CN113427485B - Slip monitoring method and device for mobile robot and mobile robot - Google Patents

Slip monitoring method and device for mobile robot and mobile robot Download PDF

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Publication number
CN113427485B
CN113427485B CN202110626484.0A CN202110626484A CN113427485B CN 113427485 B CN113427485 B CN 113427485B CN 202110626484 A CN202110626484 A CN 202110626484A CN 113427485 B CN113427485 B CN 113427485B
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mobile robot
parameter
speed
error
controller
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CN113427485A (en
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高江峰
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Beijing Kuangshi Technology Co Ltd
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Beijing Kuangshi Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages

Abstract

The application provides a slip monitoring method and device for a mobile robot and the mobile robot. Wherein, the method comprises the following steps: acquiring the control capacity occupancy rate of the mobile robot at the current moment; the control capacity occupancy rate is used for representing the control capacity of the controller of the mobile robot on the execution mechanism; acquiring a speed error parameter of the mobile robot at the current moment; the speed error parameter is used for representing the possibility of slippage of the mobile robot; and monitoring the slip of the mobile robot according to the control capacity occupancy rate and the speed error parameters. Through the mode that combines controllability occupancy rate and speed error, make mobile robot adopt different control mode when facing different situation, avoid because single adoption speed error parameter judges the excessive control condition that leads to, effectively promoted mobile robot's operating efficiency.

Description

Slip monitoring method and device for mobile robot and mobile robot
Technical Field
The application relates to the technical field of robot control, in particular to a slip monitoring method and device for a mobile robot and the mobile robot.
Background
With the maturity of the unmanned automatic processing technology, in order to improve the work efficiency, a Mobile robot is widely used, wherein the more common Mobile robot is an AGV (Automated Guided Vehicle) or an AMR (Autonomous Mobile robot), which can automatically move from one location to another location, and is an automatic, information and intelligent device.
In a practical application scenario of a mobile robot, skidding is an abnormal situation with relatively large damage, such as collision caused by position runaway, or lifting goods dropping caused by sudden acceleration change. However, not all the anomalies are slip anomalies, for example, due to uneven ground, load variation, etc., noise interference related to a scene exists in data of an IMU (Inertial Measurement Unit), accurate slip control cannot be performed on the mobile robot through errors, and thus, situations such as corresponding missed detection or excessive control are easily caused.
Disclosure of Invention
The application aims to provide a slip monitoring method and device for a mobile robot and the mobile robot, so that the accuracy and the reasonability of slip monitoring are improved.
In a first aspect, an embodiment of the present application provides a method for monitoring a slip of a mobile robot, where the method includes: acquiring the control capacity occupancy rate of the mobile robot at the current moment; the control capacity occupancy rate is used for representing the control capacity of the controller of the mobile robot on the execution mechanism; acquiring a speed error parameter of the mobile robot at the current moment; the speed error parameter is used for representing the possibility of slippage of the mobile robot; and monitoring the slip of the mobile robot according to the control capacity occupancy rate and the speed error parameters.
Further, the step of obtaining the occupancy rate of the control capability of the mobile robot at the current time includes: acquiring a speed error corresponding to each moment in a specified duration by taking the current moment as a starting point; the speed error corresponding to each moment in each moment is determined based on the reference speed corresponding to the control command of the moment and the feedback speed of the actuating mechanism corresponding to the moment; accumulating the speed errors at all moments to obtain an error integral quantity at the current moment; calculating control acceleration according to the error integral quantity at the current moment; and determining the occupancy rate of the control capacity at the current moment according to the control acceleration.
Further, the step of determining the occupancy rate of the control capability at the current time according to the control acceleration includes: determining the torque of the executing component at the current moment according to the control acceleration: r is M multiplied by Err multiplied by R/Rate; wherein, R is the torque of the execution component, M is the mass corresponding to the mobile robot, Err is the control acceleration, R is the wheel radius of the mobile robot, and Rate is the reduction ratio of the reducer in the execution component; and determining the occupancy rate of the control capacity at the current moment according to the ratio of the torque of the execution component to the maximum torque of the execution component.
Further, the step of determining the occupancy rate of the control capability at the current time according to the control acceleration includes: and determining the occupancy rate of the control capacity at the current moment according to the ratio of the control acceleration to the preset maximum acceleration.
Further, the mobile robot is provided with an IMU and an odometer; the step of obtaining the speed error parameter of the mobile robot at the current moment includes: acquiring a first measurement parameter of the IMU and a second measurement parameter of the odometer; determining a first speed parameter corresponding to the IMU according to the first measurement parameter; the first speed parameter comprises a first travel speed and a first angular speed; determining a second speed parameter corresponding to the odometer according to the second measurement parameter; the second speed parameter comprises a second running speed and a second angular speed; and determining a speed error parameter of the mobile robot at the current moment according to a first difference value between the first running speed and the second running speed and a second difference value between the first angular speed and the second angular speed.
Further, the speed error parameters include a running speed error and an angular speed error.
Further, the step of monitoring the slip of the mobile robot according to the control capability occupancy rate and the speed error parameter includes: determining a controller mode corresponding to the current moment according to the control capacity occupancy rate; the controller mode is used for representing the occupation condition of the controller on the control capacity of the actuating mechanism; and performing slip monitoring on the mobile robot according to the determined controller mode and the speed error parameter.
Further, the mobile robot prestores a corresponding relation between a controller mode and a slip monitoring strategy; the step of performing slip monitoring on the mobile robot according to the determined controller mode includes: determining a target slip monitoring strategy according to the determined controller mode and the corresponding relation; and performing slip monitoring on the mobile robot according to the target slip monitoring strategy.
Further, the controller modes comprise a normal mode, an early warning mode and a saturation mode; the step of determining the controller mode corresponding to the current time according to the control capacity occupancy rate includes: if the control capacity occupancy rate is smaller than a preset first threshold value, determining that the controller mode corresponding to the current moment is a normal mode; if the control capacity occupancy rate is greater than a preset second threshold value, determining that the controller mode corresponding to the current moment is a saturation mode; wherein the second threshold is greater than the first threshold; and if the control capacity occupancy rate is between the first threshold value and the second threshold value, determining that the controller mode corresponding to the current moment is an early warning mode.
Further, the step of performing slip monitoring on the mobile robot according to the determined controller mode and the determined speed error parameter includes: if the determined controller mode is a normal mode, updating an error threshold parameter according to the speed error parameter at the current moment; if the determined controller mode is an early warning mode and the speed error parameter is greater than the error threshold parameter, reducing the running speed of the mobile robot; and if the determined controller mode is a saturation mode and the speed error parameter is greater than the error threshold value parameter, reducing the running speed of the mobile robot and performing skid alarm.
Further, the step of performing slip monitoring on the mobile robot according to the determined controller mode and the determined speed error parameter includes: if the determined controller mode is an early warning mode and the speed error parameter is smaller than the error threshold parameter, maintaining the running speed of the mobile robot; and if the determined controller mode is a saturation mode and the speed error parameter is smaller than the error threshold parameter, reducing the running speed of the mobile robot or controlling the mobile robot to brake, and performing equipment abnormity alarm.
Further, the step of updating the error threshold parameter according to the speed error parameter at the current time includes: if the speed error parameter at the current moment is larger than the error threshold parameter at the previous moment, the error threshold parameter is increased to obtain the error threshold parameter at the current moment; and if the speed error parameter at the current moment is smaller than the error threshold parameter at the previous moment, reducing the error threshold parameter to obtain the error threshold parameter at the current moment.
Further, the step of updating the error threshold parameter according to the speed error parameter at the current time includes: updating the error threshold parameter according to the following equation: ThresholdV2 ═ ThresholdV1 xa + CurErrV × (1-a); wherein threshold v1 is the error threshold parameter at the previous time, CurErrV is the speed error parameter at the current time, a is the preset low-pass filtering factor, and threshold v2 is the error threshold parameter at the current time.
Further, the step of performing slip monitoring on the mobile robot according to the determined controller mode and the determined speed error parameter further includes: if the determined controller mode is a saturation mode and the speed error parameter is greater than the error threshold parameter, calculating the driving angle of the mobile robot at the current moment according to the angular speed measured by the IMU on the mobile robot; determining the type of the slip of the mobile robot according to the driving angle and the driving speed direction of the mobile robot; wherein the slip types include front slip, rear slip, left slip, and right slip.
Further, the method further comprises: acquiring a pose error corresponding to the current moment of the mobile robot; and if the pose error is larger than a preset pose threshold value, performing pose abnormity alarm.
Further, the step of obtaining the pose error corresponding to the pose includes: acquiring a pose error corresponding to the pose through the following formula: and (4) setting the pose error as an angular velocity error threshold value multiplied by the wheel spacing and a velocity error threshold value.
In a second aspect, an embodiment of the present application further provides a skid monitoring apparatus for a mobile robot, including: the control capacity occupancy rate acquisition module is used for acquiring the control capacity occupancy rate of the mobile robot at the current moment; the control capacity occupancy rate is used for representing the control capacity of the controller of the mobile robot on the execution mechanism; the speed error parameter acquisition module is used for acquiring the speed error parameter of the mobile robot at the current moment; the speed error parameter is used for representing the possibility of slippage of the mobile robot; and the slip monitoring module is used for monitoring the slip of the mobile robot according to the control capacity occupancy rate and the speed error parameter.
In a third aspect, an embodiment of the present application further provides a mobile robot, including: the device comprises a controller, an actuating mechanism and a traveling mechanism; the actuating mechanism is respectively connected with the controller and the travelling mechanism; the controller is used for executing the slip monitoring method of the mobile robot.
In a fourth aspect, the present application further provides an electronic device, which includes a processor and a memory, where the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the method for monitoring a slip of a mobile robot.
In a fifth aspect, the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are called and executed by a processor, the computer-executable instructions cause the processor to implement the above-mentioned slip monitoring method for a mobile robot.
The method and the device for monitoring the slip of the mobile robot and the mobile robot provided by the embodiment of the application have the advantages that the slip of the mobile robot is monitored in a mode of combining the control capacity occupancy rate with the speed error parameter, different control modes can be adopted based on the control capacity and the speed error parameter of the mobile robot, the problem that the speed error parameter is adopted for judgment singly to cause over-control or untimely control is solved, the slip control accuracy and the reasonableness of the mobile robot are effectively improved, and the running efficiency of the mobile robot is further improved.
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In order to more clearly illustrate the detailed description of the present application or the technical solutions in the prior art, the drawings needed to be used in the detailed description of the present application or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a mobile robot according to an embodiment of the present disclosure;
fig. 2 is a flowchart of a slip monitoring method for a mobile robot according to an embodiment of the present disclosure;
fig. 3 is a flowchart of another slip monitoring method for a mobile robot according to an embodiment of the present disclosure;
fig. 4 is an application scenario diagram of a slip control method for a mobile robot according to an embodiment of the present application;
fig. 5 is a flowchart of another method for monitoring a slip of a mobile robot according to an embodiment of the present disclosure;
fig. 6 is a schematic view of a skid monitoring apparatus of a mobile robot according to an embodiment of the present disclosure;
fig. 7 is a schematic view of another slippage monitoring device for a mobile robot according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of a mobile robot according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of another electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions of the present application will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the practical application of the mobile robot, slip control is not required to be adopted in all abnormal situations, and when the control capability of the controller of the mobile robot is strong, the controller is possible to automatically repair and normally control the mobile robot to continue to operate.
Fig. 1 is a schematic structural diagram of a mobile robot according to an embodiment of the present application. As shown in fig. 1, the mobile robot is a robot capable of moving automatically, and may be a transport robot, for example, an AGV, an AMR, a stacker, a flap robot, a roller robot, a jack-up robot, a tractor robot, a forklift, or the like. The mobile robot of the embodiment includes a controller and an actuator, the controller includes a control module and a slippage detection module, the control module is used for sending an operation instruction to the actuator, and the actuator is a device for driving the mobile robot to operate, such as a motor and the like. The executing mechanism carries out corresponding executing actions according to the running instructions (such as normal advancing, decelerating advancing, stopping and the like) sent by the control module. The control module is also used for sending a detection instruction to the slippage detection module, the slippage detection module carries out slippage detection according to the detection instruction, and feeds back a detection result to the control module, so that the control module controls the execution mechanism according to the detection result. The mobile robot provided by the embodiment of the application further comprises an IMU and an odometer, and the IMU and the odometer are used for providing operation data of the mobile robot, such as acceleration, speed or angular velocity, for the slip detection module.
Based on the mobile robot structure shown in fig. 1, the embodiment of the present application provides a method for monitoring a slip of a mobile robot, which is described by taking the mobile robot (specifically, the controller) as an example, and referring to fig. 2, the method includes steps S201 to S203:
s201: acquiring the control capacity occupancy rate of the mobile robot at the current moment; wherein the control capacity occupancy rate is used for representing the control capacity of the controller of the mobile robot on the execution mechanism.
The control capability of the mobile robot represents the control capability of a controller of the mobile robot on the executing mechanism, and different control capabilities represent different control conditions of the controller on the executing mechanism. The control capacity occupancy rate represents the situation that the control capacity of the controller is already occupied, and the lower the control capacity occupancy rate is, the less the occupied resources are, that is, the larger the control capacity margin left for controlling the execution mechanism is, the more controllable the execution mechanism is. When the occupancy rate of the control capacity reaches a certain value, the remaining control capacity is low, and the actuator may face the risk of runaway.
In the embodiment, the slip monitoring is performed on the mobile robot in real time, and the occupancy rate of the control capability of the mobile robot is acquired in each monitoring period. It will be appreciated that the current time may represent the start of each monitoring period.
S202: acquiring a speed error parameter of the mobile robot at the current moment; the speed error parameter is used for representing the possibility of slippage of the mobile robot;
in the step, a speed error parameter of the mobile robot at the current moment is obtained, wherein the speed error parameter is an actual error generated in the actual traveling process of the mobile robot, if the error is small, the current normal traveling in the preset track is indicated, and if the error is large, the current traveling condition is abnormal, and situations such as slipping and other abnormalities may occur. In some examples, the speed error parameter may be determined by a difference between an IMU and an odometer provided in the mobile robot.
In the present embodiment, the speed error parameter may include a running speed and an angular speed.
S203: and monitoring the slip of the mobile robot according to the control capacity occupancy rate and the speed error parameter.
In practical application scenarios, different road conditions are often encountered during the traveling process of the mobile robot, such as bumpy roads, slippery roads, oily and water-containing roads, and the like. The severity degree of the abnormity of the mobile robot is different corresponding to different road conditions, for example, when the mobile robot meets a bumpy road surface, the mobile robot can generate slight vibration and slippage, and when the mobile robot meets a slippery road surface, the mobile robot can be caused to seriously slip, therefore, if the same coping strategy is adopted for different abnormity conditions, the same control method (such as alarming and stopping) is adopted when the mobile robot faces slight abnormity, so that the mobile robot can smoothly pass through the road surface by means of the repair of the controller, and the more serious interference means is adopted, thereby reducing the operating efficiency of the mobile robot. Based on this, the embodiment of the present application adopts different monitoring strategies in combination with the above-mentioned control capability occupancy rate and the above-mentioned speed error parameter, corresponding to different abnormal situations.
According to the embodiment of the invention, the slip monitoring is carried out on the mobile robot by combining the control capacity occupancy rate with the speed error parameter, different control modes can be adopted based on the control capacity and the speed error parameter of the mobile robot, the problem of excessive control or untimely control caused by single judgment by adopting the speed error parameter is solved, the slip control accuracy and the reasonability of the mobile robot are effectively improved, and the running efficiency of the mobile robot is further improved.
In some embodiments, the control capability occupancy rate for determining the current time may be obtained by:
(1) acquiring a speed error corresponding to each moment in a specified duration by taking the current moment as a starting point; the speed error corresponding to each time in each time is determined based on the reference speed corresponding to the control command at the time and the feedback speed of the actuator corresponding to the time (i.e., the actual speed corresponding to the actuator).
The feedback speed of the execution mechanism corresponding to the time may be an actual speed value obtained by the execution mechanism after the control instruction at the time, and a time difference may exist between the time corresponding to the control instruction and the time of the feedback speed of the execution mechanism, and the time difference is often very small in the actual application process, and therefore, the time difference can be ignored. Alternatively, in some embodiments, considering that the traveling speed of the mobile robot is generally relatively continuous, the feedback speed of the actuator corresponding to the time may be represented by the feedback speed of the actuator which is the last time before the time.
(2) Accumulating the speed errors at all moments to obtain an error integral quantity at the current moment;
(3) calculating control acceleration according to the error integral quantity at the current moment;
in some embodiments, the control acceleration may be calculated according to the following formula:
controlling the acceleration to be P multiplied by the current speed error, I multiplied by the error integral quantity and planning the acceleration;
p, I is a preset parameter, belongs to an adjustable parameter, and the planned acceleration is the acceleration determined by the controller according to the planned trajectory, and can be corrected according to the current speed error and the error integral quantity, and the controller can issue a corresponding control instruction to the motor according to the magnitude of the control acceleration to guide the mobile robot to move.
(4) And determining the occupancy rate of the control capacity at the current moment according to the control acceleration.
For convenience of explanation, the above calculation process is explained below by specific examples. For example, the times t1, t2, and t3 are three consecutiveMonitoring the time, then the speed error V at time t1 Err1 The difference between the reference speed corresponding to the control command at time t1 and the feedback speed of the actuator at the previous time (e.g., time t 0), and similarly, the speed error V at time t2 Err2 The difference between the reference speed corresponding to the control command at the time t2 and the feedback speed of the actuator at the time t1, and the speed error V at the time t3 Err3 The difference between the reference speed corresponding to the control command at time t3 and the feedback speed of the actuator at time t 2. Will V Err1 、V Err2 And V Err3 The error integral quantity at the time t1 is obtained by accumulation. And calculating the control acceleration at the time t1 according to the error integral quantity, and further determining the control capacity occupancy rate at the time t1 according to the control acceleration.
It can be understood that the speed error is obtained in real time, the speed error in a period of time is integrated, the influence on the integral speed error caused by the larger error of one time or several times can be avoided, the obtained control acceleration is more accurate, and the control capability is more accurately judged.
In some embodiments, after the control acceleration is obtained, the control capacity occupancy may be determined by a ratio of the control acceleration to a preset maximum control acceleration.
In other embodiments, after the control acceleration is obtained, the control capacity occupancy rate may also be determined by the torque of the actuator, and specifically, the control capacity occupancy rate may be determined according to the ratio of the torque of the actuator to the maximum torque of the actuator. Wherein the torque of the executing component can be calculated by the following formula:
R＝M×Err×r/Rate；
wherein, R is the torque of the execution component, M is the mass corresponding to the mobile robot, Err is the control acceleration, R is the wheel radius of the mobile robot, and Rate is the reduction ratio of the reducer in the execution component; the reduction ratio is an actual parameter of the motor reducer.
It should be appreciated that in addition to the above, the control capability occupancy, i.e., the derivative of the control acceleration (i.e., control jerk)/maximum jerk, may be determined by the jerk of the implement or jerk of the implement; the control jerk may also be further derived to obtain a control jerk snap based on which the control capacity occupancy is control jerk/maximum jerk. The present application is not limited thereto.
In some embodiments, the speed error parameter may be determined by:
(1) a first measurement parameter of the IMU and a second measurement parameter of the odometer are obtained.
At the current moment, the measurement parameters of the IMU are acquired, and the measurement parameters acquired from the IMU may include information such as a three-axis attitude angle (or angular velocity) and an acceleration of the mobile robot, and the measurement parameters of the IMU are referred to as first measurement parameters. Similarly, at the present time, the measurement parameter of the odometer is acquired, the output of the odometer includes information such as the travel speed and the angular velocity, and the measurement parameter of the odometer is referred to as a second measurement parameter in the present embodiment.
(2) Determining a first speed parameter corresponding to the IMU according to the first measurement parameter; the first speed parameter comprises a first travel speed and a first angular speed;
(3) determining a second speed parameter corresponding to the odometer according to the second measurement parameter; the second speed parameter comprises a second running speed and a second angular speed;
(4) and determining a speed error parameter of the mobile robot at the current moment according to a first difference value between the first running speed and the second running speed and a second difference value between the first angular speed and the second angular speed.
In some embodiments, the speed error parameters may include a travel speed error and an angular speed error, based on which the speed error of the mobile robot at the current time may be determined according to a difference between a travel speed corresponding to the IMU at the current time and a travel speed corresponding to the odometer. And determining the angular velocity error of the mobile robot at the current moment according to the difference value between the angular velocity corresponding to the IMU at the current moment and the angular velocity corresponding to the odometer.
The speed error parameter is determined through two aspects of the running speed and the angular speed, so that the speed error parameter is closer to the actual condition, and the slip monitoring performed according to the speed error parameter is more accurate and reliable.
On the basis of the above embodiments, another slip monitoring method for a mobile robot is further provided in the embodiments of the present application, which focuses on how to perform slip monitoring on the mobile robot according to the control capacity occupancy rate and the speed error parameter, and referring to fig. 3, the method includes steps S301 to S304:
s301: acquiring the control capacity occupancy rate of the mobile robot at the current moment; wherein the control capacity occupancy rate is used for representing the control capacity of the controller of the mobile robot on the execution mechanism;
s302: acquiring a speed error parameter of the mobile robot at the current moment; wherein the speed error parameter is used for representing the possibility of slippage of the mobile robot;
it should be understood that S301 and S302 correspond to S201 and S202 in the embodiment shown in fig. 2, and reference may be specifically made to the above description, which is not repeated herein.
S303: and judging the controller mode according to the control capacity occupancy rate.
In this step, the controller mode corresponding to the current time is determined according to the control capacity occupancy rate. The controller modality is a description of the situation in which the control capability of the controller for the actuator is already occupied. For example, different preset thresholds may be employed to partition the controller modalities. Specifically, a first threshold and a second threshold may be preset, where the second threshold is greater than the first threshold; and comparing the control capacity occupancy rate with the first threshold and the second threshold to obtain a corresponding controller mode. In some examples, the controller modality may be determined using the following method: (1) if the control capacity occupancy rate is smaller than a preset first threshold value, determining that the controller mode corresponding to the current moment is a normal mode; (2) if the control capacity occupancy rate is greater than a preset second threshold value, determining that the controller mode corresponding to the current moment is a saturation mode; (3) and if the control capacity occupancy rate is between the first threshold value and the second threshold value, determining that the controller mode corresponding to the current moment is an early warning mode.
The setting of the first threshold and the second threshold may be set through experience of an operator, or may be determined through analysis of historical data, which is not limited herein. It should be understood that the number of the thresholds is not limited in the present application, that is, only one threshold may be set, or three thresholds may be set, and further controller modes are determined according to the thresholds, which is not limited in the present application.
S304: and monitoring the slip of the mobile robot according to the controller mode and the speed error parameter.
In this step, the slip control is performed on the mobile robot according to the determined controller mode and the speed error parameter. Specifically, the corresponding relationship between the controller mode and the slip monitoring strategy can be pre-stored in the mobile robot, and the target slip monitoring strategy is determined according to the determined controller mode and the corresponding relationship; and performing slip monitoring on the mobile robot according to the target slip monitoring strategy. For example, a first slip monitoring strategy is employed when the mobile robot is in a first controller modality, a second slip monitoring strategy is employed when the mobile robot is in a second controller modality, etc. When the controller mode of the mobile robot at the current moment is determined according to the control capacity occupancy rate, which corresponding slip monitoring strategy needs to be adopted, namely the target slip monitoring strategy, is determined, and then slip control is performed on the mobile robot according to the target slip monitoring strategy. S304 may be specifically controlled according to the following method:
firstly, if the determined controller mode is a normal mode, updating an error threshold parameter according to a speed error parameter at the current moment. Wherein the error threshold parameter is used to characterize the speed error allowance adapted to the current environment.
Considering that the fixed error threshold parameter is used for skid judgment, the situation of abnormal skid detection or excessive control may be caused because the error threshold parameter is unreasonable, the road condition in the normal mode may be smooth driving or jolting, or slightly skidding, etc., the controller can only rely on the control capability of the controller to cope with the situation, in order to make the error threshold for judging whether skid is more accurate, the speed error threshold can be adjusted in real time in the mode, and the error threshold is continuously adjusted towards the speed error parameter at the current moment, so that the error threshold is closer to the current actual running state. Namely:
1) if the speed error parameter at the current moment is larger than the error threshold parameter at the previous moment, the error threshold parameter is increased to obtain the error threshold parameter at the current moment; for example, the error threshold parameter includes a speed error threshold and an angular velocity error threshold, and the specific increasing manner may be that the speed error threshold is increased by a preset first value, and the angular velocity error threshold is increased by a preset second value;
2) if the speed error parameter at the current moment is smaller than the error threshold parameter at the previous moment, the error threshold parameter is reduced to obtain the error threshold parameter at the current moment; for example, the error threshold includes a speed error threshold and an angular speed error threshold, and the specific way of turning down may be to turn down the speed error threshold by a preset third value and turn down the angular speed error threshold by a preset fourth value.
In some embodiments, the error threshold parameter may be updated according to the following equation:
ThresholdV2＝ThresholdV1×a+CurErrV×(1-a)；
wherein threshold v1 is the error threshold parameter at the previous time, CurErrV is the speed error parameter at the current time, a is the preset low-pass filtering factor, and threshold v2 is the error threshold parameter at the current time.
It can be understood that continuously updating the error threshold for a plurality of times makes the error threshold closer to the average state of the actually generated errors, i.e. a large error which is occasionally generated twice, and does not make the error threshold change greatly, thereby ensuring the accuracy of the error threshold.
The speed error threshold parameter after being updated according to the formula is closer to the actual speed error parameter. As the mobile robot continuously travels, the speed error threshold parameter is closer to the actual speed error parameter. For example, assuming that the velocity error of the mobile robot is 0.7 at time t1, the low-pass filter factor a is set to 0.8 according to actual conditions, and the velocity error threshold of the controller at time t1 is 0.4, the velocity error threshold after the first update using the velocity error threshold update formula is:
0.4×0.8+0.7×(1-0.8)＝0.46；
at time t2, the speed error is still 0.7, and the updated error threshold parameter is:
0.46×0.8+0.7×(1-0.8)＝0.51；
by analogy, it can be seen that the updated speed error threshold parameter is continuously close to the current speed error at each moment.
And secondly, if the determined controller mode is an early warning mode and the speed error parameter is greater than the error threshold value parameter, reducing the running speed of the mobile robot.
In the early warning mode, the control capacity occupancy rate of the controller develops towards a larger direction, but the control capacity occupancy rate does not reach the degree of runaway, at the moment, slight slippage possibly caused by road jolt or other interference can be caused, in this case, the stage can be bridged through self adjustment of the controller, and excessive interventions such as braking, alarming and the like are not needed. In addition, in the actual operation process, the slight slipping condition often occurs frequently, if frequent braking is performed, alarming is performed, the operation efficiency of the mobile robot can be seriously reduced, and the normal work can be interfered, so that aiming at the early warning mode, the speed error parameter is greater than the error threshold value parameter, the strategy of reducing the running speed of the mobile robot can be only adopted, the frequent adoption of strong interference is avoided, and the operation efficiency of the mobile robot is improved. The specific manner of reducing the traveling speed of the mobile robot may be flexibly determined, for example, the traveling speed may be reduced by a preset fixed amount, or the reduction amount may be determined according to the magnitude of the current speed value, for example, the speed is reduced to 1/2 or 1/3 of the current speed value, and of course, the reduction amount may also be determined according to the magnitude of the speed error parameter, and the reduction process may include both the reduction of the traveling speed and the reduction of the angular speed, or only the traveling speed may be reduced without reducing the angular speed.
If the determined controller mode is the early warning mode and the speed error parameter is smaller than the error threshold value parameter, the mobile robot is basically normal in running, and the current running speed of the mobile robot can be continuously maintained to continuously run. Based on this, the step S304 further includes: and if the determined controller mode is the early warning mode and the speed error parameter is smaller than the error threshold value parameter, maintaining the running speed of the mobile robot.
And in the early warning mode, the updating of the error threshold parameter is stopped, and the error threshold parameter at the moment is the error threshold parameter updated last time in the normal mode.
And thirdly, if the determined controller mode is a saturation mode and the speed error parameter is greater than the error threshold value parameter, reducing the running speed of the mobile robot and performing skid alarm.
When the controller is in a saturation mode, it is indicated that the control capability of the controller is already very limited, the remaining control capability that can be allocated to the execution component cannot completely control the operation of the execution component, and the execution component is in a runaway state, and a corresponding control strategy needs to be performed to avoid occurrence of serious consequences.
When the controller is in a saturation state, the speed error parameter at the current moment is further compared with the error threshold parameter, and the comparison result is divided into the following conditions:
comparative result 1: the speed error parameter at the current time is greater than the error threshold parameter at the current time.
In this case, the abnormal state indicating the runaway is caused by a severe slip, and the slip abnormality control may be required, for example, to reduce the traveling speed of the mobile robot, to directly brake the mobile robot, or to perform a slip alarm. Further, the level of slip, such as normal slip and severe slip, may also be determined based on how much the current speed error parameter is greater than the error threshold, and for different slip levels, different slip control strategies, such as normal slip deceleration, severe slip direct braking, etc., may be employed.
In order to provide more effective control instructions for the robot when the robot encounters an abnormal condition, and further determine the type of the slip on the basis of giving a slip alarm, based on which the step of S304 of performing slip monitoring on the mobile robot according to the controller mode and the speed error parameter may further include: if the determined controller mode is a saturation mode and the speed error parameter is greater than the error threshold parameter, calculating the driving angle of the mobile robot at the current moment according to the angular speed measured by the IMU on the mobile robot; determining the type of the slip of the mobile robot according to the driving angle and the driving speed direction of the mobile robot; wherein the slip types include front slip, rear slip, left slip, and right slip. For example, when the driving angle is within 5 ° from the lane, the current slip of the mobile robot is considered to belong to a straight-ahead slip; if the driving angle deviates from the route to the left by more than 5 degrees, the left slip is considered to belong to; similarly, if the driving angle deviates from the route line to the right by more than 5 degrees, the right skid is considered. In the straight slip, it is further determined whether it is a front slip (i.e., a forward slip) or a rear slip (i.e., a rearward slip) based on the speed direction of the IMU or the odometer. The backward movement task (such as reversing) is slow, and generally, the slip situation is not easy to occur, so the embodiment of the application can not further describe the backward slip.
Comparison result 2: the speed error parameter at the current time is less than the error threshold parameter at the current time.
If the speed error parameter is judged to be smaller than the error threshold value parameter at the current moment, the abnormal state of the runaway is not caused by the slip and is caused by other abnormal reasons, such as the fault of the controller, and at the moment, corresponding control of other abnormal needs to be carried out, such as reduction of the running speed of the mobile robot, or direct braking, and other abnormal alarms are carried out. Based on this, the step S304 further includes: and if the determined controller mode is a saturation mode and the speed error parameter is smaller than the error threshold parameter, reducing the running speed of the mobile robot or controlling the mobile robot to brake, and performing equipment abnormity alarm. The device abnormality alarm and the above-described slip alarm may use different alarm flags or alarm contents to distinguish them from each other.
And under the early warning mode, stopping updating the error threshold parameter, wherein the error threshold parameter at the moment is the error threshold parameter updated for the last time when the controller mode is the normal mode.
It can be understood that when the controller of the mobile robot is in the abnormal early warning state and the saturation state, the updating of the error threshold value is stopped because the error introduced by the abnormal condition is large. Meanwhile, when the mobile robot is in an abnormal mode, a speed reduction strategy can be adopted for the mobile robot.
In this embodiment, different slip control strategies are employed for different controller modalities of the controller. On the one hand, under the normal mode, the error threshold value is updated by adopting the speed error parameter at each moment, so that the error threshold value is continuously changed according to the actual running condition of the mobile robot to adapt to the current environment, and compared with a mode of detecting whether the mobile robot slips or not according to the fixed threshold value, the method can effectively avoid the situation that the real slip is not detected due to the over-high fixed threshold value, and can also avoid frequently giving a slip alarm due to the over-low fixed threshold value, and the actual slip is probably caused only by environmental noise and not really slip, so that the method for updating the error threshold value can effectively improve the accuracy of the slip detection. On the other hand, when the mobile robot slightly slips, only the speed is reduced, the controller is waited to restore to a normal mode by itself, on the other hand, when the mobile robot severely slips or has other abnormal conditions, a corresponding control strategy is adopted by combining with the updated speed error threshold value, the operation of the mobile robot is controlled in time, the occurrence of serious consequences is avoided, aiming at different abnormal degrees, different control strategies are adopted, the unnecessary slip processing flow caused by transition judgment is avoided, the operation efficiency of the mobile robot can be effectively improved, and the probability of the occurrence of the serious consequences is reduced.
For convenience of understanding, fig. 4 is a diagram illustrating an application scenario of the slip control method for a mobile robot according to the embodiment of the present application. As shown in fig. 4, the determination and control of the slip of the mobile robot are as follows:
s401: and in the driving process of the mobile robot, the controller acquires the error speed at the current moment in real time and caches the acquired error speed into the data queue.
S402: and reading the error speed corresponding to each moment in the latest specified duration (such as 100ms) from the data queue, accumulating the read error speeds at each moment to obtain an error integral quantity, and calculating the control acceleration according to the error integral quantity.
S403: and calculating the control capacity occupancy rate of the controller based on the control acceleration.
S404: and determining the actual speed error parameter of the mobile robot at the current moment based on the measurement data of the IMU and the odometer at the current moment.
The execution order of S404 and steps S401 to S403 is not limited, and may be executed in parallel.
S405: judging whether the occupancy rate of the control capacity is lower than a first threshold (for example, 50%), if so, indicating that the current moment of the controller is in a normal mode, and executing step S406; if not, step S407 is performed.
S406: and updating the last speed error threshold and the last angular speed threshold according to the actual speed error parameters. For example: updating towards the error threshold towards the actual speed error parameter.
S407: judging whether the occupancy rate of the control capacity is greater than a second threshold (for example, 80%), if so, indicating that the current moment of the controller is in a saturation mode, and executing a step S409; if not, the current moment of the controller is the early warning mode, and step S408 is executed.
S408: judging whether the actual speed error parameter is larger than the error threshold value updated last time, if so, executing S410 to perform slippage early warning control; if not, the process returns to step S401 to continue monitoring the next time.
S409: and performing slip saturation control. For example: judging whether the actual speed error parameter is larger than the error threshold value updated last time, if so, determining to skid, and giving a skid alarm; if not, determining that no slipping occurs, and performing equipment abnormity alarm.
In some examples, after the slip control is performed on the mobile robot through the above steps, in addition to returning the mobile robot to the normal driving state in terms of speed, the pose abnormality of the mobile robot may be detected and corresponding control may be performed, which may be specifically implemented by the method shown in fig. 5, where fig. 5 is another slip monitoring method for the mobile robot provided in the embodiment of the present application, where the method further includes steps S501-S502 after the step of performing the slip monitoring on the mobile robot in the above embodiment:
s501: acquiring a pose error corresponding to the current moment of the mobile robot;
considering that the acceleration and the angular velocity measured by the IMU are slightly influenced by slippage when the mobile robot estimates the pose by Dead Reckoning (Dead Reckoning), but the position of the mobile robot needs to be obtained by integrating the acceleration twice, so that the position of the mobile robot estimated by only depending on the IMU may have larger errors as time goes on. Under normal conditions, the position error of the odometer (such as a code disc) is very small, so that the pose precision of the mobile robot in the running process can be ensured. When the vehicle slips, the angle obtained by integrating the angular velocity of the IMU is not greatly affected, and the angle obtained by the IMU can be considered to be accurate, but the displacement increment error obtained by integrating the velocity of the odometer when the vehicle slips is large. Therefore, the present embodiment combines the angular velocity threshold and the velocity threshold by the following formula to determine the pose error of the mobile robot:
the pose error is equal to an angular velocity error threshold value multiplied by a wheel spacing and a velocity error threshold value; the wheel spacing is the distance between the left and right wheels of the mobile robot.
S502: and if the pose error is larger than a preset pose threshold value, performing pose abnormity alarm.
And comparing the acquired pose error with a preset pose threshold, and if the pose error is greater than the pose threshold, indicating that the current mobile robot is in an abnormal pose and needing to give an alarm of pose abnormality, so that the control or the manual adjustment is carried out in one step.
According to the embodiment, the pose of the mobile robot is further judged and the state of the pose is judged on the basis of monitoring the slipping, so that the mobile robot can be ensured to normally run in the two aspects of speed and pose, the serious consequences caused by speed recovery and pose recovery failure after the mobile robot suffers from severe slipping are avoided, and the running quality and the running efficiency of the mobile robot are further improved.
It should be understood that, in some embodiments, the above method may also be applied to a server in communication connection with the mobile robot, that is, the server monitors the slipping condition of the mobile robot and controls the mobile robot to perform corresponding measures according to the monitoring result.
Based on the above method embodiment, the present application further provides a skid monitoring apparatus for a mobile robot, which may be applied to a controller of the mobile robot, and as shown in fig. 6, the apparatus includes:
a control capacity occupancy rate obtaining module 601, configured to obtain a control capacity occupancy rate of the mobile robot at the current time; the control capacity occupancy rate is used for representing the control capacity of the controller of the mobile robot on the execution mechanism;
a speed error parameter obtaining module 602, configured to obtain a speed error parameter of the mobile robot at the current moment; the speed error parameter is used for representing the possibility of slippage of the mobile robot;
and the slip monitoring module 603 is used for monitoring the slip of the mobile robot according to the control capacity occupancy rate and the speed error parameter.
The embodiment of the application provides a mobile robot's control device that skids is through the mode that combines controllability occupancy with speed error parameter, control robot skids, can be based on the controllability and the speed error parameter of mobile robot self, adopt different control mode, alleviated because single adoption speed error parameter judges, the problem that the excessive control that leads to or control untimely has effectively promoted mobile robot's skid control accuracy and rationality, and then promoted mobile robot's operating efficiency.
The control capability occupancy rate obtaining module 601 in the above apparatus is further configured to: acquiring a speed error corresponding to each moment in a specified duration by taking the current moment as a starting point; the speed error corresponding to each moment in each moment is determined based on the reference speed corresponding to the control command of the moment and the feedback speed of the actuating mechanism corresponding to the moment; accumulating the speed errors at all moments to obtain an error integral quantity at the current moment; calculating control acceleration according to the error integral quantity at the current moment; and determining the occupancy rate of the control capacity at the current moment according to the control acceleration.
The control capability occupancy rate acquisition module 601 is further configured to: determining the torque of the executing component at the current moment according to the control acceleration: r is M multiplied by Err multiplied by R/Rate; wherein, R is the torque of the executive component, M is the mass corresponding to the mobile robot, Err is the control acceleration, R is the wheel radius of the mobile robot, and Rate is the reduction ratio of the reducer in the executive component; and determining the occupancy rate of the control capacity at the current moment according to the ratio of the torque of the execution component to the maximum torque of the execution component.
The control capability occupancy rate acquisition module 601 is further configured to: and determining the occupancy rate of the control capacity at the current moment according to the ratio of the control acceleration to the preset maximum acceleration.
The mobile robot in the above apparatus is configured with an IMU and an odometer, and the speed error parameter obtaining module 602 is further configured to: acquiring a first measurement parameter of the IMU and a second measurement parameter of the odometer; determining a first speed parameter corresponding to the IMU according to the first measurement parameter; the first speed parameter comprises a first travel speed and a first angular speed; determining a second speed parameter corresponding to the odometer according to the second measurement parameter; the second speed parameter comprises a second running speed and a second angular speed; and determining a speed error parameter of the mobile robot at the current moment according to a first difference value between the first running speed and the second running speed and a second difference value between the first angular speed and the second angular speed.
The speed error parameters include a travel speed error and an angular speed error.
The slip monitoring module 603 is further configured to: determining a controller mode corresponding to the current moment according to the control capacity occupancy rate; the controller mode is used for representing the occupation condition of the controller on the control capacity of the actuating mechanism; and performing slip monitoring on the mobile robot according to the determined controller mode and the speed error parameter.
The mobile robot in the device is pre-stored with the corresponding relation between the controller mode and the slip monitoring strategy; slip monitoring may be performed as follows: determining a target slip monitoring strategy according to the determined controller mode and the corresponding relation; and performing slip monitoring on the mobile robot according to the target slip monitoring strategy.
The controller modes in the device comprise a normal mode, an early warning mode and a saturation mode; the controller modality may be determined as follows: if the control capacity occupancy rate is smaller than a preset first threshold value, determining that the controller mode corresponding to the current moment is a normal mode; if the control capacity occupancy rate is greater than a preset second threshold value, determining that the controller mode corresponding to the current moment is a saturation mode; wherein the second threshold is greater than the first threshold; and if the control capacity occupancy rate is between the first threshold value and the second threshold value, determining that the controller mode corresponding to the current moment is an early warning mode.
The slip monitoring module 603 is further configured to: if the determined controller mode is a normal mode, updating an error threshold parameter according to the speed error parameter at the current moment; if the determined controller mode is the early warning mode and the speed error parameter is larger than the error threshold parameter (the error threshold parameter is the error threshold parameter updated for the last time when the controller mode is the normal mode), reducing the driving speed of the mobile robot; and if the determined controller mode is the saturation mode and the speed error parameter is greater than the error threshold parameter (the error threshold parameter is the error threshold parameter updated for the last time when the controller mode is the normal mode), reducing the running speed of the mobile robot and performing slip alarm.
The process of performing slip monitoring on the mobile robot according to the determined controller mode and speed error parameters in the above apparatus further includes: if the determined controller mode is the early warning mode and the speed error parameter is smaller than the error threshold parameter (the error threshold parameter is the error threshold parameter updated for the last time when the controller mode is the normal mode), maintaining the running speed of the mobile robot; and if the determined controller mode is the saturation mode and the speed error parameter is smaller than the error threshold parameter (the error threshold parameter is the error threshold parameter updated for the last time when the controller mode is the normal mode), reducing the running speed of the mobile robot or controlling the mobile robot to brake, and performing equipment abnormity alarm.
The error threshold parameter may be updated as follows: if the speed error parameter at the current moment is larger than the error threshold parameter at the previous moment, the error threshold parameter is increased to obtain the error threshold parameter at the current moment; and if the speed error parameter at the current moment is smaller than the error threshold parameter at the previous moment, reducing the error threshold parameter to obtain the error threshold parameter at the current moment.
The error threshold parameter may be updated according to the following equation: ThresholdV 2 ＝ThresholdV 1 Xaa + CurErrV × (1-a); among them, Threshold V 1 Is the error threshold parameter at the previous time, CurErrV is the speed error parameter at the current time, a is the preset low-pass filter factor, Threshold V 2 Is an error threshold parameter at the current moment.
The slip monitoring module 603 is further configured to: if the determined controller mode is a saturation mode and the speed error parameter is greater than an error threshold parameter (the error threshold parameter is the error threshold parameter updated for the last time when the controller mode is a normal mode), calculating the driving angle of the mobile robot at the current moment according to the angular speed measured by the IMU on the mobile robot; determining the slip type of the mobile robot according to the driving angle and the driving speed direction of the mobile robot; wherein the slip types include front slip, rear slip, left slip, and right slip.
Referring to fig. 7, the apparatus further includes, in addition to the apparatus shown in fig. 6: a pose error acquiring module 701, configured to acquire a pose error corresponding to the current time of the mobile robot; and the pose abnormity warning module 702 is used for warning pose abnormity when the pose error is greater than a preset pose threshold value.
The pose error acquiring module 701 is further configured to: acquiring a pose error corresponding to the pose through the following formula: and (4) setting the pose error as an angular velocity error threshold value multiplied by the wheel spacing and a velocity error threshold value.
The implementation principle and the generated technical effect of the slippage monitoring device for a mobile robot provided by the embodiment of the application are the same as those of the embodiment of the method, and for the sake of brief description, reference may be made to the corresponding content in the embodiment of the slippage monitoring method for a mobile robot where no mention is made in the embodiment of the device.
The embodiment of the present application further provides a mobile robot, and the structural schematic diagram of the mobile robot is shown in fig. 8, where the mobile robot includes a controller 801, an execution mechanism 802, and a traveling mechanism 803, the execution mechanism 802 is connected to the controller 801 and the traveling mechanism 803, respectively, and the controller 801 is configured to execute the slip monitoring method of the mobile robot.
In the embodiment shown in fig. 8, the controller 801 may be an integrated circuit chip having signal processing capability. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the controller 801. The controller 801 may be a general-purpose controller, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component. The general controller may be a microprocessor or the controller may be any conventional controller or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and the controller 801 reads information in the memory, and completes the steps of the slip monitoring method of the mobile robot according to the foregoing embodiment in combination with hardware thereof.
An embodiment of the present application further provides an electronic device, as shown in fig. 9, which is a schematic structural diagram of the electronic device, where the electronic device includes a processor 901 and a memory 902, the memory 902 stores computer-executable instructions that can be executed by the processor 901, and the processor 901 executes the computer-executable instructions to implement the above-mentioned method for monitoring a slippage of a mobile robot. For example, the electronic device may be a server communicatively connected to the mobile robot, and the server performs the above-described slippage monitoring by interacting with the mobile robot in real time.
In the embodiment shown in fig. 9, the electronic device further comprises a bus 903 and a communication interface 804, wherein the processor 901, the communication interface 904 and the memory 902 are connected by the bus 903.
The Memory 902 may include a high-speed Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 904 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, and the like can be used. The bus 903 may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus 903 may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 9, but this does not indicate only one bus or one type of bus.
The processor 901 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be implemented by integrated logic circuits of hardware or instructions in the form of software in the processor 901. The Processor 901 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and the processor 901 reads information in the memory and completes the steps of the slip monitoring method of the mobile robot in the foregoing embodiment in combination with hardware thereof.
The embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are called and executed by a processor, the computer-executable instructions cause the processor to implement the method for monitoring a slip of a mobile robot, where specific implementation may refer to the foregoing method embodiment, and details are not repeated herein.
The method and the device for monitoring the slippage of the mobile robot, the mobile robot and the computer program product of the electronic device provided by the embodiment of the application comprise a computer readable storage medium storing program codes, instructions included in the program codes can be used for executing the method described in the previous method embodiment, and specific implementation can refer to the method embodiment, and is not described herein again.
Unless specifically stated otherwise, the relative steps, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present application.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solutions of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used to illustrate the technical solutions of the present application, but not to limit the technical solutions, and the scope of the present application is not limited to the above-mentioned embodiments, although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present application and are intended to be covered by the appended claims. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (19)

1. A method of slip monitoring of a mobile robot, the method comprising:
acquiring the control capacity occupancy rate of the mobile robot at the current moment; the control capacity occupancy rate is used for representing the control capacity of a controller of the mobile robot on an actuating mechanism, and the control capacity occupancy rate is determined according to the control acceleration of the controller;
acquiring a speed error parameter of the mobile robot at the current moment; wherein the speed error parameter is used for representing the possibility of slippage of the mobile robot;
and monitoring the slip of the mobile robot according to the control capacity occupancy rate and the speed error parameter.
2. The method of claim 1, wherein the step of obtaining the occupancy of the control capability of the mobile robot at the current time comprises:
acquiring speed errors corresponding to all the moments within a specified duration by taking the current moment as a starting point; the speed error corresponding to each moment in each moment is determined based on the reference speed corresponding to the control command at the moment and the feedback speed of the actuating mechanism corresponding to the moment;
accumulating the speed errors at all the moments to obtain the error integral quantity of the current moment;
calculating control acceleration according to the error integral quantity of the current moment;
and determining the control capacity occupancy rate of the current moment according to the control acceleration.
3. The method of claim 2, wherein determining the control capability occupancy at the current time based on the control acceleration comprises:
determining the torque of the actuating mechanism at the current moment according to the control acceleration:
R＝M×Err×r/Rate；
wherein, R is the torque of the actuator, M is the mass corresponding to the mobile robot, Err is the control acceleration, R is the wheel radius of the mobile robot, and Rate is the reduction ratio of the reducer in the actuator;
and determining the occupancy rate of the control capacity at the current moment according to the ratio of the torque of the actuating mechanism to the maximum torque of the actuating mechanism.
4. The method of claim 2, wherein determining the control capability occupancy at the current time based on the control acceleration comprises:
and determining the occupancy rate of the control capacity at the current moment according to the ratio of the control acceleration to the preset maximum acceleration.
5. The method of any of claims 1-4, wherein the mobile robot is configured with an IMU and an odometer;
the step of obtaining the speed error parameter of the mobile robot at the current moment comprises the following steps:
obtaining a first measurement parameter of the IMU and a second measurement parameter of the odometer;
determining a first speed parameter corresponding to the IMU according to the first measurement parameter; the first speed parameter comprises a first travel speed and a first angular speed;
determining a second speed parameter corresponding to the odometer according to the second measurement parameter; the second speed parameter comprises a second running speed and a second angular speed;
and determining a speed error parameter of the mobile robot at the current moment according to a first difference value between the first running speed and the second running speed and a second difference value between the first angular speed and the second angular speed.
6. The method according to any one of claims 1-4, wherein the speed error parameters comprise a travel speed error and an angular speed error.
7. The method of claim 1, wherein the step of skid monitoring the mobile robot based on the control capability occupancy and the speed error parameter comprises:
determining a controller mode corresponding to the current moment according to the control capacity occupancy rate; wherein the controller modality is used for characterizing the occupancy of the controller for the control capability of the actuator;
and performing slip monitoring on the mobile robot according to the determined controller mode and the speed error parameter.
8. The method of claim 7, wherein the mobile robot has a pre-stored correspondence between controller modality and slip monitoring strategy;
performing slip monitoring on the mobile robot according to the determined controller modality, comprising:
determining a target slip monitoring strategy according to the determined controller mode and the corresponding relation;
and performing slip monitoring on the mobile robot according to the target slip monitoring strategy.
9. The method of claim 7 or 8, wherein the controller modalities include a normal modality, an early warning modality, and a saturation modality; determining the controller mode corresponding to the current moment according to the control capacity occupancy rate, wherein the step comprises the following steps:
if the control capacity occupancy rate is smaller than a preset first threshold value, determining that the controller mode corresponding to the current moment is a normal mode;
if the control capacity occupancy rate is greater than a preset second threshold value, determining that the controller mode corresponding to the current moment is a saturation mode; wherein the second threshold is greater than the first threshold;
and if the control capacity occupancy rate is between the first threshold value and the second threshold value, determining that the controller mode corresponding to the current moment is an early warning mode.
10. The method of claim 9, wherein the step of performing slip monitoring on the mobile robot based on the determined controller modality and the speed error parameter comprises:
if the determined controller mode is a normal mode, updating an error threshold parameter according to the speed error parameter at the current moment;
if the determined controller mode is an early warning mode and the speed error parameter is greater than the error threshold parameter, reducing the running speed of the mobile robot;
and if the determined controller mode is a saturation mode and the speed error parameter is greater than the error threshold value parameter, reducing the running speed of the mobile robot and performing skid alarm.
11. The method of claim 10, wherein the step of performing slip monitoring on the mobile robot based on the determined controller modality and the speed error parameter further comprises:
if the determined controller mode is an early warning mode and the speed error parameter is smaller than the error threshold parameter, maintaining the running speed of the mobile robot;
and if the determined controller mode is a saturation mode and the speed error parameter is smaller than the error threshold parameter, reducing the running speed of the mobile robot or controlling the mobile robot to brake, and performing equipment abnormity alarm.
12. The method according to claim 9, wherein if the determined controller modality is a normal modality, updating an error threshold parameter according to the speed error parameter at the current time;
wherein, the step of updating the error threshold parameter according to the speed error parameter at the current moment comprises the following steps:
if the speed error parameter at the current moment is larger than the error threshold parameter at the previous moment, increasing the error threshold parameter to obtain the error threshold parameter at the current moment;
and if the speed error parameter at the current moment is smaller than the error threshold parameter at the previous moment, reducing the error threshold parameter to obtain the error threshold parameter at the current moment.
13. The method of claim 10, wherein the step of updating the error threshold parameter based on the speed error parameter at the current time comprises:
updating the error threshold parameter according to the following equation:
ThresholdV 2 ＝ThresholdV 1 ×a+CurErrV×(1-a)；
among them, Threshold V 1 Is the error threshold parameter at the previous time, CurErrV is the speed error parameter at the current time, a is the preset low-pass filter factor, Threshold V 2 Is an error threshold parameter at the current moment.
14. The method of claim 9, wherein the step of performing slip monitoring on the mobile robot based on the determined controller modality and the speed error parameter further comprises:
if the determined controller mode is a saturation mode and the speed error parameter is greater than the error threshold parameter, calculating the driving angle of the mobile robot at the current moment according to the angular speed measured by the IMU on the mobile robot;
determining the type of the slip of the mobile robot according to the driving angle and the driving speed direction of the mobile robot; wherein the slip types include front slip, rear slip, left slip, and right slip.
15. The method of any of claims 1-4, 7, or 8, further comprising:
acquiring a pose error corresponding to the current moment of the mobile robot;
if the pose error is larger than a preset pose threshold value, performing pose abnormity alarm;
wherein the step of obtaining the pose error corresponding to the pose comprises: acquiring a pose error corresponding to the pose through the following formula:
and (4) setting the pose error as an angular velocity error threshold value multiplied by the wheel spacing and a velocity error threshold value.
16. A skid monitoring apparatus of a mobile robot, characterized in that the apparatus comprises:
the control capacity occupancy rate acquisition module is used for acquiring the control capacity occupancy rate of the mobile robot at the current moment; the control capacity occupancy rate is used for representing the control capacity of a controller of the mobile robot on an actuating mechanism, and the control capacity occupancy rate is determined according to the control acceleration of the controller;
the speed error parameter acquisition module is used for acquiring the speed error parameter of the mobile robot at the current moment; wherein the speed error parameter is used for representing the possibility of slippage of the mobile robot;
and the slip monitoring module is used for monitoring the slip of the mobile robot according to the control capacity occupancy rate and the speed error parameter.
17. A mobile robot, characterized in that the mobile robot comprises: the device comprises a controller, an actuating mechanism and a traveling mechanism; the executing mechanism is respectively connected with the controller and the travelling mechanism; the controller is configured to perform the method of any one of claims 1 to 15.
18. An electronic device comprising a processor and a memory, the memory storing computer-executable instructions executable by the processor, the processor executing the computer-executable instructions to implement the method of any one of claims 1 to 15.
19. A computer-readable storage medium having stored thereon computer-executable instructions that, when invoked and executed by a processor, cause the processor to implement the method of any of claims 1 to 15.
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