CN114368277A - Control method and device for mobile robot, mobile robot and medium - Google Patents

Control method and device for mobile robot, mobile robot and medium Download PDF

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Publication number
CN114368277A
CN114368277A CN202111456990.6A CN202111456990A CN114368277A CN 114368277 A CN114368277 A CN 114368277A CN 202111456990 A CN202111456990 A CN 202111456990A CN 114368277 A CN114368277 A CN 114368277A
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CN
China
Prior art keywords
data
mobile robot
steering shaft
wheel
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202111456990.6A
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Chinese (zh)
Inventor
周勇涛
雷春华
明汝
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Ubtech Robotics Corp
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Ubtech Robotics Corp
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Publication date
Application filed by Ubtech Robotics Corp filed Critical Ubtech Robotics Corp
Priority to CN202111456990.6A priority Critical patent/CN114368277A/en
Publication of CN114368277A publication Critical patent/CN114368277A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0038—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the wheel axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The application is applicable to the technical field of equipment control, and provides a control method and device for a mobile robot, the mobile robot and a medium. The control method of the mobile robot specifically comprises the following steps: acquiring reference motion data required by a wheel of the mobile robot to reach a target position; controlling the wheel to move according to the reference movement data, and monitoring motor shaft data of a motor assembly on the wheel and steering shaft data of a steering shaft on the wheel during the movement of the wheel; calculating an error amount of the wheel reaching the target position based on the motor shaft data and the steering shaft data; and controlling the wheels to move again according to the error amount. The embodiment of the application can improve the steering precision of the mobile robot.

Description

Control method and device for mobile robot, mobile robot and medium
Technical Field
The application belongs to the technical field of equipment control, and particularly relates to a control method and device for a mobile robot, the mobile robot and a medium.
Background
The mobile robot drives each wheel to realize steering through a driving device. Taking a four-wheel-drive four-turn intelligent unmanned trolley as an example, the trolley can control each wheel to turn according to the requirement of automatic driving, and each wheel is independently driven by a respective driving device when turning.
In order to ensure the reliability of the movement of the mobile robot, in the prior art, a motor encoder is often arranged on a motor of a driving device, and whether the mobile robot moves in place is judged according to motor shaft data collected by the motor encoder.
However, this method cannot accurately move each wheel to a proper position, resulting in poor uniformity in steering each wheel, and thus, a reduction in steering accuracy of the mobile robot.
Disclosure of Invention
The embodiment of the application provides a control method and device of a mobile robot, the mobile robot and a medium, which can improve the steering precision of the mobile robot.
A first aspect of an embodiment of the present application provides a method for controlling a mobile robot, including:
acquiring reference motion data required by a wheel of the mobile robot to reach a target position;
controlling the wheel to move according to the reference movement data, and monitoring motor shaft data of a motor assembly on the wheel and steering shaft data of a steering shaft on the wheel during the movement of the wheel;
calculating an error amount of the wheel reaching the target position based on the motor shaft data and the steering shaft data;
and controlling the wheels to move again according to the error amount.
In some embodiments of the present application, said controlling said wheel movement according to said reference movement data comprises: and controlling a driver of the wheel according to the reference motion data, and controlling a motor of the wheel to drive the steering shaft to move by the driver so as to control the wheel to rotate by taking the steering shaft as a rotating shaft.
In some embodiments of the present application, the calculating an amount of error in the wheel reaching the target position based on the motor shaft data and the steering shaft data includes: determining an operating state of the motor assembly based on the motor shaft data; and calculating the error amount according to the motor shaft data and the steering shaft data acquired when the working state of the motor assembly is the finished state.
In some embodiments of the present application, the motor shaft data includes a first number of turns of a motor shaft on the motor assembly, and the steering shaft data includes a second number of turns of the steering shaft; the calculating the error amount according to the motor shaft data and the steering shaft data collected when the working state of the motor assembly is a finished state includes: determining first motion data of the motor shaft according to the first rotation number; determining second motion data of the steering shaft according to the second rotation number; calculating a difference between the first motion data and the second motion data, and taking the difference as the error amount.
In some embodiments of the present application, the acquiring reference motion data required for the wheels of the mobile robot to reach the target position includes: acquiring a motion instruction, wherein the motion instruction comprises mobile robot motion data required by the mobile robot to move to the target position; and decomposing the motion data of the mobile robot to obtain reference motion data required by the wheels to reach the target position.
A second aspect of the embodiments of the present application provides a control apparatus for a mobile robot, including:
an acquisition unit for acquiring reference motion data required for a wheel of the mobile robot to reach a target position;
the monitoring unit is used for controlling the wheel to move according to the reference movement data and monitoring motor shaft data of a motor assembly on the wheel and steering shaft data of a steering shaft on the wheel during the movement of the wheel;
a calculation unit for calculating an error amount of the wheel reaching the target position based on the motor shaft data and the steering shaft data;
and the control unit is used for controlling the wheels to move again according to the error amount.
A third aspect of the embodiments of the present application provides a mobile robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method when executing the computer program.
A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the steps of the above method.
A fifth aspect of embodiments of the present application provides a computer program product, which when run on a mobile robot causes the mobile robot to perform the steps of the method.
In the embodiment of the application, reference motion data required by the wheels of the mobile robot to reach a target position is obtained, then the wheels are controlled to move according to the reference motion data, and motor shaft data of motor assemblies on the wheels and steering shaft data of steering shafts on the wheels are monitored in the moving process of the wheels; then, based on the motor shaft data and the steering shaft data, the error amount of the wheels reaching the target position is calculated, and the wheels are controlled again to move according to the error amount, so that the error amount between the actual motion data and the reference motion data caused by the structural tolerance of a mechanical transmission device between the motor and the wheels is reduced, the steering precision of the mobile robot is improved, and meanwhile, the wheels are controlled again to move, so that the motion of each wheel on the mobile robot is more consistent.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic implementation flow chart of a control method of a mobile robot according to an embodiment of the present disclosure;
fig. 2 is a schematic view of a first structure of a mobile robot provided in an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a driving device provided in an embodiment of the present application;
fig. 4 is a schematic structural diagram of a control device of a mobile robot according to an embodiment of the present disclosure;
fig. 5 is a second structural schematic diagram of a mobile robot provided in the embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall be protected by the present application.
In order to ensure the reliability of the movement of the mobile robot, in the prior art, a motor encoder is often arranged on a motor of a driving device, and whether the mobile robot moves in place is judged according to motor shaft data collected by the motor encoder.
However, the motor and the wheel are connected through a mechanical transmission device. Due to the structural tolerance of the mechanical transmission, when it is judged that the mobile robot is moved in place according to the motor shaft data, the respective wheels may not be moved in place. Meanwhile, since each wheel has an independent driving device, the uniformity of each wheel is poor, and the steering accuracy of the mobile robot is reduced.
In order to explain the technical means of the present application, the following description will be given by way of specific examples.
Fig. 1 shows a schematic implementation flow chart of a control method for a mobile robot according to an embodiment of the present application, where the method can be applied to a mobile robot and is applicable to a situation where the steering accuracy of the mobile robot needs to be improved.
The application does not limit the type and the use scene of the mobile robot, and the mobile robot can be an inspection mobile robot, a guide mobile robot, an education mobile robot and the like.
Specifically, the control method of the mobile robot may include the following steps S101 to S104.
And step S101, acquiring reference motion data required by the wheels of the mobile robot to reach the target position.
The reference motion data is a theoretical reference value, and may include a reference linear velocity vector and a reference angular velocity vector of each wheel.
In some embodiments of the application, as shown in fig. 2, the mobile robot may be equipped with a navigation control system, and the navigation control system may determine a target position to which the mobile robot needs to go according to a task requirement of the mobile robot, so as to generate a motion instruction carrying motion data of the mobile robot. The mobile robot motion data may include a target angular velocity vector and a target linear velocity vector of the whole mobile robot.
The chassis of the mobile robot can interact with a navigation control system to obtain the motion instruction, and the motion data of the mobile robot in the motion instruction is decomposed to obtain the reference motion data required by the wheels to reach the target position.
Specifically, the mobile robot may use the target linear velocity vector as the linear velocity vector of each wheel, and determine the angular velocity vector of each wheel according to the linear velocity vector in the tangential direction and the radius of the chassis.
And S102, controlling the wheels to move according to the reference movement data, and monitoring motor shaft data of a motor assembly on the wheels and steering shaft data of a steering shaft on the wheels in the movement process of the wheels.
Specifically, fig. 3 shows a schematic structural diagram of the driving device provided on the chassis of the robot according to the present application.
In some embodiments of the present application, the mobile robot may include a chassis control unit, a motor driver 31, and a motor assembly 32, wherein the chassis control unit may control the motor driver 31 of the wheel 34 according to the reference motion data, and the motor driver 31 controls the motor assembly 32 of the wheel 34 to move the steering shaft 33 to control the wheel 34 to move.
The chassis control unit of the chassis may issue a position command carrying reference motion data of a certain wheel to the motor driver 31 of the driving device. In response to the position command, the motor driver 31 may output U, V, W a three-phase excitation signal to control the operation of the motor assembly 32.
The motor assembly 32 may specifically include a rotary motor assembly 32a and a power motor assembly 32 b.
The power motor assembly is connected with the wheels 34 through rolling shafts 32b parallel to rolling contact surfaces of the wheels 34, and the wheels 34 can be driven to rotate by taking the rolling shafts as rotating shafts when a motor of the power motor assembly runs, so that the mobile robot can move.
The steering motor assembly 32a can drive the steering shaft 33 to move, so that the wheels 34 rotate around the steering shaft 33 as a rotating shaft, wherein the steering shaft 33 can be perpendicular to the rolling contact surface, so as to realize steering of the mobile robot on the rolling contact surface. In some embodiments, the steering motor assembly 32a may output a driving torque through a gear reducer, so that a mechanical transmission device 36 such as a timing belt, a gear, etc. drives the steering shaft 33 to move.
In some embodiments of the present application, a motor shaft encoder may be disposed on a motor shaft of the motor assembly 32, and the motor shaft encoder may be configured to collect motor shaft data of the motor shaft and upload the motor shaft data to the motor driver 31 in real time. The motor driver 31 uploads the motor shaft data to the chassis control unit via the bus. At this time, a first control closed loop may be formed among the chassis control unit, the motor driver 31, and the motor assembly 32.
Wherein the motor shaft data may refer to a first number of rotations of the motor shaft. The driver can determine first motion data of the motor shaft according to the motion time and the first rotation number of the mobile robot. The first motion data may specifically include information such as a first linear velocity vector, a first angular velocity vector, and an operating state.
In other embodiments of the present application, a steering shaft encoder 35 may be provided on the end of the steering shaft 33 remote from the wheels. The steering shaft encoder 35 may be used to collect steering shaft data of the steering shaft 33 and upload the steering shaft data to the chassis control unit in real time. In this case, a second closed control loop may be formed between the chassis control unit, the motor driver 31, the motor assembly 32, the mechanical transmission 36, the wheels 34, and the steering shaft encoder 35.
Wherein the steering shaft data may refer to a second number of turns of the steering shaft 33. The chassis control unit may determine second motion data of the steering shaft 33 according to the motion time of the mobile robot and the second number of turns. The second motion data may specifically include information of a second linear velocity vector, a second angular velocity vector, and the like.
That is, in the embodiment of the present application, the chassis control unit of the mobile robot may acquire the motor shaft data of the motor assembly 32 through the first control closed loop in real time, and at the same time, may also acquire the steering shaft data of the steering shaft 33 through the second closed loop in real time.
In practical applications, the steering shaft encoder 35 may be a high-precision absolute encoder in order to further improve the steering precision of the mobile robot.
Step S103, calculating the error amount of the wheel reaching the target position based on the motor shaft data and the steering shaft data.
The error amount is an error amount between the actual motion data and the reference motion data due to the structural tolerance.
In some embodiments of the present application, the mobile robot may determine an operating state of the motor assembly based on the motor shaft data and calculate an amount of error based on the motor shaft data and steering shaft data collected when the operating state of the motor assembly 32 is a finished state.
Specifically, the mobile robot may set the working state of the motor assembly 32 to the completed state according to the first motion data and the reference motion data, and if the difference between the first motion data and the reference motion data is smaller than the preset difference threshold, it indicates that the motor shaft is used as the execution target and the wheel has moved to the position. The mobile robot can respectively determine the first motion data of the motor shaft and the second motion data of the steering shaft 34 in the above manner according to the motor shaft data and the steering shaft data collected when the working state is the finished state, and calculate the difference between the first motion data and the second motion data, taking the difference as the error amount.
In other embodiments of the present application, if the difference between the first motion data and the reference motion data is greater than or equal to the preset difference threshold, it indicates that the motor shaft is used as the execution target and the wheel is not in place, and at this time, the mobile robot may set the operating state of the motor assembly 32 to the unfinished state.
In other embodiments of the present application, if the difference between the first motion data and the reference motion data is greater than or equal to the preset difference threshold and the motion time exceeds the preset time threshold, or if the difference between the first motion data and the reference motion data is greater than or equal to the preset difference threshold and the difference remains unchanged, it indicates that the mobile robot cannot move, and at this time, the mobile robot may set the working state of the motor assembly 32 to an alarm state and may further notify the staff.
It should be noted that the difference threshold and the duration threshold may be set according to actual situations.
And step S104, controlling the wheels to move again according to the error amount.
In some embodiments of the present application, the navigation system of the mobile robot may regenerate the motion command according to the error amount and send the motion command to the chassis control system, so that the chassis control system controls the wheels 34 to move again according to the new motion command, thereby reducing the error amount.
It should be noted that the mobile robot may perform the above control method only once, or after the wheels 34 are controlled to move again, the motor shaft data and the steering shaft data are continuously monitored, and step S103 and step S104 are performed again until the error amount is smaller than the preset error amount threshold value, and the control of the robot is finished. Wherein, the error threshold value can be set according to the actual situation.
In the embodiment of the application, reference motion data required by the wheels of the mobile robot to reach a target position is obtained, then the wheels are controlled to move according to the reference motion data, and motor shaft data of motor assemblies on the wheels and steering shaft data of steering shafts on the wheels are monitored in the moving process of the wheels; then, based on the motor shaft data and the steering shaft data, the error amount of the wheels reaching the target position is calculated, and the wheels are controlled again to move according to the error amount, so that the error amount between the actual motion data and the reference motion data caused by the structural tolerance of a mechanical transmission device between the motor and the wheels is reduced, the steering precision of the mobile robot is improved, and meanwhile, the wheels are controlled again to move, so that the motion of each wheel on the mobile robot is more consistent.
It should be noted that, for simplicity of description, the foregoing method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts, as some steps may, in accordance with the present application, occur in other orders.
As shown in fig. 4, a schematic structural diagram of a control device 400 of a mobile robot according to an embodiment of the present invention is provided, where the control device 400 of the mobile robot is disposed on the mobile robot.
Specifically, the control device 400 of the mobile robot may include:
an obtaining unit 401, configured to obtain reference motion data required for a wheel of the mobile robot to reach a target position;
a monitoring unit 402 for controlling the movement of the wheel according to the reference movement data and monitoring motor shaft data of the motor assembly on the wheel and steering shaft data of the steering shaft on the wheel during the movement of the wheel;
a calculation unit 403 for calculating an error amount of the wheel reaching the target position based on the motor shaft data and the steering shaft data;
a control unit 404 for controlling the wheel to move again according to the error amount.
In some embodiments of the present application, the monitoring unit 402 may be specifically configured to: and controlling a motor driver of the wheel according to the reference motion data, and controlling a motor assembly of the wheel to drive the steering shaft to move by the motor driver so as to control the wheel to rotate by taking the steering shaft as a rotating shaft.
In some embodiments of the present application, the calculating unit 403 may be specifically configured to: determining an operating state of the motor assembly based on the motor shaft data; and calculating the error amount according to the motor shaft data and the steering shaft data acquired when the working state of the motor assembly is the finished state.
In some embodiments of the present application, the motor shaft data includes a first number of turns of a motor shaft on the motor assembly, and the steering shaft data includes a second number of turns of a steering shaft; the calculating unit 403 may specifically be configured to: determining first motion data of the motor shaft according to the first rotation number; determining second motion data of the steering shaft according to the second rotation number; calculating a difference between the first motion data and the second motion data, and taking the difference as the error amount.
In some embodiments of the present application, the control unit 404 may be specifically configured to: acquiring a motion instruction, wherein the motion instruction comprises mobile robot motion data required by the mobile robot to move to the target position; and decomposing the motion data of the mobile robot to obtain reference motion data required by the wheels to reach the target position.
It should be noted that, for convenience and simplicity of description, the specific working process of the control device 400 of the mobile robot may refer to the corresponding process of the method described in fig. 1 to fig. 3, and is not described herein again.
Fig. 5 is a schematic view of a mobile robot according to an embodiment of the present disclosure. The mobile robot 5 may include: a processor 50, a memory 51 and a computer program 52, such as a control program for a mobile robot, stored in said memory 51 and executable on said processor 50. The processor 50, when executing the computer program 52, implements the steps in the above-described control method embodiments of each mobile robot, such as the steps S101 to S103 shown in fig. 1. Alternatively, the processor 50 executes the computer program 52 to implement the functions of the modules/units in the device embodiments, such as the acquiring unit 401, the monitoring unit 402, the calculating unit 403, and the control unit 404 shown in fig. 4.
The computer program may be divided into one or more modules/units, which are stored in the memory 51 and executed by the processor 50 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program in the mobile robot.
For example, the computer program may be divided into: the device comprises an acquisition unit, a monitoring unit, a calculation unit and a control unit. The specific functions of each unit are as follows: an acquisition unit for acquiring reference motion data required for a wheel of the mobile robot to reach a target position; the monitoring unit is used for controlling the wheel to move according to the reference movement data and monitoring motor shaft data of a motor assembly on the wheel and steering shaft data of a steering shaft on the wheel during the movement of the wheel; a calculation unit for calculating an error amount of the wheel reaching the target position based on the motor shaft data and the steering shaft data; and the control unit is used for controlling the wheels to move again according to the error amount.
The mobile robot may include, but is not limited to, a processor 50, a memory 51. Those skilled in the art will appreciate that fig. 5 is merely an example of a mobile robot and is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or different components, e.g., the mobile robot may also include input output devices, network access devices, buses, etc.
The Processor 50 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 51 may be an internal storage unit of the mobile robot, such as a hard disk or a memory of the mobile robot. The memory 51 may also be an external memory of the mobile robot, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, provided on the mobile robot. Further, the memory 51 may also include both an internal storage unit and an external storage device of the mobile robot. The memory 51 is used for storing the computer program and other programs and data required for the mobile robot. The memory 51 may also be used to temporarily store data that has been output or is to be output.
In some embodiments of the present application, the mobile robot may further include a chassis, and at least one driving device is disposed on the chassis, and each driving device is configured to control a wheel of the mobile robot to move. Please refer to fig. 3. Wherein the driving means may comprise a motor driver 31 connected to the processor, a motor assembly 32 connected to the motor driver 31, and a steering shaft 33 connected to the motor assembly 32 and the wheels 34, respectively.
The motor driver 31 is used for controlling the motor assembly 32 to drive the steering shaft 33 to move, and when the steering shaft 33 moves, the driving wheel 34 is driven to rotate by taking the steering shaft 33 as a rotating shaft, so that the steering of the mobile robot is realized.
Specifically, the motor driver 31 can be used to output an excitation signal to control the steering motor assembly 32a to move the steering shaft 33. The steering motor assembly 32a outputs a driving torque through a gear reducer, so that a mechanical transmission device 36 such as a synchronous belt and a gear drives the steering shaft 33 to move. The motor driver 31 can also be used to output an excitation signal to control the power motor assembly 32a to drive the driving wheel 34 to rotate around the rolling axis.
In some embodiments of the present application, a steering shaft encoder 35 may be disposed on the steering shaft 33, and the steering shaft encoder 35 is configured to acquire steering shaft data of the steering shaft 33 and send the steering shaft data to the processor.
The steering shaft encoder 35 may be disposed at the end of the steering shaft 33 away from the driving wheel 34, and may be an absolute encoder with high accuracy.
In some embodiments of the present application, a motor shaft encoder may be disposed on a motor shaft of the motor assembly 32, and the motor shaft encoder is configured to collect motor shaft data of the motor shaft and transmit the motor shaft data to the processor.
It should be noted that, for convenience and brevity of description, the structure of the mobile robot may also refer to the detailed description of the structure in the method embodiment, and is not described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/mobile robot and method may be implemented in other ways. For example, the above-described device/mobile robot embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims (10)

1. A method for controlling a mobile robot, comprising:
acquiring reference motion data required by a wheel of the mobile robot to reach a target position;
controlling the wheel to move according to the reference movement data, and monitoring motor shaft data of a motor assembly on the wheel and steering shaft data of a steering shaft on the wheel during the movement of the wheel;
calculating an error amount of the wheel reaching the target position based on the motor shaft data and the steering shaft data;
and controlling the wheels to move again according to the error amount.
2. The method of controlling a mobile robot according to claim 1, wherein the controlling the wheel movement according to the reference movement data comprises:
and controlling a motor driver of the wheel according to the reference motion data, and controlling a motor assembly of the wheel to drive the steering shaft to move by the motor driver so as to control the wheel to rotate by taking the steering shaft as a rotating shaft.
3. The method of controlling a mobile robot according to claim 2, wherein the calculating an error amount of the wheels reaching the target position based on the motor shaft data and the steering shaft data includes:
determining an operating state of the motor assembly based on the motor shaft data;
and calculating the error amount according to the motor shaft data and the steering shaft data acquired when the working state of the motor assembly is the finished state.
4. The control method of a mobile robot according to claim 3, wherein the motor shaft data includes a first number of turns of a motor shaft on the motor assembly, and the steering shaft data includes a second number of turns of the steering shaft;
the calculating the error amount according to the motor shaft data and the steering shaft data collected when the working state of the motor assembly is a finished state includes:
determining first motion data of the motor shaft according to the first rotation number;
determining second motion data of the steering shaft according to the second rotation number;
calculating a difference between the first motion data and the second motion data, and taking the difference as the error amount.
5. The method for controlling a mobile robot according to any one of claims 1 to 4, wherein the acquiring reference motion data required for the wheels of the mobile robot to reach the target position comprises:
acquiring a motion instruction, wherein the motion instruction comprises mobile robot motion data required by the mobile robot to move to the target position;
and decomposing the motion data of the mobile robot to obtain reference motion data required by the wheels to reach the target position.
6. A control device for a mobile robot, comprising:
an acquisition unit for acquiring reference motion data required for a wheel of the mobile robot to reach a target position;
the monitoring unit is used for controlling the wheel to move according to the reference movement data and monitoring motor shaft data of a motor assembly on the wheel and steering shaft data of a steering shaft on the wheel during the movement of the wheel;
a calculation unit for calculating an error amount of the wheel reaching the target position based on the motor shaft data and the steering shaft data;
and the control unit is used for controlling the wheels to move again according to the error amount.
7. A mobile robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 5 when executing the computer program.
8. The method of claim 7, wherein the mobile robot further comprises a chassis, the chassis having at least one driving device disposed thereon, the driving device comprising a motor driver connected to the processor, a motor assembly connected to the motor driver, and a steering shaft connected to the motor assembly and the wheels, respectively;
the motor driver is used for controlling the motor assembly to drive the steering shaft to move, and the steering shaft drives the wheels to rotate by taking the steering shaft as a rotating shaft during movement.
9. The method of controlling a mobile robot according to claim 8, wherein a steering shaft encoder is provided on the steering shaft, the steering shaft encoder being configured to acquire steering shaft data of the steering shaft and transmit the steering shaft data to the processor.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
CN202111456990.6A 2021-12-01 2021-12-01 Control method and device for mobile robot, mobile robot and medium Pending CN114368277A (en)

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Application Number Priority Date Filing Date Title
CN202111456990.6A CN114368277A (en) 2021-12-01 2021-12-01 Control method and device for mobile robot, mobile robot and medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111456990.6A CN114368277A (en) 2021-12-01 2021-12-01 Control method and device for mobile robot, mobile robot and medium

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024017268A1 (en) * 2022-07-20 2024-01-25 深圳市海柔创新科技有限公司 Robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024017268A1 (en) * 2022-07-20 2024-01-25 深圳市海柔创新科技有限公司 Robot

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