CN110525517A - The motion control method of omnidirectional's heavy duty mobile robot - Google Patents
The motion control method of omnidirectional's heavy duty mobile robot Download PDFInfo
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- CN110525517A CN110525517A CN201910788664.1A CN201910788664A CN110525517A CN 110525517 A CN110525517 A CN 110525517A CN 201910788664 A CN201910788664 A CN 201910788664A CN 110525517 A CN110525517 A CN 110525517A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of motion control method of omnidirectional's heavy duty mobile robot, the mobile robot include control system, at least two steering wheels, at least two deflecting rollers；Control system is electrically connected with the steering wheel and the deflecting roller, and control system controls the steering wheel rotation and turns to.And control the deflecting roller simultaneously and turn to, realize the control of moveable robot movement.With this method, universal wheel is substituted using steering wheel, realize the omnidirectional moving of heavily loaded mobile robot, use the formula, the speed of service and steering angle of each steering wheel can be calculated, simultaneously also by the steering angle that deflecting roller is calculated, the translation or the rotation centered on moveable robot movement center or the rotation centered on any point of realization any direction in turn, compared to the control method of traditional mobile robot, the control method keeps mobile robot more flexible, suitable for small space, the service efficiency of mobile robot is improved.
Description
Technical field
The present invention relates to mobile robot field more particularly to a kind of motion control sides of omnidirectional's heavy duty mobile robot
Method.
Background technique
Mobile-robot system is not limited by place, logistics corridor and space, it can be achieved that grade is accurately positioned.Therefore,
In Factory Logistics, its flexibility can be most fully demonstrated, realizes efficient, economic, flexible unmanned material transportation.Mobile robot
Be connection and adjust discrete type logistics system so that its operation serialization necessary automated handling handling means, application range
It is increasing with application scale.
Logistics in large-tonnage equipment production process is industrial a great problem, usually used to have since tonnage is big
Rail electric flat carriage is transported through, but rail transfer car(buggy) limits the path of logistics, is unable to meet production needs.Heavily loaded moving machine
Device people increasingly receives an acclaim in the industrial production, but due to requiring wheel load capacity strong, steering moment is big, to realize complete
Very big to operation control difficulty, traditional universal wheel cannot achieve, and the bearing capacity of the single train of Mecanum wheel is too small,
It realizes that heavy duty needs many trains, causes control system extremely complex.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of motion control method of omnidirectional's heavy duty mobile robot, this
The technical problem that the one aspect of disclosure of the invention solves is to realize weight with steering wheel and the mutually matched chassis structure of deflecting roller
Carry the omnidirectional moving of mobile robot.
The present invention solves a technical solution used by its technical problem:
A kind of motion control method of omnidirectional's heavy duty mobile robot, the mobile robot include control system, at least
Two steering wheels, at least two deflecting rollers；Control system is electrically connected with the steering wheel and the deflecting roller, described in control system control
Steering wheel rotation and steering, and control the deflecting roller simultaneously and turn to, realize the control of moveable robot movement.
Preferably, coordinate system is set on moveable robot movement horizontal plane, with the centre of motion of the mobile robot
For Ω as coordinate origin, mobile robot plan is that ω is moved with angular speed with speed V.Some wheel is being sat
It is point A in mark systemi, point AiDistance to point Ω is r, sets wheel AiPoint is W, and wheel A along the distance of X-axis to Ω pointi
Point is L along the distance of Y-axis to Ω point；
If the wheel is steering wheel, speed ViWith the angle theta of the wheel and coordinate system X-axisiIt is calculated according to formula as follows
It obtains；
If the wheel is deflecting roller, the angle theta of the wheel and coordinate system X-axisiIt is calculated according to formula as follows；
Wherein moveable robot movement central speed V carries out Orthogonal Decomposition by X-axis and Y direction, can be obtained
That is speed V of the steering wheel of mobile robot to be calculatediIt moves and adjusts wheel body to be calculated and coordinate
It is the angle theta of X-axisi, while deflecting roller adjusts wheel body to the angle theta with coordinate system X-axis being calculatedi, moving machine can be completed
The device people centre of motion is the exercise program that ω is carried out with angular speed with speed V.
Preferably, the centre of motion of the mobile robot be two steering wheel lines midpoint or the mobile robot
The centre of motion be three and three geometric centers with king spoke.
Preferably, the described " angle theta of wheel and coordinate system X-axisi" specifically, set coordinate system X-axis positive direction as 0 °, it takes turns
Son rotates to be forward direction counterclockwise, and wheel clockwise turns to negative sense, the i.e. angle theta of wheel and coordinate system X-axisiWhen for positive value, wheel
Sub rotation θ counterclockwisei°, the angle theta of wheel and coordinate system X-axisiWhen for negative value, wheel rotates clockwise θi°。
Preferably, when the mobile robot plan is translated with arbitrary speed, then the angle of the steering wheel and the deflecting roller
Degree is consistent with the direction of moveable robot movement center planned movement, and the movement velocity of the steering wheel and the mobile machine
People centre of motion planned movement speed is consistent.
Preferably, when the mobile robot plan is using the centre of motion as center rotation, the moveable robot movement
The speed at center is 0, angular speed ω.
A kind of omnidirectional's heavy duty mobile robot, uses control method described in any one of the above.
A kind of terminal device, including memory, processor and storage are in the memory and can be in the processor
The computer program of upper operation, the processor are realized when executing the computer program such as above-mentioned any one the method
Step.
A kind of computer readable storage medium, the computer-readable recording medium storage have computer program, the meter
It realizes when calculation machine program is executed by processor such as the step of above-mentioned any one the method.
As shown from the above technical solution, one beneficial effect of one aspect bring disclosed by the invention is, with we
Method substitutes universal wheel using steering wheel, realizes the omnidirectional moving of heavily loaded mobile robot, uses the formula, so that it may calculate
The speed of service and steering angle of each steering wheel are obtained, simultaneously also by the steering angle that deflecting roller is calculated, and then is realized
The translation of any direction or the rotation centered on moveable robot movement center or the rotation centered on any point, phase
Than in the control method of traditional mobile robot, which keeps mobile robot more flexible, it is suitable for small space, mentions
The service efficiency of high mobile robot.In addition, participating in moving as driven wheel using the wheel universal wheel with turning function
In the control of mobile robot, control precision is substantially increased, reduces unnecessary error.
Detailed description of the invention
Attached drawing 1 is disclosed a kind of motion control method mould of omnidirectional's heavy duty mobile robot of embodiment according to the present invention
Type schematic diagram.
Attached drawing 2 be according to the present invention a kind of disclosed steering wheel be located at the same side embodiment omnidirectional's heavy duty mobile robot
Motion control method model schematic.
Attached drawing 3 be according to the present invention a kind of disclosed steering wheel be located at the same side embodiment omnidirectional's heavy duty mobile robot
Motion control method make mobile robot any direction translate schematic diagram.
Attached drawing 4 be according to the present invention a kind of disclosed steering wheel be located at the same side embodiment omnidirectional's heavy duty mobile robot
Motion control method make the schematic diagram of mobile robot rotation.
Attached drawing 5 be according to the present invention a kind of disclosed steering wheel be located at the same side embodiment omnidirectional's heavy duty mobile robot
Motion control method schematic diagram that mobile robot is turned to using arbitrary point as the center of circle.
Attached drawing 6 is omnidirectional's heavy duty mobile robot that a kind of disclosed steering wheel is located at cornerwise embodiment according to the present invention
Motion control method model schematic.
Attached drawing 7 is omnidirectional's heavy duty mobile robot that a kind of disclosed steering wheel is located at cornerwise embodiment according to the present invention
Motion control method make mobile robot any direction translate schematic diagram.
Attached drawing 8 is omnidirectional's heavy duty mobile robot that a kind of disclosed steering wheel is located at cornerwise embodiment according to the present invention
Motion control method make the schematic diagram of mobile robot rotation.
Attached drawing 9 is omnidirectional's heavy duty mobile robot that a kind of disclosed steering wheel is located at cornerwise embodiment according to the present invention
Motion control method schematic diagram that mobile robot is turned to using arbitrary point as the center of circle.
Attached drawing 10 is omnidirectional's heavy duty that a kind of disclosed steering wheel is located at the embodiment among a circle deflecting roller according to the present invention
The motion control method model schematic of mobile robot.
Attached drawing 11 is omnidirectional's heavy duty that a kind of disclosed steering wheel is located at the embodiment among a circle deflecting roller according to the present invention
The schematic diagram that the motion control method of mobile robot translates mobile robot any direction.
Attached drawing 12 is omnidirectional's heavy duty that a kind of disclosed steering wheel is located at the embodiment among a circle deflecting roller according to the present invention
The motion control method of mobile robot makes the schematic diagram of mobile robot rotation.
Attached drawing 13 is omnidirectional's heavy duty that a kind of disclosed steering wheel is located at the embodiment among a circle deflecting roller according to the present invention
The schematic diagram that the motion control method of mobile robot turns to mobile robot as the center of circle using arbitrary point.
Specific embodiment
In conjunction with attached drawing of the invention, a technical solution of inventive embodiments is further described in detail.
Embodiment 1:
A kind of motion control method of omnidirectional's heavy duty mobile robot, the mobile robot include control system, at least
Two steering wheels, at least two deflecting rollers；Control system is electrically connected with the steering wheel and the deflecting roller, described in control system control
Steering wheel rotation and steering.And control the deflecting roller simultaneously and turn to, realize the control of moveable robot movement.
Specific control system controls the steering wheel rotation and turns to the calculating for also controlling the deflecting roller steering referring to attached
Shown in Fig. 1, coordinate system is set on moveable robot movement horizontal plane, and the centre of motion of the mobile robot is in a coordinate system
For point Ω, mobile robot planned movement center is that ω is moved with angular speed with speed V, some wheel is in coordinate
It is point A in systemi, point AiDistance to point Ω is r, sets wheel AiPoint is W, and wheel A along the distance of X-axis to Ω pointiPoint
To Ω point along Y-axis distance be L；
If the wheel is steering wheel, speed ViWith the angle theta of the wheel and coordinate system X-axisiAccording to formula meter as follows
It obtains；
If the wheel is deflecting roller, the angle theta of the wheel and coordinate system X-axisiIt is calculated according to formula as follows；
Wherein moveable robot movement central speed V carries out Orthogonal Decomposition by X-axis and Y direction, can be obtained
That is speed V of the steering wheel of mobile robot to be calculatediIt moves and adjusts wheel body to be calculated and coordinate
It is the angle theta of X-axisi, while deflecting roller adjusts wheel body to the angle theta with coordinate system X-axis being calculatedi, moving machine can be completed
The device people centre of motion is the exercise program that ω is carried out with angular speed with speed V.
Wherein the centre of motion of mobile robot is the midpoint of two steering wheel lines or the movement of the mobile robot
Center is three and three geometric centers with king spoke.
Wherein " the angle theta of wheel and coordinate system X-axisi" specifically, set coordinate system X-axis positive direction as 0 °, wheel
Forward direction is rotated to be counterclockwise, wheel clockwise turns to negative sense, the i.e. angle theta of wheel and coordinate system X-axisiWhen for positive value, wheel
Rotation θ counterclockwisei°, the angle theta of wheel and coordinate system X-axisiWhen for negative value, wheel rotates clockwise θi°。
With above-mentioned algorithm, in algorithm it needs to be determined that be exactly current moveable robot movement center speed there are also angle speed
Degree can be rotated centered on any point there are also the relative positional relationship of each wheel and the centre of motion or omnidirectional transports
Dynamic, algorithm applicability is wide, and is not limited by the radius of gyration, so that mobile robot is more flexible, service efficiency is higher, and controls
Method processed is simple.
Some specific embodiments are enumerated below.
Example A:
By taking the mobile robot for the wheel train structure that two steering wheels and two deflecting rollers form as an example, based on two of them steering wheel
Unit, two deflecting roller auxiliary control directions are controlled, specific two steering wheels are located at the same side, and deflecting roller is arranged in the opposite other side,
The omnidirectional moving control method of the mobile robot of this mode is described further respectively below.
Referring to shown in attached drawing 2, origin of the centre of motion point Ω of mobile robot as coordinate system, A1 and A4 are steering wheel,
A2 and A3 is deflecting roller, using the midpoint Ω of two steering wheel A1 and A4 lines as the centre of motion of mobile robot, mobile machine
Divertical motion is done with speed V, angular speed ω, by mobile robot rotation center of point P in people's planned movement center, wherein moving
The angle of central speed V and bodywork reference frame is θ, V1It is the speed of steering wheel A1, θ1It is steering wheel A1 steering direction and angle, V4It is
The speed of steering wheel A4, θ4It is steering wheel A4 steering direction and angle, θ2It is deflecting roller A2 steering direction and angle, θ3It is deflecting roller A3
Steering direction and angle.L is the distance between A2 and A3, and W is the distance of A2 and A1.In figure R be turning radius, R1, R2, R3,
R4 is respectively rotation center P to A1, A2, A3, the distance of A4.
The speed of the speed V at moveable robot movement center and each wheel is subjected to resolution of velocity by X and Y-direction,
Using following equation, calculate the travel speed of steering wheel, the steering angle of steering wheel, deflecting roller steering angle, control system holds
Row is corresponding as a result, the divertical motion to realize a plan.
Steering wheel A1:
Steering wheel A1:
Deflecting roller A2:
Deflecting roller A3:
Wherein:
Vx=V × cos θ；Vy=V × sin θ；
According to above-mentioned calculation formula, the speed V of steering wheel A1 is calculated1, steering wheel A1 steering direction and angle, θ1, steering wheel A4
Speed V4, steering wheel A4 steering direction and angle, θ4, deflecting roller A2 steering direction and angle, θ2, deflecting roller A3 steering direction and angle
Spend θ3, control system controls each steering wheel respectively and deflecting roller is implemented according to the above results, realizes moveable robot movement center
The exercise program of divertical motion is done using point P as mobile robot rotation center with speed V, angular speed ω.
Above-mentioned omnidirectional moving may be summarized to be the translation of mobile robot any direction, mobile robot rotation, mobile machine
People turns to three kinds of modes by the center of circle of arbitrary point, and specific works are any combination of these three modes or three kinds of modes.
Referring to shown in attached drawing 3, it is the translation of mobile robot any direction, substitutes into above-mentioned formula, obtain two steering wheels and two
The angle of a deflecting roller is consistent with the direction of centre of motion speed of mobile robot, i.e. θ1=θ2=θ3=θ4=θ, two rudders
The velocity magnitude of wheel and the velocity magnitude in the centre of motion are consistent, i.e. v1=v4=V.
It is mobile robot rotation referring to shown in attached drawing 4, the speed of mobile robot is 0 at this time, above-mentioned formula is substituted into,
It obtainsθ1=θ2=0,That is two steering wheels
Direction is vertical with the line of steering wheel, and velocity magnitude is identical, contrary, the direction and deflecting roller and the centre of motion of two deflecting rollers
Line it is vertical.
Referring to shown in attached drawing 5, it is that mobile robot is turned to by the center of circle of arbitrary point, substitutes into above-mentioned formula, obtain finding out two
The speed and direction v of a steering wheel1, θ1, v4, θ4And the angle, θ of two deflecting rollers2, θ3。
Above-mentioned is the explanation to the control method of unilateral four wheel mobile robot of steering wheel.
Example B:
By taking the mobile robot for the wheel train structure that two steering wheels and two deflecting rollers form as an example, based on two of them steering wheel
Unit, two deflecting roller auxiliary control directions are controlled, specifically Twin Rudders wheel arranges that deflecting roller is equally with diagonal line cloth with diagonal line
It sets, the omnidirectional moving control method of the mobile robot of this mode is described further respectively below.
Referring to shown in attached drawing 6, origin of the centre of motion point Ω of mobile robot as coordinate system, A1 and A3 are steering wheel,
A2 and A4 is deflecting roller, using the midpoint Ω of two steering wheel A1 and A3 lines as the centre of motion of mobile robot, mobile machine
Divertical motion is done with speed V, angular speed ω, by mobile robot rotation center of point P in people's planned movement center, wherein moving
The angle of central speed V and bodywork reference frame is θ, V1It is the speed of steering wheel A1, θ1It is steering wheel A1 steering direction and angle, V3It is
The speed of steering wheel A3, θ3It is steering wheel A3 steering direction and angle, θ2It is deflecting roller A2 steering direction and angle, θ4It is deflecting roller A4
Steering direction and angle.L is the distance between A2 and A3, and W is the distance of A2 and A1.In figure R be turning radius, R1, R2, R3,
R4 is respectively rotation center P to A1, A2, A3, the distance of A4.
The speed of the speed V at moveable robot movement center and each wheel is subjected to resolution of velocity by X and Y-direction,
Using following equation, calculate the travel speed of steering wheel, the steering angle of steering wheel, deflecting roller steering angle, control system holds
Row is corresponding as a result, the divertical motion to realize a plan.
Steering wheel A1:
Steering wheel A3:
Deflecting roller A2:
Deflecting roller A4:；
Wherein:
Vx=V × cos θ；Vy=V × sin θ；
According to above-mentioned calculation formula, the speed V of steering wheel A1 is calculated1, steering wheel A1 steering direction and angle, θ1, steering wheel A3
Speed V3, steering wheel A3 steering direction and angle, θ3, deflecting roller A2 steering direction and angle, θ2, deflecting roller A4 steering direction and angle
Spend θ4, control system controls each steering wheel respectively and deflecting roller is implemented according to the above results, realizes moveable robot movement center
The exercise program of divertical motion is done using point P as mobile robot rotation center with speed V, angular speed ω.
Above-mentioned omnidirectional moving may be summarized to be the translation of mobile robot any direction, mobile robot rotation, mobile machine
People turns to three kinds of modes by the center of circle of arbitrary point, and specific works are any combination of these three modes or three kinds of modes.
Referring to shown in attached drawing 7, it is the translation of mobile robot any direction, substitutes into above-mentioned formula, obtain two steering wheels and two
The angle of a deflecting roller is consistent with the direction of centre of motion speed of mobile robot, i.e. θ1=θ2=θ3=θ4=θ, two rudders
The velocity magnitude of wheel and the velocity magnitude in the centre of motion are consistent, i.e. v1=v3=V.
It is mobile robot rotation referring to shown in attached drawing 8, the speed of mobile robot is 0 at this time, above-mentioned formula is substituted into,
It obtains The direction of i.e. two steering wheels and the line of steering wheel are vertical, and velocity magnitude is identical, side
To on the contrary, the direction of two deflecting rollers is vertical with the line in deflecting roller and the centre of motion.
Referring to shown in attached drawing 9, it is that mobile robot is turned to by the center of circle of arbitrary point, substitutes into above-mentioned formula, obtain finding out two
The speed and direction v of a steering wheel1, θ1, v3, θ3And the angle, θ of two deflecting rollers2, θ4。
Above-mentioned is the explanation to the control method of four wheel mobile robot of diagonal line steering wheel.
Example C:
By taking the mobile robot for the wheel train structure that two steering wheels and four deflecting rollers form as an example, based on two of them steering wheel
Four deflecting rollers are arranged in control unit, two deflecting rollers auxiliary control directions, specifically periphery, and two steering wheels are arranged in centre, below
The omnidirectional moving control method of the mobile robot of this mode is described further respectively.
Referring to shown in attached drawing 10, origin of the centre of motion point Ω of mobile robot as coordinate system, A5 and A6 are steering wheel,
A1, A2, A3 and A4 are deflecting roller, using the midpoint Ω of two steering wheel A5 and A6 lines as the centre of motion of mobile robot, are moved
Divertical motion is done with speed V, angular speed ω, by mobile robot rotation center of point P in mobile robot planned movement center,
The angle of middle centre of motion speed V and bodywork reference frame is θ, V5It is the speed of steering wheel A5, θ5It is steering wheel A5 steering direction and angle
Degree, V6It is the speed of steering wheel A6, θ6It is steering wheel A6 steering direction and angle, θ1It is deflecting roller A1 steering direction and angle, θ2It is to turn
To wheel A2 steering direction and angle, θ3It is deflecting roller A3 steering direction and angle, θ4It is deflecting roller A4 steering direction and angle.L is
The distance between A2 and A3, W are the distance of A2 and A1, and H is distance of the centre of motion to steering wheel.In figure R be turning radius, R1,
R2, R3, R4, R5, R6 are respectively rotation center P to A1, A2, A3, A4, A5, the distance of A6.
The speed of the speed V at moveable robot movement center and each wheel is subjected to resolution of velocity by X and Y-direction,
Using following equation, calculate the travel speed of steering wheel, the steering angle of steering wheel, deflecting roller steering angle, control system holds
Row is corresponding as a result, the divertical motion to realize a plan.
Steering wheel A5:
Steering wheel A6:
Deflecting roller A1:
Deflecting roller A2:
Deflecting roller A3:
Deflecting roller A4:；
Wherein:
Vx=V × cos θ；Vy=V × sin θ；
According to above-mentioned calculation formula, the speed V of steering wheel A5 is calculated5, steering wheel A5 steering direction and angle, θ5, steering wheel A6
Speed V6, steering wheel A6 steering direction and angle, θ6, deflecting roller A1 steering direction and angle, θ1, deflecting roller A2 steering direction and angle
Spend θ2, deflecting roller A3 steering direction and angle, θ3, deflecting roller A4 steering direction and angle, θ4, control system controls each rudder respectively
Wheel and deflecting roller are implemented according to the above results, realize that moveable robot movement center is to move with point P with speed V, angular speed ω
Mobile robot rotation center does the exercise program of divertical motion.
Above-mentioned omnidirectional moving may be summarized to be the translation of mobile robot any direction, mobile robot rotation, mobile machine
People turns to three kinds of modes by the center of circle of arbitrary point, and specific works are any combination of these three modes or three kinds of modes.
Referring to shown in attached drawing 11, it is the translation of mobile robot any direction, substitutes into above-mentioned formula, obtain two steering wheels and four
The angle of a deflecting roller is consistent with the direction of centre of motion speed of mobile robot, i.e. θ1=θ2=θ3=θ4=θ5=θ6=θ,
The velocity magnitude of two steering wheels and the velocity magnitude in the centre of motion are consistent, i.e. v5=v6=V.
It is mobile robot rotation referring to shown in attached drawing 12, the speed of mobile robot is 0 at this time, above-mentioned formula is substituted into,
It obtains θ5=θ6=0, the direction of two steering wheels and the line of steering wheel are vertical, and velocity magnitude is identical, contrary, and four
The direction of a deflecting roller is vertical with the line in deflecting roller and the centre of motion.
Referring to shown in attached drawing 13, it is that mobile robot is turned to by the center of circle of arbitrary point, substitutes into above-mentioned formula, obtain finding out two
The speed and direction v of a steering wheel5, θ5, v6, θ6And the angle, θ of four deflecting rollers1, θ2, θ3, θ4。
Above-mentioned is the explanation to the control method of six wheel wheel mobile robots.
Embodiment 2:
A kind of omnidirectional's heavy duty mobile robot is controlled using motion control method described in above-described embodiment 1.
Embodiment 3:
A kind of terminal device, including memory, processor and storage are in the memory and can be in the processor
The step of computer program of upper operation, the processor realizes method as described in Example 1 when executing the computer program.
Embodiment 4:
A kind of computer readable storage medium, the computer-readable recording medium storage have computer program, the meter
The step of calculation machine program realizes method as described in example 1 above when being executed by processor.
Claims (9)
1. a kind of motion control method of omnidirectional's heavy duty mobile robot, it is characterised in that: the mobile robot includes control
System, at least two steering wheels, at least two deflecting rollers；Control system is electrically connected with the steering wheel and the deflecting roller, control system
System controls the steering wheel rotation and turns to, and controls the deflecting roller simultaneously and turn to, and realizes the control of moveable robot movement.
2. the motion control method of omnidirectional's heavy duty mobile robot according to claim 1, it is characterised in that: in moving machine
Coordinate system is arranged on face in device people's sports level, using the centre of motion of mobile robot point Ω as the origin of coordinate system, moves
Mobile robot plan is that ω is moved with angular speed with speed V, some wheel is point A in a coordinate systemi, point AiTo point
The distance of Ω is r, sets wheel AiPoint is W, and wheel A along the distance of X-axis to Ω pointiIt puts to Ω point and is along the distance of Y-axis
L；
If the wheel is steering wheel, speed ViWith the angle theta of the wheel and coordinate system X-axisiIt is calculated according to formula as follows
It arrives；
If the wheel is deflecting roller, the angle theta of the wheel and coordinate system X-axisiIt is calculated according to formula as follows；
Wherein moveable robot movement central speed V carries out Orthogonal Decomposition by X-axis and Y direction, can be obtained
That is speed V of the steering wheel of mobile robot to be calculatediMovement and wheel body is adjusted to being calculated and coordinate system X-axis
Angle thetai, while deflecting roller adjusts wheel body to the angle theta with coordinate system X-axis being calculatedi, mobile robot can be completed
The centre of motion is the exercise program that ω is carried out with angular speed with speed V.
3. the motion control method of omnidirectional's heavy duty mobile robot according to claim 2, it is characterised in that: the movement
The centre of motion of robot is the midpoint of two steering wheel lines or the centre of motion of the mobile robot is three and three
With the geometric center of king spoke.
4. the motion control method of omnidirectional's heavy duty mobile robot according to claim 2, it is characterised in that: " the wheel
The angle theta of son and coordinate system X-axisi" specifically, setting coordinate system X-axis positive direction as 0 °, wheel rotates to be forward direction counterclockwise, wheel
Son clockwise turns to negative sense, the i.e. angle theta of wheel and coordinate system X-axisiWhen for positive value, wheel rotates θ counterclockwisei°, wheel with
The angle theta of coordinate system X-axisiWhen for negative value, wheel rotates clockwise θi°。
5. the motion control method of omnidirectional's heavy duty mobile robot according to claim 2, it is characterised in that: when the shifting
Mobile robot plan is translated with arbitrary speed, then the angle of the steering wheel and the deflecting roller with moveable robot movement center
The direction of planned movement is consistent, and the movement velocity of the steering wheel and the moveable robot movement center planned movement speed one
It causes.
6. the motion control method of omnidirectional's heavy duty mobile robot according to claim 2, it is characterised in that: when the shifting
When mobile robot plan is using the centre of motion as center rotation, the speed at the moveable robot movement center is 0, and angular speed is
ω。
7. a kind of omnidirectional's heavy duty mobile robot, it is characterised in that: use any one described control in the claims 1~5
Method processed.
8. a kind of terminal device, including memory, processor and storage are in the memory and can be on the processor
The computer program of operation, which is characterized in that the processor realizes such as claim 1~6 when executing the computer program
Any one of the method the step of.
9. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of realization any one of such as claim 1~6 the method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910788664.1A CN110525517A (en) | 2019-08-27 | 2019-08-27 | The motion control method of omnidirectional's heavy duty mobile robot |
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| CN111190422A (en) * | 2020-01-17 | 2020-05-22 | 杭州电子科技大学 | Container transfer robot track control method |
| CN111679676A (en) * | 2020-06-19 | 2020-09-18 | 重庆大学 | AGV movement track control method |
| CN112319236A (en) * | 2020-10-26 | 2021-02-05 | 广州视源电子科技股份有限公司 | Motion control method of mobile robot chassis and mobile robot chassis |
| CN112462760A (en) * | 2020-11-12 | 2021-03-09 | 北京星航机电装备有限公司 | Double-steering-wheel AGV path tracking method |
| CN113110477A (en) * | 2021-04-26 | 2021-07-13 | 广东利元亨智能装备股份有限公司 | Movement control method, device, system, controller and wheeled mobile equipment |
| CN113282081A (en) * | 2021-04-28 | 2021-08-20 | 共享智能铸造产业创新中心有限公司 | Motion control method and device for single-steering-wheel AGV |
| CN114524033A (en) * | 2021-11-11 | 2022-05-24 | 安徽昌永得机械有限公司 | Vehicle body structure of omnidirectional multi-shaft heavy-load AGV |
| CN118062103A (en) * | 2024-04-17 | 2024-05-24 | 福建(泉州)先进制造技术研究院 | Control method for multiple independent driving steering wheels of robot moving chassis |
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| CN111679676A (en) * | 2020-06-19 | 2020-09-18 | 重庆大学 | AGV movement track control method |
| CN112319236A (en) * | 2020-10-26 | 2021-02-05 | 广州视源电子科技股份有限公司 | Motion control method of mobile robot chassis and mobile robot chassis |
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| CN113110477A (en) * | 2021-04-26 | 2021-07-13 | 广东利元亨智能装备股份有限公司 | Movement control method, device, system, controller and wheeled mobile equipment |
| CN113282081A (en) * | 2021-04-28 | 2021-08-20 | 共享智能铸造产业创新中心有限公司 | Motion control method and device for single-steering-wheel AGV |
| CN114524033A (en) * | 2021-11-11 | 2022-05-24 | 安徽昌永得机械有限公司 | Vehicle body structure of omnidirectional multi-shaft heavy-load AGV |
| CN114524033B (en) * | 2021-11-11 | 2023-06-16 | 安徽昌永得机械有限公司 | Car body structure of omnidirectional multi-shaft heavy-load AGV (automatic guided vehicle) |
| CN118062103A (en) * | 2024-04-17 | 2024-05-24 | 福建(泉州)先进制造技术研究院 | Control method for multiple independent driving steering wheels of robot moving chassis |
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