velocity, v ₂ ^* is the second ideal velocity, v ^* is the ideal linear velocity, w ^* is the ideal angular velocity, and l is the length of the double-wheel axle.

The second processing module 223 may be specifically configured to use a preset actual linear velocity algorithm to process the acquired first actual velocity data and second actual velocity data to obtain actual linear velocity data. The preset actual linear velocity Algorithms, including:

Among them: v ₁ is the first actual speed, v ₂ is the second actual speed, and v is the actual linear speed;

The second processing module 223 may also be specifically used to process the acquired first actual speed data, second actual speed data, and two-wheel axle length data using a preset actual angular velocity algorithm to obtain actual angular velocity data. Set the actual angular velocity algorithm, including:

Among them: v ₁ is the first actual speed, v ₂ is the second actual speed, w is the actual angular speed, and l is the length of the two-wheel axle.

Further, the correction module 225 can be specifically used to perform calculations on the first ideal velocity data, the second ideal velocity data, the ideal linear velocity data, the ideal angular velocity data, the actual linear velocity data, and the actual angular velocity data according to a preset correction algorithm. After processing, the first corrected speed data and the second corrected speed data are obtained, and the preset correction algorithm includes:

Where: said

Is the first modified speed, the

Is the second modified velocity, v ₁ ^* is the first ideal velocity, v ₂ ^* is the second ideal velocity, v ^* is the ideal linear velocity, w ^* is the ideal angular velocity, v is the actual linear velocity, and w is the actual angular velocity.

The second processing module 223 may also be specifically used to analyze the pulse signal recorded by the encoder arranged on the two wheels, and convert the pulse signal into the displacement data of the movement of the two wheels;

The second processing module 223 may also be specifically configured to determine the quotient of the time difference between the displacement data and the pulse signal as the actual speed data of the two-wheel movement.

The correction module 225 may also be specifically used to correct the speed of the first moving wheel according to the first correction speed data through the first motor arranged on the two wheels.

Specifically, the correction module 225 may also be used to correct the speed of the second moving wheel according to the second correction speed data through a second motor arranged on the two wheels.

The analysis module 221 may be specifically configured to analyze the movement control path to obtain the angle data corresponding to the transit point of the path;

The parsing module 221 may also be specifically used to retrieve ideal angular velocity data corresponding to the angle data in a locally pre-established database.

It should be noted that, for other corresponding descriptions of the functional modules involved in the mobile control device provided in the embodiment of the present application, reference may be made to the corresponding description of the method shown in FIG. 1, and details are not described herein again.

Based on the above method shown in FIG. 1, correspondingly, an embodiment of the present application also provides a storage medium in which at least one executable instruction is stored, and the execution instruction causes the processor to perform the following steps: The control request is to generate a movement control path according to the destination coordinates carried in the request; the actual linear velocity data and the actual angular velocity data obtained by processing the acquired two-wheel actual velocity data are respectively compared with the ideals obtained by analyzing the movement control path. The linear velocity data and the ideal angular velocity data are compared to obtain a comparison result; the two-wheel movement speed data is corrected according to the comparison result to control the two wheels to move to the destination along the movement control path. Optionally, when the execution instruction is executed by the processor, other steps of the method in the foregoing embodiment may also be implemented, which will not be repeated here. Further optionally, the storage medium involved in the present application may be a computer-readable storage medium, and the storage medium, such as a computer-readable storage medium, may be non-volatile or volatile.

Based on the above-mentioned method shown in FIG. 1 and the embodiment of the apparatus shown in FIG. 4, an embodiment of the present application also provides a computer device. As shown in FIG. 5, a processor 31 and a communication interface (Communications Interface) 32. A memory (memory) 33, and a communication bus 34. Among them, the processor 31, the communication interface 32, and the memory 33 communicate with each other through the communication bus 34. The communication interface 34 is used to communicate with other devices, such as network elements such as user terminals or other servers. The processor 31 is configured to execute a program, and specifically can execute relevant steps in the above-mentioned movement control method embodiment. Specifically, the program may include program code, and the program code includes computer operation instructions. The processor 31 may be a central processing unit CPU, or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

The one or more processors included in the terminal may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs. The memory 33 is used to store programs. The memory 33 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), for example, at least one disk memory. The program can specifically be used to make the processor 31 perform the following operations: receive a movement control request, and generate a movement control path according to the destination coordinates carried in the request; use the actual linear velocity data obtained by processing the acquired two-wheel actual velocity data , The actual angular velocity data are respectively compared with the ideal linear velocity data and the ideal angular velocity data obtained by analyzing the movement control path to obtain a comparison result; according to the comparison result, the two-wheel movement speed data is corrected to control the two-wheel movement along the The movement control path moves to the destination.

Through the technical solution of the present application, it is possible to receive a movement control request, and generate a movement control path according to the destination coordinates carried in the request; use the actual linear velocity data and the actual angular velocity data obtained by processing the acquired two-wheel actual velocity data respectively Compare with the ideal linear velocity data and ideal angular velocity data obtained by analyzing the movement control path to obtain a comparison result; according to the comparison result, correct the two-wheel movement speed data to control the two wheels to move toward the destination along the movement control path. To move. Therefore, the actual speed data of the two-wheel movement can be used to obtain the actual linear velocity and the actual angular velocity. By comparing the actual linear velocity data, the actual angular velocity data with the ideal linear velocity data, and the ideal angular velocity data, the two-wheel velocity can be corrected to reduce The speed error caused by the movement, and reduce the left and right swing produced during the movement.

In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in an embodiment, reference may be made to related descriptions of other embodiments.

It can be understood that the relevant features in the above method and device can be referred to each other. In addition, the “first”, “second”, etc. in the foregoing embodiments are used to distinguish the embodiments, and do not represent the advantages and disadvantages of the embodiments.

Those skilled in the art can clearly understand that, for the convenience and conciseness of the description, the specific working process of the above-described system, device, and unit can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

The algorithms and displays provided here are not inherently related to any particular computer, virtual system or other equipment. Various general-purpose systems can also be used with the teaching based on this. Based on the above description, the structure required to construct this type of system is obvious. In addition, this application is not aimed at any specific programming language. It should be understood that various programming languages can be used to implement the content of the application described herein, and the above description of a specific language is for the purpose of disclosing the best embodiment of the application.

In the instructions provided here, a lot of specific details are explained. However, it can be understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures, and technologies are not shown in detail, so as not to obscure the understanding of this specification.

Similarly, it should be understood that, in order to simplify the present disclosure and help understand one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, Figure, or its description. However, the disclosed method should not be interpreted as reflecting the intention that the claimed application requires more features than the features explicitly recorded in each claim. More precisely, as reflected in the following claims, the inventive aspect lies in less than all the features of a single embodiment disclosed previously. Therefore, the claims following the specific embodiment are thus explicitly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the application.

Those skilled in the art can understand that it is possible to adaptively change the modules in the device in the embodiment and set them in one or more devices different from the embodiment. The modules or units or components in the embodiments can be combined into one module or unit or component, and in addition, they can be divided into multiple sub-modules or sub-units or sub-components. Except that at least some of such features and/or processes or units are mutually exclusive, any combination can be used to compare all the features disclosed in this specification (including the accompanying claims, abstract and drawings) and any method or methods disclosed in this manner or All the processes or units of the equipment are combined. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract and drawings) may be replaced by an alternative feature providing the same, equivalent or similar purpose.

In addition, those skilled in the art can understand that although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments means that they are within the scope of the present application. Within and form different embodiments. For example, in the following claims, any one of the claimed embodiments can be used in any combination.

The various component embodiments of the present application may be implemented by hardware, or by software modules running on one or more processors, or by a combination of them. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in the embodiments of the present application. This application can also be implemented as a device or device program (for example, a computer program and a computer program product) for executing part or all of the methods described herein. Such a program for implementing the present application may be stored on a computer-readable medium, or may have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be constructed as a limitation to the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of multiple such elements. The application can be realized by means of hardware including several different elements and by means of a suitably programmed computer. In the unit claims listing several devices, several of these devices may be embodied in the same hardware item. The use of the words first, second, and third, etc. do not indicate any order. These words can be interpreted as names.

Claims

A mobile control method, which includes:

Receiving a movement control request, and generating a movement control path according to the destination coordinates carried in the request;

The actual linear velocity data and the actual angular velocity data obtained by processing the acquired two-wheel actual velocity data are respectively compared with the ideal linear velocity data and the ideal angular velocity data obtained by analyzing the movement control path to obtain a comparison result;

The moving speed of the two wheels is corrected according to the comparison result, so as to control the two wheels to move to the destination along the movement control path.
The method according to claim 1, wherein the actual linear velocity data and the actual angular velocity data obtained by processing the acquired two-wheel actual velocity data are respectively compared with the ideal linear velocity data and ideal linear velocity data obtained by analyzing the movement control path. Angular velocity data for comparison, including:

Analyze the movement control path to obtain ideal linear velocity data, ideal angular velocity data, and turning point coordinates corresponding to the straight line between the turning point and the turning point of the path;

The ideal linear velocity data and the ideal angular velocity data are processed using a preset ideal velocity algorithm to obtain the ideal velocity data of the two wheels in a straight line at each turning point and between turning points;

Use the preset actual linear velocity algorithm and actual angular velocity algorithm to process the acquired two-wheel actual velocity data to obtain actual linear velocity data and actual angular velocity data;

Comparing the actual linear velocity data and the actual angular velocity data with the ideal linear velocity data and the ideal angular velocity data respectively;

If the actual linear velocity data is not equal to the ideal linear velocity data, and/or the actual angular velocity data is not equal to the ideal angular velocity data, then the two-wheel actual velocity data is performed according to a preset correction algorithm. Correction to make the actual linear velocity data and the actual angular velocity data equal to the ideal linear velocity data and the ideal angular velocity data, respectively.
The method according to claim 2, wherein the ideal linear velocity data and the ideal angular velocity data are processed by using a preset ideal velocity algorithm to obtain the ideal velocity data of the two wheels in a straight line at each turning point and between turning points ,include:

According to the preset ideal speed algorithm, the acquired ideal linear velocity data, ideal angular velocity data, and double-wheel axle length data are processed to obtain the first ideal velocity data and the second ideal velocity data. The preset ideal velocity algorithm, include:

Among them: v 1 * is the first ideal velocity, v 2 * is the second ideal velocity, v * is the ideal linear velocity, w * is the ideal angular velocity, and l is the length of the double-wheel axle.
The method according to claim 3, wherein said using the preset actual linear velocity algorithm and actual angular velocity algorithm to process the acquired two-wheel actual velocity data to obtain actual linear velocity data and actual angular velocity data comprises:

Use the preset actual linear velocity algorithm to process the acquired first actual velocity data and the second actual velocity data to obtain actual linear velocity data. The preset actual linear velocity algorithm includes:

Among them: v 1 is the first actual speed, v 2 is the second actual speed, and v is the actual linear speed;

Use the preset actual angular velocity algorithm to process the acquired first actual velocity data, second actual velocity data, and double-wheel axle length data to obtain actual angular velocity data. The preset actual angular velocity algorithm includes:

Among them: v 1 is the first actual speed, v 2 is the second actual speed, w is the actual angular speed, and l is the length of the two-wheel axle.
The method according to claim 4, wherein, if the actual linear velocity data is not equal to the ideal linear velocity data, and/or the actual angular velocity data is not equal to the ideal angular velocity data, then according to the prediction The set correction algorithm corrects the actual speed data of the two wheels so that the actual linear velocity data and the actual angular velocity data are respectively equal to the ideal linear velocity data and the ideal angular velocity data, including:

According to the preset correction algorithm, the first ideal velocity data, the second ideal velocity data, the ideal linear velocity data, the ideal angular velocity data, the actual linear velocity data and the actual angular velocity data are processed to obtain the first corrected velocity data and the second correction Speed data, the preset correction algorithm, includes:

Where: said
Is the first modified speed, the
Is the second modified velocity, v 1 * is the first ideal velocity, v 2 * is the second ideal velocity, v * is the ideal linear velocity, w * is the ideal angular velocity, v is the actual linear velocity, and w is the actual angular velocity.
The method according to claim 5, wherein said using the preset actual linear velocity algorithm and actual angular velocity algorithm to process the acquired two-wheel actual velocity data to obtain actual linear velocity data and actual angular velocity data comprises:

Analyze the pulse signal recorded by the encoder arranged on the two wheels, and convert the pulse signal into the displacement data of the movement of the two wheels;

The quotient of the time difference between the displacement data and the pulse signal is determined as the actual speed data of the two-wheel movement.
The method according to claim 6, wherein the correcting the movement speed data of the two wheels according to the comparison result to control the two wheels to move to the destination along the movement control path comprises:

The speed of the two wheels is corrected according to the first corrected speed data and the second corrected speed data through the first drive motor and the second drive motor respectively arranged on the two wheels.
A mobile control device, which includes:

A generating unit, configured to receive a movement control request, and generate a movement control path according to the destination coordinates carried in the request;

The comparison unit is used to compare the actual linear velocity data and the actual angular velocity data obtained by processing the acquired two-wheel actual velocity data with the ideal linear velocity data and the ideal angular velocity data obtained by analyzing the movement control path;

The correction unit is used to control the two wheels to move along the movement control path, and to correct the movement speed data of the two wheels in real time.
A storage medium on which a computer program is stored, at least one executable instruction is stored in the storage medium, and the execution instruction causes a processor to perform the following steps:

Receiving a movement control request, and generating a movement control path according to the destination coordinates carried in the request;

The actual linear velocity data and the actual angular velocity data obtained by processing the acquired two-wheel actual velocity data are respectively compared with the ideal linear velocity data and the ideal angular velocity data obtained by analyzing the movement control path to obtain a comparison result;

The moving speed of the two wheels is corrected according to the comparison result, so as to control the two wheels to move to the destination along the movement control path.
The storage medium according to claim 9, wherein the actual linear velocity data and the actual angular velocity data obtained by processing the acquired two-wheel actual velocity data are respectively used with the ideal linear velocity data obtained by analyzing the movement control path, When comparing ideal angular velocity data, perform the following steps:

Analyze the movement control path to obtain ideal linear velocity data, ideal angular velocity data, and turning point coordinates corresponding to the straight line between the turning point and the turning point of the path;

The ideal linear velocity data and the ideal angular velocity data are processed using a preset ideal velocity algorithm to obtain the ideal velocity data of the two wheels in a straight line at each turning point and between turning points;

Use the preset actual linear velocity algorithm and actual angular velocity algorithm to process the acquired two-wheel actual velocity data to obtain actual linear velocity data and actual angular velocity data;

Comparing the actual linear velocity data and the actual angular velocity data with the ideal linear velocity data and the ideal angular velocity data respectively;

If the actual linear velocity data is not equal to the ideal linear velocity data, and/or the actual angular velocity data is not equal to the ideal angular velocity data, then the two-wheel actual velocity data is performed according to a preset correction algorithm. Correction to make the actual linear velocity data and the actual angular velocity data equal to the ideal linear velocity data and the ideal angular velocity data, respectively.
The storage medium according to claim 10, wherein the ideal linear velocity data and the ideal angular velocity data are processed by using a preset ideal velocity algorithm to obtain the ideal linear velocity of the two wheels at each turning point and between turning points When data, perform the following steps:

According to the preset ideal speed algorithm, the acquired ideal linear velocity data, ideal angular velocity data, and double-wheel axle length data are processed to obtain the first ideal velocity data and the second ideal velocity data. The preset ideal velocity algorithm, include:

Among them: v 1 * is the first ideal velocity, v 2 * is the second ideal velocity, v * is the ideal linear velocity, w * is the ideal angular velocity, and l is the length of the double-wheel axle.
The storage medium according to claim 11, wherein the actual linear velocity data and the actual angular velocity algorithm are used to process the acquired two-wheel actual velocity data to obtain the actual linear velocity data and the actual angular velocity data. The following steps:

Use the preset actual linear velocity algorithm to process the acquired first actual velocity data and the second actual velocity data to obtain actual linear velocity data. The preset actual linear velocity algorithm includes:

Among them: v 1 is the first actual speed, v 2 is the second actual speed, and v is the actual linear speed;

Use the preset actual angular velocity algorithm to process the acquired first actual velocity data, second actual velocity data, and double-wheel axle length data to obtain actual angular velocity data. The preset actual angular velocity algorithm includes:

Among them: v 1 is the first actual speed, v 2 is the second actual speed, w is the actual angular speed, and l is the length of the two-wheel axle.
The storage medium according to claim 12, wherein, if the actual linear velocity data is not equal to the ideal linear velocity data, and/or the actual angular velocity data is not equal to the ideal angular velocity data, then according to The preset correction algorithm corrects the actual speed data of the two wheels, so that when the actual linear velocity data and the actual angular velocity data are respectively equal to the ideal linear velocity data and the ideal angular velocity data, the following steps are specifically executed :

According to the preset correction algorithm, the first ideal velocity data, the second ideal velocity data, the ideal linear velocity data, the ideal angular velocity data, the actual linear velocity data and the actual angular velocity data are processed to obtain the first corrected velocity data and the second correction Speed data, the preset correction algorithm, includes:

Where: said
Is the first modified speed, the
Is the second modified velocity, v 1 * is the first ideal velocity, v 2 * is the second ideal velocity, v * is the ideal linear velocity, w * is the ideal angular velocity, v is the actual linear velocity, and w is the actual angular velocity.
The storage medium according to claim 13, wherein said using the preset actual linear velocity algorithm and actual angular velocity algorithm to process the obtained two-wheel actual velocity data, when the actual linear velocity data and the actual angular velocity data are obtained, the specific execution The following steps:

Analyze the pulse signal recorded by the encoder arranged on the two wheels, and convert the pulse signal into the displacement data of the movement of the two wheels;

The quotient of the time difference between the displacement data and the pulse signal is determined as the actual speed data of the two-wheel movement.
A computer device includes a processor, a memory, a communication interface, and a communication bus. The processor, the memory, and the communication interface communicate with each other through the communication bus, and the memory is used to store at least one executable Instructions, the executable instructions cause the processor to perform the following steps:

Receiving a movement control request, and generating a movement control path according to the destination coordinates carried in the request;

The actual linear velocity data and the actual angular velocity data obtained by processing the acquired two-wheel actual velocity data are respectively compared with the ideal linear velocity data and the ideal angular velocity data obtained by analyzing the movement control path to obtain a comparison result;

The moving speed of the two wheels is corrected according to the comparison result, so as to control the two wheels to move to the destination along the movement control path.
The computer device according to claim 15, wherein the actual linear velocity data and the actual angular velocity data obtained by processing the acquired two-wheel actual velocity data are respectively used with the ideal linear velocity data obtained by analyzing the movement control path, When comparing ideal angular velocity data, perform the following steps:

Analyze the movement control path to obtain ideal linear velocity data, ideal angular velocity data, and turning point coordinates corresponding to the straight line between the turning point and the turning point of the path;

The ideal linear velocity data and the ideal angular velocity data are processed using a preset ideal velocity algorithm to obtain the ideal velocity data of the two wheels in a straight line at each turning point and between turning points;

Use the preset actual linear velocity algorithm and actual angular velocity algorithm to process the acquired two-wheel actual velocity data to obtain actual linear velocity data and actual angular velocity data;

Comparing the actual linear velocity data and the actual angular velocity data with the ideal linear velocity data and the ideal angular velocity data respectively;

If the actual linear velocity data is not equal to the ideal linear velocity data, and/or the actual angular velocity data is not equal to the ideal angular velocity data, then the two-wheel actual velocity data is performed according to a preset correction algorithm. Correction to make the actual linear velocity data and the actual angular velocity data equal to the ideal linear velocity data and the ideal angular velocity data, respectively.
16. The computer device according to claim 16, wherein the ideal linear velocity data and the ideal angular velocity data are processed using a preset ideal velocity algorithm to obtain the ideal linear velocity of the two wheels at each turning point and between turning points When data, perform the following steps:

According to the preset ideal speed algorithm, the acquired ideal linear velocity data, ideal angular velocity data, and double-wheel axle length data are processed to obtain the first ideal velocity data and the second ideal velocity data. The preset ideal velocity algorithm, include:

Among them: v 1 * is the first ideal velocity, v 2 * is the second ideal velocity, v * is the ideal linear velocity, w * is the ideal angular velocity, and l is the length of the double-wheel axle.
The computer device according to claim 17, wherein the actual linear velocity data and the actual angular velocity data are used to process the acquired two-wheel actual velocity data by using the preset actual linear velocity algorithm and the actual angular velocity algorithm to obtain the actual linear velocity data and the actual angular velocity data. The following steps:

Use the preset actual linear velocity algorithm to process the acquired first actual velocity data and the second actual velocity data to obtain actual linear velocity data. The preset actual linear velocity algorithm includes:

Among them: v 1 is the first actual speed, v 2 is the second actual speed, and v is the actual linear speed;

Use the preset actual angular velocity algorithm to process the acquired first actual velocity data, second actual velocity data, and double-wheel axle length data to obtain actual angular velocity data. The preset actual angular velocity algorithm includes:

Among them: v 1 is the first actual speed, v 2 is the second actual speed, w is the actual angular speed, and l is the length of the two-wheel axle.
The computer device according to claim 18, wherein, if the actual linear velocity data is not equal to the ideal linear velocity data, and/or the actual angular velocity data is not equal to the ideal angular velocity data, then according to The preset correction algorithm corrects the actual speed data of the two wheels so that the actual linear velocity data and the actual angular velocity data are respectively equal to the ideal linear velocity data and the ideal angular velocity data, and the following steps are specifically executed :

According to the preset correction algorithm, the first ideal velocity data, the second ideal velocity data, the ideal linear velocity data, the ideal angular velocity data, the actual linear velocity data and the actual angular velocity data are processed to obtain the first corrected velocity data and the second correction Speed data, the preset correction algorithm, includes:

Where: said
Is the first modified speed, the
Is the second modified velocity, v 1 * is the first ideal velocity, v 2 * is the second ideal velocity, v * is the ideal linear velocity, w * is the ideal angular velocity, v is the actual linear velocity, and w is the actual angular velocity.
The computer device according to claim 19, wherein said using the preset actual linear velocity algorithm and actual angular velocity algorithm to process the acquired two-wheel actual velocity data to obtain the actual linear velocity data and the actual angular velocity data, the specific execution The following steps:

Analyze the pulse signal recorded by the encoder arranged on the two wheels, and convert the pulse signal into the displacement data of the movement of the two wheels;

The quotient of the time difference between the displacement data and the pulse signal is determined as the actual speed data of the two-wheel movement.