CN113110477A - Movement control method, device, system, controller and wheeled mobile equipment - Google Patents

Movement control method, device, system, controller and wheeled mobile equipment Download PDF

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Publication number
CN113110477A
CN113110477A CN202110456295.3A CN202110456295A CN113110477A CN 113110477 A CN113110477 A CN 113110477A CN 202110456295 A CN202110456295 A CN 202110456295A CN 113110477 A CN113110477 A CN 113110477A
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driving wheel
model
steering
hub motor
sets
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CN113110477B (en
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陈德
陈锐杰
陈建泽
林家晓
刘志超
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Guangdong Lyric Robot Automation Co Ltd
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Guangdong Lyric Robot Intelligent Automation Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle

Abstract

The application relates to the technical field of design of wheeled mobile equipment, in particular to a mobile control method, a device, a system, a controller and wheeled mobile equipment. The movement control method provided by the embodiment of the application comprises the following steps: after receiving the movement control parameters, determining a target movement model according to the movement control parameters; acquiring a working parameter group corresponding to each driving wheel set in a plurality of groups of driving wheel sets according to the model characteristics and the movement control parameters of the target movement model; and controlling the wheeled mobile equipment to move according to the working parameter group corresponding to each group of driving wheel groups in the plurality of groups of driving wheel groups. The movement control method, the device, the system, the controller and the wheeled mobile equipment provided by the embodiment of the application can overcome the technical problems that the wheeled mobile equipment is inflexible in steering and single in movement control function in the prior art.

Description

Movement control method, device, system, controller and wheeled mobile equipment
Technical Field
The application relates to the technical field of design of wheeled mobile equipment, in particular to a mobile control method, a device, a system, a controller and wheeled mobile equipment.
Background
Currently, wheeled mobile devices, such as automated guided vehicles, have a wide application range, but most of them employ dependent four-wheel steering and four-wheel drive (dependent four-wheel steering and four-wheel drive means that four hubs of the wheeled mobile device cannot be independently steered and driven), so that translation and wear-free pivot steering cannot be realized, that is, in the prior art, the wheeled mobile device is inflexible in steering and has a single movement control function.
Disclosure of Invention
An object of the present application is to provide a movement control method, device, system, controller and wheeled mobile device to solve the above problems.
In a first aspect, a mobility control method provided in an embodiment of the present application includes:
after receiving the movement control parameters, determining a target movement model according to the movement control parameters;
acquiring a working parameter group corresponding to each driving wheel set in a plurality of groups of driving wheel sets according to the model characteristics and the movement control parameters of the target movement model;
and controlling the wheeled mobile equipment to move according to the working parameter group corresponding to each group of driving wheel groups in the plurality of groups of driving wheel groups.
With reference to the first aspect, an embodiment of the present application further provides a first optional implementation manner of the first aspect, where the movement control parameter includes device central linear velocity and device translation angle characterizing information, and the determining a target movement model according to the movement control parameter includes:
if the speed of the central line of the equipment is a non-zero value and the equipment translation angle does not exist in the equipment translation angle representation information, determining that the target moving model is a four-wheel-drive differential steering model;
if the central linear velocity of the equipment is zero and the equipment translation angle does not exist in the equipment translation angle representation information, determining that the target moving model is a zero-radius steering model;
and if the equipment translation angle exists in the equipment translation angle representation information, determining that the target moving model is a universal translation model.
With reference to the first aspect, an embodiment of the present application further provides a second optional implementation manner of the first aspect, where before obtaining, according to the model characteristic and the movement control parameter of the target movement model, a set of working parameters corresponding to each of the plurality of sets of driving wheels, the movement control method further includes:
determining a steering center intersection point of each hub motor in the multiple groups of driving wheel sets and determining a steering angle relation of each hub motor in the multiple groups of driving wheel sets according to the model form of the target moving model;
and taking the relation between the steering center intersection point of each hub motor in the multiple groups of driving wheel sets and the steering angle of each hub motor in the multiple groups of driving wheel sets as the model characteristic of the target moving model.
With reference to the second optional implementation manner of the first aspect, an embodiment of the present application further provides a third optional implementation manner of the first aspect, where the plurality of sets of driving wheel sets are four sets, and a steering center intersection point of each in-wheel motor in the plurality of sets of driving wheel sets is determined through a model form of the target moving model, and a steering angle relationship of each in-wheel motor in the plurality of sets of driving wheel sets is determined, including:
if the target moving model is a four-wheel drive differential steering model, determining that the steering center intersection point of each hub motor in the four groups of driving wheel sets is positioned on the perpendicular bisector of the rigid connecting line of the front hub motor and the rear hub motor in the multiple groups of driving wheel sets through the model form of the four-wheel drive differential steering model, and determining that the steering angle relationship of each hub motor in the four groups of driving wheel sets is that the rotation angle of the left front hub motor and the rotation angle of the left rear hub motor are mutually symmetrical, and the rotation angle of the right front hub motor and the rotation angle of the right rear hub motor are mutually symmetrical.
With reference to the second optional implementation manner of the first aspect, an embodiment of the present application further provides a fourth optional implementation manner of the first aspect, where the plurality of sets of driving wheel sets are four sets, and a steering center intersection point of each in-wheel motor in the plurality of sets of driving wheel sets is determined through a model form of the target moving model, and a steering angle relationship of each in-wheel motor in the plurality of sets of driving wheel sets is determined, including:
if the target moving model is a zero-radius steering model, determining that the steering center intersection point of each hub motor in the four driving wheel sets is the center position of the left front hub motor, the right front hub motor, the left rear hub motor and the right rear hub motor through the model form of the zero-radius steering model, and determining that the steering angle relation of each hub motor in the four driving wheel sets is that the rotation angles of the two adjacent hub motors are mutually symmetrical, and the rotation angles of the two hub motors at the opposite angle positions are the same.
With reference to the second optional implementation manner of the first aspect, an embodiment of the present application further provides a fifth optional implementation manner of the first aspect, where the plurality of sets of driving wheel sets are four sets, and a steering center intersection point of each hub motor in the plurality of sets of driving wheel sets is determined through a model form of the target moving model, and a steering angle relationship of each hub motor in the plurality of sets of driving wheel sets is determined, including:
if the target moving model is a universal translation model, determining that a steering center intersection point of each hub motor in the four groups of driving wheel sets does not exist according to the model form of the universal translation model, and determining that the steering angle relation of each hub motor in the four groups of driving wheel sets is that the rotation angles of the left front hub motor, the right front hub motor, the left rear hub motor and the right rear hub motor are consistent with the equipment translation angle.
With reference to the first aspect, an embodiment of the present application further provides a sixth optional implementation manner of the first aspect, where the movement control parameter includes a device central linear velocity and a device central steering angular velocity, and the obtaining, according to the model characteristic of the target movement model and the movement control parameter, a set of operating parameters corresponding to each of the plurality of sets of driving wheel sets includes:
establishing a parameter operation logic group through a steering center intersection point of each hub motor in the plurality of groups of driving wheel groups, a steering angle relation and a circular motion formula of each hub motor in the plurality of groups of driving wheel groups;
and assigning unknown parameters in the parameter operation logic group through the central linear velocity of the equipment and the central steering angular velocity of the equipment, and calculating the working parameter group corresponding to each driving wheel group in the multiple groups of driving wheel groups.
With reference to the first aspect, an embodiment of the present application further provides a seventh optional implementation manner of the first aspect, where before controlling the wheeled mobile device to move according to the set of operating parameters corresponding to each set of driving wheels in the sets of driving wheels, the movement control method further includes:
and performing servo unit conversion on the working parameter group corresponding to each group of driving wheel groups in the plurality of groups of driving wheel groups.
In a second aspect, a movement control apparatus provided in an embodiment of the present application includes:
the model determining module is used for determining a target movement model according to the movement control parameters after receiving the movement control parameters;
the parameter acquisition module is used for acquiring a working parameter group corresponding to each driving wheel set in the plurality of groups of driving wheel sets according to the model characteristics and the movement control parameters of the target movement model;
and the movement control module is used for controlling the movement of the wheeled mobile equipment according to the working parameter group corresponding to each group of driving wheel groups in the plurality of groups of driving wheel groups.
In a third aspect, a controller provided in an embodiment of the present application includes a microprocessor and a memory, where the memory stores a computer program, and the microprocessor is configured to execute the computer program to implement the first aspect, or the movement control method provided in any optional implementation manner of the first aspect.
In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed, the mobility control method provided in the first aspect or any optional implementation manner of the first aspect is implemented.
In a fifth aspect, the motion control system provided in the embodiments of the present application includes a controller and a plurality of sets of driving wheel sets, where each set of driving wheel set in the plurality of sets of driving wheel sets includes a steering motor and a hub motor capable of controlling a steering angle through the steering motor;
the controller is configured to execute the first aspect, or the motion control method provided in any optional implementation manner of the first aspect, so that after receiving a motion control parameter, a target motion model is determined according to the motion control parameter, and a working parameter group corresponding to each of the plurality of sets of driving wheel sets is obtained according to a model characteristic and the motion control parameter of the target motion model, where the working parameter group includes an angle parameter and a speed parameter, the angle parameter is used to control a steering angle at which a steering motor in the corresponding driving wheel set drives a hub motor, and the speed parameter is used to control a steering speed of the hub motor in the corresponding driving wheel set;
and aiming at each group of driving wheel groups in the plurality of groups of driving wheel groups, the steering motor in the driving wheel group is used for controlling the steering angle of the hub motor in the driving wheel group according to the corresponding angle parameter, and the hub motor in the driving wheel group is used for rotating according to the corresponding speed parameter.
In a sixth aspect, a wheeled mobile device provided in an embodiment of the present application includes the mobile control system provided in the fifth aspect.
According to the movement control method provided by the embodiment of the application, after the movement control parameters are received, the target movement model can be determined according to the movement control parameters, and then the working parameter group corresponding to each group of driving wheel groups in the multiple groups of driving wheel groups can be obtained according to the model characteristics and the movement control parameters of the target movement model. Therefore, for each driving wheel set in the multiple groups of driving wheel sets, the steering motor in the driving wheel set can control the rotation angle of the hub motor in the driving wheel set according to the corresponding working parameter group, and the hub motor in the driving wheel set can rotate according to the corresponding working parameter group, so that independent multi-wheel steering and multi-wheel driving are realized, translation and abrasion-free pivot steering can be realized based on the independent multi-wheel steering and the multi-wheel driving, namely, the technical problems of inflexible steering and single movement control function of the wheel type mobile equipment (applying the movement control method provided by the embodiment of the application) in the prior art are solved.
The movement control device, the movement control system, the controller, the computer-readable storage medium, the movement control system, and the wheeled mobile device provided in the embodiments of the present application have the same beneficial effects as the movement control system provided in the first aspect, or any one of the optional implementations of the first aspect, and are not described herein again.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a flowchart illustrating steps of a mobility control method according to an embodiment of the present disclosure.
Fig. 2 is a schematic structural block diagram of a mobile control system according to an embodiment of the present application.
Fig. 3 is an explanatory view of a translation angle of an apparatus according to an embodiment of the present application.
Fig. 4 is a model configuration explanatory diagram of a four-wheel drive differential steering model according to an embodiment of the present application.
Fig. 5 is a model configuration illustration diagram of a zero-radius steering model according to an embodiment of the present application.
Fig. 6 is a model configuration explanatory diagram of a gimbal translation model according to an embodiment of the present application.
Fig. 7 is a schematic diagram illustrating a configuration of a mobile control system according to an embodiment of the present disclosure.
Fig. 8 is a schematic overall implementation flow chart of a motion control method according to an embodiment of the present disclosure.
Fig. 9 is a schematic structural block diagram of a mobile control device according to an embodiment of the present application.
Reference numerals: 100-a mobile control system; 110-a controller; 120-a drive wheel set; 121-a steering motor; 1211-front left steering motor; 1212-right front steering motor; 1213-left rear steering motor; 1214-a right rear steering motor; 122-a hub motor; 1221-left front hub motor; 1222-a right front hub motor; 1223-left rear hub motor; 1224-right rear hub motor; 130-a servo driver; 131-front steering servo driver; 132-front wheel servo drive; 133-rear steering servo drive; 134-rear wheel servo drive; 140-an upper computer; 141-an industrial personal computer; 142-a remote control handle; 200-a movement control device; 210-a model determination module; 220-parameter acquisition module; 230-mobile control module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. Furthermore, it should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Referring to fig. 1, a flow chart of the motion control method provided in the embodiment of the present application is schematically shown, and the motion control method is applied to a controller 110 included in a motion control system 100, where the controller 110 may be an integrated circuit Chip with signal processing capability, that is, a Single-Chip Microcomputer (Single-Chip Microcomputer), and specifically includes a microprocessor and a memory, and a computer program executed by the microprocessor is stored in the memory, so as to implement the motion control method provided in the embodiment of the present application. Referring to fig. 2, in the embodiment of the present application, the mobile control system 100 includes a plurality of driving wheel sets 120 in addition to the controller 110, and each driving wheel set 120 in the plurality of driving wheel sets 120 includes a steering motor 121 and a hub motor 122 capable of controlling a rotation angle through the steering motor 121.
In addition, it should be noted that the movement control method provided in the embodiment of the present application is not limited to the sequence shown in fig. 1 and the following, and the specific flow and steps of the movement control method are described below with reference to fig. 1.
And step S100, after receiving the movement control parameters, determining a target movement model according to the movement control parameters.
For the motion control parameters, as an optional implementation manner, in the embodiment of the present application, it may include a device center linear velocity, device translation angle characterization information, and a device center steering angular velocity.
In addition, in order to reduce the resource consumption of the mobile control system 100, in the embodiment of the present application, before the step S100 is executed, the controller 110 may further monitor the communication status between itself and each driving wheel set 120 of the plurality of driving wheel sets 120, and if the communication status between itself and each driving wheel set 120 of the plurality of driving wheel sets 120 is in the normal communication status, adjust the enabling status of each driving wheel set 120 of the plurality of driving wheel sets 120 to be the operable status, and wait for receiving the mobile control parameter.
Further, taking the example that the driving wheel set 120 in the motion control system 100 actually includes four sets, the target motion model may be any one of a four-wheel-drive differential steering model, a zero-radius steering model and a universal translation model, and based on this, in the embodiment of the present application, the step S100 may include the step S110, the step S120 and the step S130.
And step S110, if the equipment center line speed is a nonzero value and the equipment translation angle does not exist in the equipment translation angle representation information, determining that the target moving model is a four-wheel-drive differential steering model. And step S120, if the central linear velocity of the equipment is zero and the equipment translation angle does not exist in the equipment translation angle representation information, determining that the target moving model is a zero-radius steering model.
And step S130, if the equipment translation angle exists in the equipment translation angle representation information, determining that the target moving model is a universal translation model.
Regarding the device translation angle, in the embodiment of the present application, it may be understood as an angle between a right front side of the wheeled mobile device and the translation direction, as shown in fig. 3 in particular.
Hereinafter, model configurations of a four-wheel-drive differential steering model, a zero-radius steering model, and a gimbal translation model will be described, taking as an example that the driving wheel group 120 in the motion control system 100 actually includes four groups.
For convenience of description, in the embodiment of the present application, the four driving wheel sets 120 are respectively characterized as a left front driving wheel set, a right front driving wheel set, a left rear driving wheel set and a right rear driving wheel set, the left front driving wheel set includes a left front steering motor 1211 and a left front hub motor 1221, the right front driving wheel set includes a right front steering motor 1212 and a right front hub motor 1222, the left rear driving wheel set includes a left rear steering motor 1213 and a left rear hub motor 1223, and the right rear driving wheel set includes a right rear steering motor 1214 and a right rear hub motor 1224.
For the four-wheel drive differential steering model, the model configuration is shown in fig. 4, that is, the rotation angle of the left front hub motor 1221 and the rotation angle of the left rear hub motor 1223 are symmetrical to each other, and the rotation angle of the right front hub motor 1222 and the rotation angle of the right rear hub motor 1224 are symmetrical to each other, that is, θfl＝-θbl，θfr＝-θbrWherein, thetaflIs the rotation angle, θ, of the front left hub motor 1221blAngle of rotation, θ, of left rear hub motor 1223frIs the rotation angle, θ, of the right front in-wheel motor 1222brIs the rotation angle of the right rear in-wheel motor 12241224. Since the isosceles triangle has a three-in-one characteristic, it can be derived that the steering center of the wheel type moving apparatus is distributed on the perpendicular bisector FB of the rigid connecting line of the front in-wheel motor 122 (the left front in-wheel motor 1221 and the right front in-wheel motor 1222) and the rear in-wheel motor 122 (the left rear in-wheel motor 1223 and the right rear in-wheel motor 1224).
For the zero-radius steering model, the model configuration is shown in fig. 5, that is, the steering centers of the left front in-wheel motor 1221, the right front in-wheel motor 1222, the left rear in-wheel motor 1223 and the right rear in-wheel motor 1224 are the center positions of the left front in-wheel motor 1221, the right front in-wheel motor 1222, the left rear in-wheel motor 1223 and the right rear in-wheel motor 1224, then the rotation angles of the two adjacent in-wheel motors 122 are symmetrical to each other, and the rotation angles of the two in-wheel motors 122 at the diagonal positions are the same, that is, θfl＝-θbl＝-θfr＝θbrWherein, thetaflIs the rotation angle, θ, of the front left hub motor 1221blAngle of rotation, θ, of left rear hub motor 1223frIs the rotation angle, θ, of the right front in-wheel motor 1222brIs the rotational angle of the right rear in-wheel motor 1224.
For the universal translation model, the model form is as shown in fig. 6, that is, the rotation angles of the left front wheel hub motor 1221, the right front wheel hub motor 1222, the left rear wheel hub motor 1223, and the right rear wheel hub motor 1224 are consistent with the device translation angle, and the wheeled mobile device has no steering center and only performs plane displacement.
Based on the above description, in the embodiment of the present application, after the target movement model is determined according to the movement control parameters through step S100, step S001 may be executed to determine the steering center intersection point of each in-wheel motor 122 in the plurality of sets of driving wheel sets 120 and the steering angle relationship of each in-wheel motor 122 in the plurality of sets of driving wheel sets 120 according to the model form of the target movement model, and use the steering center intersection point of each in-wheel motor 122 in the plurality of sets of driving wheel sets 120 and the steering angle relationship of each in-wheel motor 122 in the plurality of sets of driving wheel sets 120 as the model characteristic of the target movement model. Similarly, taking the case that the driving wheel set 120 in the motion control system 100 actually includes four sets, the foregoing process specifically includes the following three cases.
(1) If the target moving model is a four-wheel drive differential steering model, it is determined that the steering center intersection point of each of the hub motors 122 in the four sets of driving wheel sets 120 is located on the midperpendicular of the rigid connection line between the front hub motor 122 and the rear hub motor 122 in the multiple sets of driving wheel sets 120, and it is determined that the steering angle relationship of each of the hub motors 122 in the four sets of driving wheel sets 120 is that the rotation angle of the left front hub motor 1221 and the rotation angle of the left rear hub motor 1223 are symmetrical to each other, and the rotation angle of the right front hub motor 1222 and the rotation angle of the right rear hub motor 1224 are symmetrical to each other, according to the model form of the four-wheel drive.
(2) If the target moving model is a zero-radius steering model, the steering center intersection point of each in-wheel motor 122 in the four driving wheel sets 120 is determined to be the center positions of the left front in-wheel motor 1221, the right front in-wheel motor 1222, the left rear in-wheel motor 1223 and the right rear in-wheel motor 1224 according to the model form of the zero-radius steering model, and the steering angle relationship of each in-wheel motor 122 in the four driving wheel sets 120 is determined to be that the rotation angles of the two adjacent in-wheel motors 122 are symmetrical to each other, and the rotation angles of the two in-wheel motors 122 at the opposite angle positions are the same.
(3) If the target moving model is a universal translation model, it is determined that a steering center intersection point of each of the hub motors 122 in the four sets of driving wheel sets 120 does not exist through the model shape of the universal translation model, and it is determined that the steering angle relationship of each of the hub motors 122 in the four sets of driving wheel sets 120 is that the rotation angles of the left front hub motor 1221, the right front hub motor 1222, the left rear hub motor 1223 and the right rear hub motor 1224 are consistent with the device translation angle.
Step S200, obtaining a working parameter group corresponding to each driving wheel group 120 of the plurality of driving wheel groups 120 according to the model characteristic and the movement control parameter of the target movement model.
In this embodiment, the working parameter set corresponding to each driving wheel set 120 in the multiple driving wheel sets 120 includes an angle parameter and a speed parameter, the angle parameter is used to control the steering angle of the hub motor 122 driven by the steering motor 121 in the corresponding driving wheel set 120, the speed parameter is used to control the steering speed of the hub motor 122 in the corresponding driving wheel set 120, for each driving wheel set 120 in the multiple driving wheel sets 120, the steering motor 121 in the driving wheel set 120 is used to control the steering angle of the hub motor 122 in the driving wheel set 120 according to the corresponding angle parameter, and the hub motor 122 in the driving wheel set 120 is used to rotate according to the corresponding speed parameter.
In addition, in conjunction with step S001, in the embodiment of the present application, the model characteristic of the target moving model includes a steering center intersection point of each in-wheel motor 122 in the plurality of sets of driving wheel sets 120 and a steering angle of each in-wheel motor 122 in the plurality of sets of driving wheel sets 120, and based on this, step S200 in the embodiment of the present application may include step S210 and step S220.
Step S210, a parameter calculation logic set is created through the steering center intersection point of each in-wheel motor 122 in the plurality of sets of driving wheel sets 120, the steering angle relationship and the circular motion formula of each in-wheel motor 122 in the plurality of sets of driving wheel sets 120.
Similarly, taking the case that the driving wheel group 120 actually includes four groups in the motion control system 100, the target motion model is a four-wheel-drive differential steering model:
after the model characteristics of the four-wheel drive differential steering model are determined, in combination with a circular motion formula V ═ WR (where V is a linear velocity of the wheeled mobile device in the X-axis direction of the device coordinate system, that is, the device center linear velocity, W is a steering angular velocity of the wheeled mobile device, that is, the device center steering angular velocity, and R is a steering radius of the wheeled mobile device), a parameter calculation logic group may be created for calculating a set of operating parameters corresponding to each of the four sets of driving wheel sets 120 in the case that the target mobile model is the four-wheel drive differential steering model.
Figure BDA0003040639340000111
Figure BDA0003040639340000112
Wherein, thetaflIs the rotation angle, θ, of the front left hub motor 1221frIs the rotation angle, θ, of the right front in-wheel motor 1222blAngle of rotation, θ, of left rear hub motor 1223brIs the rotation angle of the right rear in-wheel motor 1224, V is the central linear velocity of the apparatus, W is the central steering angular velocity of the apparatus, dfbThe center-to-center distance between the front wheel hub motor 122 (left front wheel hub motor 1221 and right front wheel hub motor 1222) and the rear wheel hub motor 122 (left rear wheel hub motor 1223 and right rear wheel hub motor 1224), which can be known in advance and stored in the controller 110, dlrThe center-to-center distance between the left hub motor 122 (left front hub motor 1221 and left rear hub motor 1223) and the right hub motor 122 (right front hub motor 1222 and right rear hub motor 1224), which can be known in advance and stored in the controller 110, VflIs the rotational speed, V, of the left front in-wheel motor 1221frIs the rotational speed, V, of the right front in-wheel motor 1222blIs the rotational speed, V, of the left rear hub motor 1223brRotational speed, R, of the right rear in-wheel motor 1224flIs the steering radius, R, of the left front in-wheel motor 1221frIs the turning radius, R, of the right front in-wheel motor 1222blIs the steering radius, R, of the left rear in-wheel motor 1223brFor right rear wheel hubSteering radius of the machine 1224.
That is, in the case where the target movement model is the four-wheel drive differential steering model, the angle parameter in the operation parameter group corresponding to the left front driving wheel group in the four driving wheel groups 120 is θflVelocity parameter is VflAnd the angle parameter in the working parameter group corresponding to the right front driving wheel group is thetafrVelocity parameter is VfrThe angle parameter in the first working parameter group corresponding to the left rear driving wheel group is thetablVelocity parameter is VblAnd the angle parameter in the first working parameter group corresponding to the right rear driving wheel group is thetabrVelocity parameter is Vbr。
Similarly, taking the case that the driving wheel set 120 in the motion control system 100 actually includes four sets, the target motion model is a zero-radius steering model:
after the model characteristic of the zero-radius steering model is determined, in combination with a circular motion formula V ═ WR (where V is a linear velocity of the wheeled mobile device in the X-axis direction of the device coordinate system, that is, the device center linear velocity, W is a steering angular velocity of the wheeled mobile device, that is, the device center steering angular velocity, and R is a steering radius of the wheeled mobile device), a following parameter calculation logic group may be created to calculate a set of operating parameters corresponding to each of the four sets of driving wheel sets 120 in the case that the target mobile model is the zero-radius steering model.
Figure BDA0003040639340000131
Figure BDA0003040639340000132
Wherein, thetaflIs the rotation angle, θ, of the front left hub motor 1221frIs the rotation angle, θ, of the right front in-wheel motor 1222blAngle of rotation, θ, of left rear hub motor 1223brIs the rotation angle of the right rear in-wheel motor 1224, V is the center linear velocity of the apparatus, W is the center steering angular velocity of the apparatus,dfbthe center-to-center distance between the front wheel hub motor 122 (left front wheel hub motor 1221 and right front wheel hub motor 1222) and the rear wheel hub motor 122 (left rear wheel hub motor 1223 and right rear wheel hub motor 1224), which can be known in advance and stored in the controller 110, dlrThe center-to-center distance between the left hub motor 122 (left front hub motor 1221 and left rear hub motor 1223) and the right hub motor 122 (right front hub motor 1222 and right rear hub motor 1224), which can be known in advance and stored in the controller 110, VflIs the rotational speed, V, of the left front in-wheel motor 1221frIs the rotational speed, V, of the right front in-wheel motor 1222blIs the rotational speed, V, of the left rear hub motor 1223brRotational speed, R, of the right rear in-wheel motor 1224flIs the steering radius, R, of the left front in-wheel motor 1221frIs the turning radius, R, of the right front in-wheel motor 1222blIs the steering radius, R, of the left rear in-wheel motor 1223brThe steering radius of the right rear in-wheel motor 1224.
That is, in the case where the target movement model is the zero-radius steering model, the angle parameter in the first operating parameter group corresponding to the left front driving wheel group of the four driving wheel groups 120 is θflVelocity parameter is VflAnd the angle parameter in the first working parameter group corresponding to the right front driving wheel group is thetafrVelocity parameter is VfrThe angle parameter in the first working parameter group corresponding to the left rear driving wheel group is thetablVelocity parameter is VblAnd the angle parameter in the first working parameter group corresponding to the right rear driving wheel group is thetabrVelocity parameter is Vbr。
Similarly, taking the case that the driving wheel set 120 in the motion control system 100 actually includes four sets, in the case that the target motion model is a universal translation model:
the model characteristics of the universal translation model are as follows: the rotation angles of the left front in-wheel motor 1221, the right front in-wheel motor 1222, the left rear in-wheel motor 1223 and the right rear in-wheel motor 1224 are kept consistent with the device translation angle, the wheel type mobile device has no steering center and only performs plane displacement, and therefore, the following parameter calculation logic group can be created for calculating the operation parameter group corresponding to each driving wheel group 120 in the four driving wheel groups 120 when the target movement model is a universal translation model.
θfl＝θfr＝θbl＝θbr＝θ
Vfl＝Vfr＝Vbl＝Vbr＝V
Wherein, thetaflIs the rotation angle, θ, of the front left hub motor 1221frIs the rotation angle, θ, of the right front in-wheel motor 1222blAngle of rotation, θ, of left rear hub motor 1223brTheta is the rotational angle of the right rear hub motor 1224 and theta is the translational angle of the wheeled mobile device, i.e., the device translational angle, VflIs the rotational speed, V, of the left front in-wheel motor 1221frIs the rotational speed, V, of the right front in-wheel motor 1222blIs the rotational speed, V, of the left rear hub motor 1223brV is the linear velocity of the wheeled mobile device in the X-axis direction of the device coordinate system, i.e., the aforementioned device center linear velocity.
That is, in the case that the target moving model is the universal translation model, the angle parameter in the first working parameter group corresponding to the left front driving wheel group in the four driving wheel groups 120 is θflVelocity parameter is VflAnd the angle parameter in the first working parameter group corresponding to the right front driving wheel group is thetafrVelocity parameter is VfrThe angle parameter in the first working parameter group corresponding to the left rear driving wheel group is thetablVelocity parameter is VblAnd the angle parameter in the first working parameter group corresponding to the right rear driving wheel group is thetabrVelocity parameter is Vbr。
Step S220, assigning an unknown parameter in the parameter calculation logic set according to the device central linear velocity and the device central steering angular velocity, and calculating a working parameter set corresponding to each driving wheel set 120 in the plurality of driving wheel sets 120.
Step S300, controlling the wheeled mobile device to move according to the set of operating parameters corresponding to each set of driving wheels 120 in the plurality of sets of driving wheels 120.
According to the movement control method provided by the embodiment of the application, for each driving wheel group 120 in the multiple driving wheel groups 120, the steering motor 121 in the driving wheel group 120 can control the rotation angle of the hub motor 122 in the driving wheel group 120 according to the corresponding working parameter group, and the hub motor 122 in the driving wheel group 120 can rotate according to the corresponding working parameter group, so that independent multi-wheel steering and multi-wheel driving are realized, translation and abrasion-free pivot steering can be realized based on independent multi-wheel steering and multi-wheel driving, that is, the technical problems of inflexible steering and single movement control function of the wheel type moving equipment (applying the movement control method provided by the embodiment of the application) in the prior art are solved.
Further, in order to improve the movement control accuracy of the wheeled mobile device, in the embodiment of the present application, the movement control system 100 may further include a plurality of servo drivers 130, and the plurality of servo drivers 130 are connected to the controller 110.
For each servo driver 130 in the plurality of servo drivers 130, the servo driver 130 has a target motor set correspondingly controlled, the target motor set includes at least one steering motor 121 and/or at least one hub motor 122 in the plurality of sets of driving wheels 120, the servo driver 130 is configured to receive a re-matching parameter set sent by the controller 110, the re-matching parameter set includes at least one angle parameter and/or at least one speed parameter, and at least one angle parameter and/or at least one speed parameter in the re-matching parameter set is in one-to-one correspondence with at least one steering motor 121 and/or at least one hub motor 122 in the target motor set, so as to control at least one steering motor 121 and/or at least one hub motor 122 in the target motor set to start operation through the re-matching parameter set.
Referring to fig. 7, taking four servo drivers 130 included in the motion control system 100 as an example, the four servo drivers 130 are respectively characterized as a front steering servo driver 131, a front wheel servo driver 132, a rear steering servo driver 133 and a rear wheel servo driver 134, and a left front steering motor 1211 and a right front steering motor 1212 that may be included in a first target motor group corresponding to the front steering servo driver 131, a left front hub motor 1221 and a right front hub motor 1222 that may be included in a second target motor group corresponding to the front wheel servo driver 132, a left rear steering motor 1213 and a right rear steering motor 1214 that may be included in a third target motor group corresponding to the rear steering servo driver 133, and a left rear hub motor 1223 and a right rear hub motor 1224 that may be included in a fourth target motor group corresponding to the rear wheel servo driver 134.
In this case, in the embodiment of the present application, before performing step S300, step S002 needs to be performed to perform servo unit conversion on the operation parameter group corresponding to each driving wheel group 120 in the plurality of driving wheel groups 120.
Assume that, in the steering motor 121, the encoder is an X-bit absolute encoder with a resolution of 2XThe reduction ratio is Y, that is, the steering motor 121 drives the hub motor 122 to rotate once, and the pulse number of the encoder in the steering motor 121 is changed to Y2XThen, there are:
Figure BDA0003040639340000161
wherein, thetarIs the rotation angle theta of the left front hub motor 1221flRotation angle θ of right front in-wheel motor 1222frLeft rear hub motor 1223, angle of rotation θblAnd the rotation angle theta of the right rear in-wheel motor 1224brOf which pi is a circumferential ratio if thetarIs the rotation angle theta of the left front hub motor 1221flThen thetarcIs a rotation angle theta with the left front in-wheel motor 1221flCorresponding number of pulses if thetarIs the rotation angle theta of the right front in-wheel motor 1222frThen thetarcIs a rotation angle theta with the right front in-wheel motor 1222frCorresponding number of pulses if thetarIs the rotation angle theta of the left rear hub motor 1223blThen thetarcIs a rotation angle theta with the left rear hub motor 1223blCorresponding number of pulses if thetarIs the rotation angle theta of the right rear in-wheel motor 1224brThen thetarcIs a rotation angle theta with the right rear hub motor 12241224brThe corresponding number of pulses.
Further, assuming that the resolution of the encoder in the in-wheel motor 122 is N, the reduction ratio is M, that is, the in-wheel motor 122 rotates one turn, the pulse number of the encoder is changed to NM, and if the diameter of the in-wheel motor 122 is L, after ignoring the mechanical error, the in-wheel motor 122 is an ideal circle, and there are:
Figure BDA0003040639340000171
wherein, VdIs the rotation speed V of the left front hub motor 1221flRotational speed V of right front in-wheel motor 1222frAnd the rotational speed V of the left rear hub motor 1223blAnd the rotational speed V of the right rear in-wheel motor 1224brOf any one of them, pi is the circumferential ratio, if VdIs the rotation speed V of the left front hub motor 1221flThen V isdcIs the rotational speed V of the left front hub motor 1221flCorresponding pulse velocity in units of pulses per second, if VdIs the rotating speed V of the right front in-wheel motor 1222frThen V isdcIs the rotating speed V of the right front in-wheel motor 1222frCorresponding pulse velocity in units of pulses per second, if VdIs the rotational speed V of the left rear hub motor 1223blThen V isdcIs the rotational speed V of the left rear hub motor 1223fbCorresponding pulse velocity in units of pulses per second, if VdIs the rotational speed V of the right rear in-wheel motor 1224brThen V isdcIs the rotational speed V of the right rear hub motor 1224brThe corresponding pulse speed is in pulses per second.
Based on the above description, in the embodiment of the present application, the front steering servo driver 131 is used to receive the re-matching parameter set PA1 sent by the controller 110, including the rotation angle θ of the left front hub motor 1221flCorresponding number of pulses and rotation angle θ of right front in-wheel motor 1222frThe front wheel servo driver 132 is used to receive the re-matching parameter set PA2 sent by the controller 110 according to the number of pulses, including the rotating speed V of the left front wheel hub motor 1221flCorresponding pulse velocity and rotational velocity V of right front in-wheel motor 1222frCorresponding to the pulse velocity, the rear steering servo driver 133 is used to receive the re-matching parameter set PA3 sent by the controller 110, including the rotation angle θ of the left rear hub motor 1223blCorresponding number of pulses and rotation angle θ of right rear hub motor 1224brThe rear wheel servo driver 134 is used to receive the re-matching parameter set PA4 sent by the controller 110 according to the number of pulses, including the rotating speed V of the left rear hub motor 1223blCorresponding pulse speed and rotational speed V of the right rear hub motor 1224brCorresponding pulse speed.
In addition, in order to improve the communication efficiency between the Controller 110 and the servo driver 130, in this embodiment of the application, the Controller 110 may encapsulate each set of the re-matching parameter into a high-layer communication protocol communication instruction, and send the communication instruction to the servo driver 130 through a Controller Area Network (CAN) bus of the Controller 110, where the high-layer communication protocol may be a CANopen protocol.
Further, in this embodiment of the application, the mobile control system 100 may further include an upper computer 140, where the upper computer 140 is configured to generate the mobile control parameters in response to a user operation, and send the mobile control parameters to the controller 110. In practical implementation, the upper computer 140 may be an industrial personal computer 141 or a remote control handle 142, which is not specifically limited in this embodiment of the application.
Of course, the mobile control System 100 provided in this embodiment of the present application may further include multiple types of sensors, for example, an Inertial sensor (IMU), a temperature and humidity sensor, a Battery Management System (BMS), a voice broadcast device, a wireless charging device, and the like, which may be connected to the controller 110, and configured to send the parameter information collected by each to the controller 110, so as to send the parameter information to the industrial personal computer 141 through the controller 110 for display.
Hereinafter, with reference to fig. 8, an overall implementation flow of a motion control method provided in an embodiment of the present application will be described.
Firstly, after a chassis of a wheel-type mobile device is powered on, a controller 110 starts task scheduling of a Real-time operating system (RTOS), the controller 110 serves as a CANopen master station, and establishes a node daemon task and a state machine management task, wherein the node daemon task is used for monitoring communication states of the controller and each set of driving wheel sets 120 in a plurality of sets of driving wheel sets 120, and the state machine management task is used for adjusting an enabling state of each set of driving wheel sets 120 in the plurality of sets of driving wheel sets 120.
If the node daemon task monitors that the communication state of the controller 110 and each of the plurality of groups of driving wheel sets 120 is in a normal communication state, the state machine management task adjusts the enabling state of each of the plurality of groups of driving wheel sets 120 to be an operable state, and the controller 110 waits for receiving the mobile control parameters sent by the upper computer 140, namely, the device central linear velocity, the device translation angle representation information and the device central steering angular velocity sent by the upper computer 140 are obtained through the 485 bus.
After the controller 110 receives the device central linear velocity, the device translation angle characterization information, and the device central steering angular velocity sent by the upper computer 140, a target moving model (a four-wheel-drive differential steering model, a zero-radius steering model, or a universal translation model) is determined according to the device central linear velocity and the device translation angle characterization information included in the movement control parameters, a working parameter group corresponding to each set of driving wheel set 120 in the plurality of sets of driving wheel sets 120 is obtained according to the model characteristics of the target moving model and the device central linear velocity and the device central steering angular velocity included in the movement control parameters, and finally, the wheeled mobile device is controlled to move according to the working parameter group corresponding to each set of driving wheel set 120 in the plurality of sets of driving wheel sets.
Based on the same inventive concept as the above-mentioned movement control method, the embodiment of the present application further provides a movement control device 200. Referring to fig. 9, a mobility control apparatus 200 according to an embodiment of the present disclosure includes a model determining module 210, a parameter obtaining module 220, and a mobility control module 230.
The model determining module 210 is configured to determine a target motion model according to the motion control parameters after receiving the motion control parameters.
The parameter obtaining module 220 is configured to obtain a set of working parameters corresponding to each driving wheel set of the multiple driving wheel sets according to the model characteristic and the motion control parameter of the target motion model.
The movement control module 230 is configured to control the wheeled mobile device to move according to the working parameter set corresponding to each of the plurality of sets of driving wheel sets.
In the embodiment of the present application, the movement control parameters include characterizing information of a center line speed and a translation angle of the device, and based on this, the model determining module 210 may include a first model determining unit, a second model determining unit, and a third model determining unit.
And the first model determining unit, the second model determining unit and the third model determining unit are used for determining that the target moving model is a four-wheel-drive differential steering model when the equipment center line speed is a non-zero value and the equipment translation angle does not exist in the equipment translation angle representation information.
And the second model determining unit is used for determining that the target moving model is a zero-radius steering model when the equipment center line speed is zero and the equipment translation angle does not exist in the equipment translation angle representation information.
And the third model determining unit is used for determining that the target moving model is a universal translation model when the equipment translation angle exists in the equipment translation angle representation information.
The mobile control device 200 provided in the embodiment of the present application further includes a model characteristic determination module.
And the model characteristic determining module is used for determining a steering center intersection point of each hub motor in the multiple groups of driving wheel sets and a steering angle relation of each hub motor in the multiple groups of driving wheel sets according to the model form of the target moving model, and taking the steering center intersection point of each hub motor in the multiple groups of driving wheel sets and the steering angle relation of each hub motor in the multiple groups of driving wheel sets as the model characteristic of the target moving model.
In an embodiment of the present application, the model characteristic determination module may include a first characteristic determination unit, a second characteristic determination unit, and a third characteristic determination unit.
The first characteristic determining unit, the second characteristic determining unit and the third characteristic determining unit are used for determining that the steering center intersection point of each hub motor in the four groups of driving wheel sets is located on a perpendicular bisector of a rigid connecting line of a front hub motor and a rear hub motor in the multiple groups of driving wheel sets through the model form of the four-wheel drive differential steering model when the target moving model is the four-wheel drive differential steering model, and determining that the steering angle relation of each hub motor in the four groups of driving wheel sets is that the rotating angle of the left front hub motor and the rotating angle of the left rear hub motor are symmetrical to each other, and the rotating angle of the right front hub motor and the rotating angle of the right rear hub motor are symmetrical to each other.
The first characteristic determining unit, the second characteristic determining unit and the third characteristic determining unit are used for determining that the steering center intersection point of each hub motor in the four groups of driving wheel sets is the center position of the left front hub motor, the right front hub motor, the left rear hub motor and the right rear hub motor through the model form of the zero-radius steering model when the target moving model is the zero-radius steering model, and determining that the steering angle relation of each hub motor in the four groups of driving wheel sets is that the rotating angles of the two adjacent hub motors are symmetrical to each other, and the rotating angles of the two hub motors at the opposite angle positions are the same.
The first characteristic determining unit, the second characteristic determining unit and the third characteristic determining unit are used for determining that a steering center intersection point of each hub motor in the multiple groups of driving wheel groups does not exist according to the model form of the universal translation model when the target moving model is the universal translation model, and determining that the steering angle relation of each hub motor in the multiple groups of driving wheel groups is that the rotating angles of the left front hub motor, the right front hub motor, the left rear hub motor and the right rear hub motor are consistent with the equipment translation angle.
In the embodiment of the present application, the movement control parameters include a device center linear velocity and a device center steering angular velocity, and based on this, the parameter obtaining module 220 may include an arithmetic logic set creating unit and a parameter calculating unit. And the operation logic group creation unit is used for creating a parameter operation logic group through a steering center intersection point, the steering angle relation of each hub motor in the multiple groups of driving wheel groups and a circular motion formula.
And the parameter calculation unit is used for assigning the unknown parameters in the parameter calculation logic group through the equipment center line speed and the equipment center steering angular speed, and calculating the working parameter group corresponding to each driving wheel group in the multiple groups of driving wheel groups.
In the embodiment of the present application, the mobile control apparatus 200 may further include a unit conversion module.
And the unit conversion module is used for performing servo unit conversion on the working parameter group corresponding to each group of driving wheel groups in the plurality of groups of driving wheel groups.
Since the mobile control apparatus 200 provided in the embodiment of the present application is implemented based on the same inventive concept as the mobile control method, specific descriptions of each software module in the mobile control apparatus 200 can be referred to the related descriptions of the corresponding steps in the embodiment of the mobile control method, and are not described herein again.
In addition, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed, the method for controlling mobility provided in the foregoing method embodiment is implemented.
In addition, please refer to fig. 2 and fig. 7, an embodiment of the present application further provides a motion control system 100, which includes a controller 110 and a plurality of sets of driving wheel sets 120, where each set of driving wheel set 120 in the plurality of sets of driving wheel sets 120 includes a steering motor 121, and an in-wheel motor 122 capable of controlling a steering angle through the steering motor 121.
The controller 110 is configured to execute the movement control method provided in the foregoing method embodiment, that is, after receiving the movement control parameter, determine a target movement model according to the movement control parameter, and obtain a working parameter group corresponding to each of the plurality of sets of driving wheel sets 120 according to a model characteristic and the movement control parameter of the target movement model, where the working parameter group includes an angle parameter and a speed parameter, the angle parameter is used to control a steering angle at which the steering motor 121 in the corresponding driving wheel set 120 drives the wheel hub motor 122, and the speed parameter is used to control a steering speed of the wheel hub motor 122 in the corresponding driving wheel set 120.
For each driving wheel set 120 in the plurality of driving wheel sets 120, the steering motor 121 in the driving wheel set 120 is configured to control a steering angle of the hub motor 122 in the driving wheel set 120 according to the corresponding angle parameter, and the hub motor 122 in the driving wheel set 120 is configured to rotate according to the corresponding speed parameter.
For a detailed description of each hardware module in the mobile control system 100, reference may be made to the related description of the corresponding step in the above embodiment of the mobile control method, which is not described herein again.
Further, the embodiment of the present application also provides a wheeled mobile device, which includes the above-mentioned mobile control system 100. In this embodiment of the application, the wheeled mobile device may be an Automated Guided Vehicle (AGV), that is, an AGV cart, or a wheeled robot, or other transportation tools, and this is not limited in this embodiment of the application.
In summary, the motion control method provided in the embodiment of the present application can determine the target motion model according to the motion control parameter after receiving the motion control parameter, and then obtain the working parameter group corresponding to each driving wheel set in the plurality of driving wheel sets according to the model characteristic and the motion control parameter of the target motion model. Therefore, for each driving wheel set in the multiple groups of driving wheel sets, the steering motor in the driving wheel set can control the rotation angle of the hub motor in the driving wheel set according to the corresponding working parameter group, and the hub motor in the driving wheel set can rotate according to the corresponding working parameter group, so that independent multi-wheel steering and multi-wheel driving are realized, translation and abrasion-free pivot steering can be realized based on the independent multi-wheel steering and the multi-wheel driving, namely, the technical problems of inflexible steering and single movement control function of the wheel type mobile equipment (applying the movement control method provided by the embodiment of the application) in the prior art are solved.
The movement control device, the movement control system, the controller, the computer-readable storage medium, the movement control system, and the wheeled mobile device provided in the embodiments of the present application have the same beneficial effects as the movement control system provided in the first aspect, or any one of the optional implementations of the first aspect, and are not described herein again.
In the description of the present application, it should be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "disposed" should be interpreted broadly, for example, they may be mechanically fixed, detachably connected or integrally connected, they may be electrically connected, and they may be communicatively connected, where the communications connection may be a wired communications connection or a wireless communications connection, and furthermore, they may be directly connected, indirectly connected through an intermediate medium, or be communicated between two elements. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
The above description is only a few examples of the present application and is not intended to limit the present application, and those skilled in the art will appreciate that various modifications and variations can be made in the present application. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (12)

1. A mobility control method, comprising:
after receiving the movement control parameters, determining a target movement model according to the movement control parameters;
acquiring a working parameter group corresponding to each driving wheel set in a plurality of groups of driving wheel sets according to the model characteristics of the target moving model and the moving control parameters;
and controlling the wheeled mobile equipment to move according to the working parameter group corresponding to each driving wheel group in the plurality of groups of driving wheel groups.
2. The motion control method according to claim 1, wherein the motion control parameters include device center line velocity and device translation angle characterization information, and the determining the target motion model according to the motion control parameters includes:
if the central linear velocity of the equipment is a nonzero value and the equipment translation angle does not exist in the equipment translation angle representation information, determining that the target moving model is a four-wheel-drive differential steering model;
if the central linear velocity of the equipment is zero and the equipment translation angle does not exist in the equipment translation angle representation information, determining that the target moving model is a zero-radius steering model;
and if the equipment translation angle exists in the equipment translation angle representation information, determining that the target moving model is a universal translation model.
3. The motion control method according to claim 1, wherein before obtaining the set of operating parameters corresponding to each of the plurality of sets of driving wheels according to the model characteristics of the target motion model and the motion control parameters, the motion control method further comprises:
determining a steering center intersection point of each hub motor in the multiple groups of driving wheel sets and determining a steering angle relation of each hub motor in the multiple groups of driving wheel sets according to the model form of the target moving model;
and taking the relationship between the steering center intersection point of each hub motor in the multiple groups of driving wheel sets and the steering angle of each hub motor in the multiple groups of driving wheel sets as the model characteristic of the target moving model.
4. The movement control method according to claim 3, wherein the plurality of sets of driving wheel sets are four sets, and the determining the intersection point of the steering centers of each of the plurality of sets of driving wheel sets and the relationship of the steering angles of each of the plurality of sets of driving wheel sets according to the model shape of the target movement model comprises:
and if the target moving model is a four-wheel drive differential steering model, determining that the steering center intersection point of each hub motor in the four driving wheel groups is positioned on the perpendicular bisector of the rigid connecting line of the front hub motor and the rear hub motor in the multiple driving wheel groups according to the model form of the four-wheel drive differential steering model, and determining that the steering angle relationship of each hub motor in the four driving wheel groups is that the rotation angle of the left front hub motor and the rotation angle of the left rear hub motor are mutually symmetrical, and the rotation angle of the right front hub motor and the rotation angle of the right rear hub motor are mutually symmetrical.
5. The movement control method according to claim 3, wherein the plurality of sets of driving wheel sets are four sets, and the determining the intersection point of the steering centers of each of the plurality of sets of driving wheel sets and the relationship of the steering angles of each of the plurality of sets of driving wheel sets according to the model shape of the target movement model comprises:
and if the target moving model is a zero-radius steering model, determining that the steering center intersection point of each hub motor in the four driving wheel groups is the center position of the left front hub motor, the right front hub motor, the left rear hub motor and the right rear hub motor according to the model form of the zero-radius steering model, and determining that the steering angle relation of each hub motor in the four driving wheel groups is that the rotation angles of the two adjacent hub motors are mutually symmetrical, and the rotation angles of the two hub motors at the opposite angle positions are the same.
6. The movement control method according to claim 3, wherein the plurality of sets of driving wheel sets are four sets, and the determining the intersection point of the steering centers of each of the plurality of sets of driving wheel sets and the relationship of the steering angles of each of the plurality of sets of driving wheel sets according to the model shape of the target movement model comprises:
and if the target moving model is a universal translation model, determining that the steering center intersection point of each hub motor in the multiple groups of driving wheel groups does not exist according to the model form of the universal translation model, and determining that the steering angle relation of each hub motor in the multiple groups of driving wheel groups is that the rotation angles of the left front hub motor, the right front hub motor, the left rear hub motor and the right rear hub motor are consistent with the equipment translation angle.
7. The motion control method according to claim 1, wherein the motion control parameters include a device center linear velocity and a device center steering angular velocity, and the obtaining the set of operating parameters corresponding to each of the plurality of sets of driving wheel sets according to the model characteristic of the target motion model and the motion control parameters includes:
establishing a parameter operation logic group through a steering center intersection point of each hub motor in the plurality of groups of driving wheel groups, a steering angle relation and a circular motion formula of each hub motor in the plurality of groups of driving wheel groups;
and assigning unknown parameters in the parameter operation logic group according to the equipment central linear velocity and the equipment central steering angular velocity, and calculating the working parameter group corresponding to each driving wheel group in the plurality of groups of driving wheel groups.
8. A movement control apparatus, comprising:
the model determining module is used for determining a target movement model according to the movement control parameters after the movement control parameters are received;
the parameter acquisition module is used for acquiring a working parameter group corresponding to each driving wheel set in the plurality of groups of driving wheel sets according to the model characteristics of the target moving model and the moving control parameters;
and the movement control module is used for controlling the movement of the wheeled mobile equipment according to the working parameter group corresponding to each driving wheel group in the plurality of groups of driving wheel groups.
9. A controller comprising a microprocessor and a memory, the memory having a computer program stored thereon, the microprocessor being configured to execute the computer program to implement the movement control method of any one of claims 1 to 7.
10. A computer-readable storage medium having stored thereon a computer program which, when executed, implements the movement control method of any one of claims 1 to 7.
11. A mobile control system is characterized by comprising a controller and a plurality of groups of driving wheel sets, wherein each group of driving wheel set in the plurality of groups of driving wheel sets comprises a steering motor and a hub motor capable of controlling a steering angle through the steering motor;
the controller is configured to execute the motion control method according to any one of claims 1 to 7, so as to determine a target motion model according to a motion control parameter after receiving the motion control parameter, and obtain a working parameter set corresponding to each of the plurality of sets of driving wheel sets according to a model characteristic of the target motion model and the motion control parameter, where the working parameter set includes an angle parameter and a speed parameter, the angle parameter is used to control a steering angle at which a steering motor in the corresponding driving wheel set drives a hub motor, and the speed parameter is used to control a steering speed of the hub motor in the corresponding driving wheel set;
and aiming at each group of driving wheel groups in the multiple groups of driving wheel groups, a steering motor in each driving wheel group is used for controlling the steering angle of a hub motor in each driving wheel group according to corresponding angle parameters, and the hub motor in each driving wheel group is used for rotating according to corresponding speed parameters.
12. A wheeled mobile device comprising the mobile control system of claim 11.
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