CN115257922A - Pivot steering control method, device and system - Google Patents
Pivot steering control method, device and system Download PDFInfo
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- CN115257922A CN115257922A CN202210987093.6A CN202210987093A CN115257922A CN 115257922 A CN115257922 A CN 115257922A CN 202210987093 A CN202210987093 A CN 202210987093A CN 115257922 A CN115257922 A CN 115257922A
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- 238000011065 in-situ storage Methods 0.000 claims description 13
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
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Abstract
The invention discloses a pivot steering control method, a device and a control system, wherein the deflection angle angles of front and rear steering wheels and the expected target speeds of the left side and the right side are set, and pivot steering is started; acquiring the movement speeds of the left side and the right side in real time, and comparing the movement speeds of the left side and the right side; the method comprises the steps of taking the current speed of the side with the small movement speed as the current target speed, taking the expected target speed of the side with the large movement speed as the current target speed, carrying out speed closed-loop control, controlling the movement control system of the whole robot, and adjusting the torque of each tire in real time.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a pivot steering control method, a pivot steering control device and a pivot steering control system.
Background
The intelligent robot is widely used in a plurality of fields to help people to complete required work, but when some special work is carried out, the robot needs a plurality of motion modes, especially for a multi-wheel robot, the robot can independently turn and realize pivot turning.
However, due to the restriction of the size of the chassis and the limitation of space, the deviation between the deflection angle and an ideal value is larger, so that the tire is subjected to larger lateral deflection force, the torque output of the wheel is increased during pivot steering, and the pivot steering speed is not easy to control; due to the fact that factors such as a vehicle body structure, load distribution, tire pressure of tires and abrasion degree are asymmetric left and right, force imbalance on the left side and the right side of a vehicle body is easily caused, pivot steering is easily eccentric, and the purpose of accurate control cannot be achieved.
Disclosure of Invention
In view of the above drawbacks or shortcomings, an object of the present invention is to provide a pivot steering control method, device and system, which can achieve pivot steering control at a low steering angular velocity.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
an in-place steering control method for controlling a six-wheeled mobile robot having first and second side wheels each including front and rear steerable wheels, the method comprising the steps of:
under the condition of in-situ steering of a six-wheel mobile robot, when the first side wheel and the second side wheel reach a preset deflection corner angle, acquiring real-time movement speeds of the first side wheel and the second side wheel in real time;
and controlling the real-time movement speed of the second side wheel based on the real-time movement speed of the first side wheel under the condition that the real-time movement speed of the first side wheel is determined to be larger than the real-time movement speed of the second side wheel, otherwise, controlling the real-time movement speed of the first side wheel based on the real-time movement speed of the second side wheel so as to realize the pivot steering control of the six-wheel mobile robot.
The preset deviation corner angle satisfies the following conditions:
wherein theta is a deflection angle of the front steering wheel and the rear steering wheel, L is a wheel base, and W is a wheel base.
The six-wheel mobile robot is also provided with a first middle wheel and a second middle wheel, the first middle wheel is positioned between a front steering wheel and a rear steering wheel contained in the first side wheel, the second middle wheel is positioned between a front steering wheel and a rear steering wheel contained in the second side wheel, and the real-time motion speed of the first side wheel and the real-time motion speed of the second side wheel are obtained in real time, and the six-wheel mobile robot comprises:
acquiring the real-time movement speed of the first intermediate wheel and the real-time movement speed of the second intermediate wheel in real time;
defining the real-time movement speed of the first middle wheel as the real-time movement speed of the first side wheel;
and defining the real-time movement speed of the second middle wheel as the real-time movement speed of the second side wheel.
The real-time movement speed of the first intermediate wheel is the real-time movement speed collected by a rotating speed sensor arranged on the first intermediate wheel;
the real-time movement speed of the second intermediate wheel is the real-time movement speed acquired by a rotating speed sensor arranged on the second intermediate wheel.
A home steering control apparatus, the six-wheeled mobile robot having first and second side wheels each including a front steering wheel, a middle wheel, and a rear steering wheel, comprising:
the acquisition module is used for acquiring real-time movement speeds of the first side wheel and the second side wheel in real time when front and rear steering wheels contained in the first side wheel and the second side wheel reach a preset deflection corner angle under the condition of in-situ steering of the six-wheel mobile robot;
a control module for determining that the real-time movement speed of the first side wheel is greater than the real-time movement speed of the second side wheel, and controlling the real-time movement speed of the second side wheel based on the real-time movement speed of the first side wheel, otherwise, controlling the real-time movement speed of the first side wheel based on the real-time movement speed of the second side wheel.
The preset deviation corner angle satisfies the following conditions:
wherein theta is the deflection angle of the front steering wheel and the rear steering wheel, L is the wheelbase, and W is the wheelbase.
The six-wheel mobile robot is characterized by further comprising a first middle wheel and a second middle wheel, the first middle wheel is located between a front steering wheel and a rear steering wheel which are contained in the first side wheel, the second middle wheel is located between a front steering wheel and a rear steering wheel which are contained in the second side wheel, and the acquisition module is specifically used for acquiring the real-time movement speed of the first middle wheel and the real-time movement speed of the second middle wheel in real time, defining the real-time movement speed of the first middle wheel as the real-time movement speed of the first side wheel, and defining the real-time movement speed of the second middle wheel as the real-time movement speed of the second side wheel.
The real-time movement speed of the first intermediate wheel is the real-time movement speed collected by a rotating speed sensor arranged on the first intermediate wheel;
the real-time movement speed of the second intermediate wheel is the real-time movement speed acquired by a rotating speed sensor arranged on the second intermediate wheel.
An in-situ steering control system comprises a six-wheel mobile robot, a speed measuring assembly and a controller, wherein the six-wheel mobile robot is provided with a first side wheel and a second side wheel, and the first side wheel and the second side wheel respectively comprise a front steering wheel, a middle wheel and a rear steering wheel;
the controller is communicated with the speed measuring component, and the speed measuring component is used for acquiring the real-time movement speed of the first side wheel and the real-time movement speed of the second side wheel;
the controller is communicated with the six-wheel mobile robot and is used for controlling the movement speed of the first side wheel and/or the second side wheel based on the method.
The six-wheel mobile robot is also provided with a first middle wheel and a second middle wheel, the first middle wheel is positioned between a front steering wheel and a rear steering wheel contained in the first side wheel, and the second middle wheel is positioned between a front steering wheel and a rear steering wheel contained in the second side wheel;
the speed detection assembly comprises a first sensor and a second sensor, the first sensor is arranged on the first middle wheel, the second sensor is arranged on the second middle wheel, and the first speed sensor and the second speed sensor are communicated with the controller.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a pivot steering control method, a device and a control system, which are used for controlling a six-wheel mobile robot, can detect real-time movement speeds at two sides, control the motion control system of the whole robot according to the movement speed and a target speed, and adjust the torque of each tire in real time.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.
FIG. 1 is a flow chart of a method for controlling pivot steering of a six-wheeled mobile robot according to the present invention;
FIG. 2 is a schematic structural diagram of a chassis of a six-wheeled mobile robot according to the present invention;
FIG. 3 is a diagram illustrating an in-situ steering control method for a six-wheeled mobile robot according to the present invention;
FIG. 4 is a schematic structural diagram of a pivot steering control system of a six-wheeled mobile robot according to the present invention.
Detailed Description
The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
When the robot is steered in situ, open loop control is adopted, and after the front and rear four wheels are deflected in place, the six wheels are respectively provided with equal torque commands. The method cannot realize smaller pivot steering angular velocity and cannot overcome the pivot steering eccentricity problem, so the invention aims at the pivot steering control algorithm of the six-wheel drive four-wheel steering mobile robot. The six-wheel drive four-wheel steering robot is a practical robot chassis, can realize steering control based on the Ackerman principle and can realize in-situ steering, thereby being a robot chassis with flexible maneuvering and being suitable for urban road or factory environment operation in narrow space. However, due to the structural size limitation of the chassis or the restriction of the turning space of the steering wheel, the four-wheel deflection cannot reach an ideal deflection angle, so that the tire lateral deflection force is increased, and the chassis is difficult to steer in situ at a low speed. In addition, the lateral asymmetry of the chassis structure, load distribution, tire wear, tire pressure, etc. easily causes the chassis to shift laterally during pivot steering.
In view of the above problems, as shown in fig. 1, the present invention provides an in-place steering control method for controlling a six-wheeled mobile robot having first and second side wheels each including a front steering wheel and a rear steering wheel, the method comprising the steps of:
s1, under the condition that a six-wheel mobile robot is steered in situ, when a first side wheel and a second side wheel reach a preset deflection corner angle, acquiring real-time movement speeds of the first side wheel and the second side wheel in real time;
when in-situ steering movement is carried out, steering is carried out according to a preset angle, and speed measurement is carried out on the side when the steering angle is detected to reach a preset deflection corner angle. The front and rear four wheels of the robot can be independently steered, and can turn during traveling according to the Ackerman steering principle, and meanwhile pivot steering can be realized.
When the robot is turned on the spot, the yaw angle of the front four wheels of the robot is as shown in fig. 2, and the ideal yaw angle is as follows:
wherein theta is a deflection corner angle of the front steering wheel and the rear steering wheel, L is a wheel base, and W is a wheel base; the wheelbase of the front axle and the middle axle is equal to the wheelbase of the middle axle and the wheelbase of the rear axle.
S2, controlling the real-time movement speed of the second side wheel based on the real-time movement speed of the first side wheel under the condition that the real-time movement speed of the first side wheel is determined to be larger than the real-time movement speed of the second side wheel, otherwise, controlling the real-time movement speed of the first side wheel based on the real-time movement speed of the second side wheel so as to realize the pivot steering control of the six-wheel mobile robot.
In order to accurately acquire the movement speeds of the left side and the right side in real time, the embodiment of the invention adopts the mode that the middle wheels are arranged on the left side and the right side, and the movement speeds of the middle wheels are acquired in real time.
The method specifically comprises the following steps:
the six-wheel mobile robot is also provided with a first middle wheel and a second middle wheel, the first middle wheel is positioned between a front steering wheel and a rear steering wheel contained in the first side wheel, the second middle wheel is positioned between a front steering wheel and a rear steering wheel contained in the second side wheel, and the real-time motion speed of the first side wheel and the real-time motion speed of the second side wheel are obtained in real time, and the six-wheel mobile robot comprises:
acquiring the real-time movement speed of the first intermediate wheel and the real-time movement speed of the second intermediate wheel in real time;
defining the real-time movement speed of the first middle wheel as the real-time movement speed of the first side wheel;
and defining the real-time movement speed of the second middle wheel as the real-time movement speed of the second side wheel.
The real-time movement speed of the first intermediate wheel is the real-time movement speed collected by a rotating speed sensor arranged on the first intermediate wheel;
the real-time movement speed of the second intermediate wheel is the real-time movement speed acquired by a rotating speed sensor arranged on the second intermediate wheel.
The rotation speed sensor is a sensor that converts the rotation speed of a rotating object into an electric quantity to be output. The moving speed of the intermediate wheel can be obtained through the rotating speed.
The wheel speed of the middle rotating wheel is obtained in real time through the rotating speed sensor, and the real-time movement speed is obtained according to the wheel speed.
In addition, in the specific speed measurement process, the measurement may be performed through other steps, and is not limited to the measurement mode in the embodiment of the present invention, for example, the measurement mode may be a speed meter, or a single chip microcomputer measurement speed measurement device.
S2, controlling the real-time movement speed of the second side wheel based on the real-time movement speed of the first side wheel under the condition that the real-time movement speed of the first side wheel is determined to be larger than the real-time movement speed of the second side wheel, otherwise, controlling the real-time movement speed of the first side wheel based on the real-time movement speed of the second side wheel so as to realize the pivot steering control of the six-wheel mobile robot.
And setting the real-time movement speed of the side with the larger real-time movement speed as the target speed of the other side, and carrying out closed-loop speed control on the front and rear steering wheels according to the target speed.
The method specifically comprises the following steps:
acquiring the current speeds of the first and second intermediate wheels, and comparing the current speeds of the first and second intermediate wheels;
when the current speed of the first middle wheel is higher than the current speed of the second middle wheel, setting the current speed of the first middle wheel as the target rotating speed of the second middle wheel, calculating the target speed of the second side wheel according to the target rotating speed of the second middle wheel, and adjusting the six-wheel output torque to obtain speed control;
and when the current speed of the second intermediate wheel is greater than the current speed of the first intermediate wheel, setting the current speed of the second intermediate wheel as the target rotating speed of the first intermediate wheel, calculating the target speeds of the first front wheel and the first rear wheel according to the target rotating speed of the first intermediate wheel, and adjusting the six-wheel output torque to obtain speed control.
And adjusting the output torque of the front wheel and the rear wheel according to the output torque value to realize pivot steering.
It should be noted that in the embodiment of the present invention, two ways of pivot steering may be required, which may be clockwise pivot steering or counterclockwise pivot steering, and a specific process is described below by taking counterclockwise pivot steering as an example:
as shown in fig. 3, after the robot receives the pivot steering command;
1) Setting deflection corner angles of the steering wheels on two sides, and starting four-wheel deflection according to the deflection corner angles;
2) After the front rear steering wheel is completely deflected in place, setting the expected target speeds of the left side and the right side, and starting the robot;
3) And when the acceleration time reaches, acquiring the rotating speeds of the first and second middle wheels, and calculating the real-time moving speeds of the first and second sides as the current speed of the side:
when the first-side current speed is greater than the second-side current speed, setting the current speed of the first intermediate wheel as the target rotating speed of the second intermediate wheel, and calculating the target speed of the second side wheel according to the target rotating speed of the second intermediate wheel;
when the current speed of the second side is greater than the current speed of the first side, setting the current speed of the second intermediate wheel as the target rotating speed of the first intermediate wheel, and calculating the target speeds of the left front wheel and the left rear wheel according to the target rotating speed of the first intermediate wheel;
4) Carrying out six-wheel speed closed-loop control, adjusting torque and driving six wheels to move;
5) And until a stop command is received.
The original pivot steering control adopts an open-loop control strategy, when four wheels are deflected in place, the six wheels are driven to respectively set the same output torque, and the six wheels start to rotate. In the process, if the output torque of the rotating shaft of the wheel is too small, the lateral deviation force of the tire cannot be overcome, and the pivot steering cannot be started. The chassis may start to rotate at a larger angular speed by increasing the initial set torque, but under the influence of asymmetric factors, the rotation center gradually deviates from the geometric center of the vehicle body, and the rotation motion may be performed by taking a side intermediate wheel as a center, so that the phenomenon that the intermediate wheel on one side does not rotate and the wheel on the other side rotates for a large circle around the wheel is caused.
Aiming at the problem, the invention provides a pivot steering control strategy based on a speed closed loop. According to the invention, wheel speed sensors are additionally arranged on the middle wheels at the left side and the right side, and the speed of the two wheels is acquired in real time. When the four wheels are deflected to the right position, the six wheels are driven to respectively set initial torque output, so that the six wheels are started at the rotating speed. According to the speed sampling of the two sensors, compared with the wheel speeds of the two sides, the current speed of the side with the smaller speed is used as the target speed, and the current speed of the side with the larger speed is used as the target speed of the side with the larger speed. The left side and the right side respectively adjust the driving output torque according to the proportion of the error between the target speed and the actual speed and an integral term. According to the invention, when a certain asymmetric factor exists in the six-wheel drive four-wheel steering mobile robot, pivot steering at a lower rotating speed can be realized, and the rotating center can be kept at the geometric center of the vehicle body.
In addition, as shown in fig. 4, the present invention also provides a home steering control apparatus including: an acquisition module 1 and a control module 2:
the acquisition module 1 is used for acquiring real-time movement speeds of the first side wheel and the second side wheel in real time when rear steering wheels contained in the first side wheel and the second side wheel reach a preset deflection angle under the condition of in-situ steering of the six-wheeled mobile robot; (ii) a
The control module 2 is configured to control the real-time movement speed of the second side wheel based on the real-time movement speed of the first side wheel when it is determined that the real-time movement speed of the first side wheel is greater than the real-time movement speed of the second side wheel, and otherwise, control the real-time movement speed of the first side wheel based on the real-time movement speed of the second side wheel;
the preset deviation corner angle satisfies the following conditions:
wherein theta is a deflection angle of the front steering wheel and the rear steering wheel, L is a wheel base, and W is a wheel base.
The six-wheel mobile robot is characterized by further comprising a first middle wheel and a second middle wheel, the first middle wheel is located between a front steering wheel and a rear steering wheel which are contained in the first side wheel, the second middle wheel is located between a front steering wheel and a rear steering wheel which are contained in the second side wheel, and the acquisition module is specifically used for acquiring the real-time movement speed of the first middle wheel and the real-time movement speed of the second middle wheel in real time, defining the real-time movement speed of the first middle wheel as the real-time movement speed of the first side wheel and defining the real-time movement speed of the second middle wheel as the real-time movement speed of the second side wheel.
The real-time movement speed of the first intermediate wheel is the real-time movement speed collected by a rotating speed sensor arranged on the first intermediate wheel;
the real-time movement speed of the second intermediate wheel is the real-time movement speed collected by a rotating speed sensor arranged on the second intermediate wheel.
And adjusting the output torque of the front wheel and the rear wheel according to the output torque value to realize pivot steering.
In addition, the invention also provides an in-situ steering control system which comprises a six-wheel mobile robot, a speed measuring assembly and a controller, wherein the six-wheel mobile robot is provided with a first side wheel and a second side wheel, and the first side wheel and the second side wheel respectively comprise a front steering wheel, a middle wheel and a rear steering wheel;
the controller is communicated with the speed measuring component, and the speed measuring component is used for acquiring the real-time movement speed of the first side wheel and the real-time movement speed of the second side wheel;
the controller is communicated with the six-wheel mobile robot and is used for controlling the movement speed of the first side wheel and/or the second side wheel based on the pivot steering control method.
The six-wheel mobile robot is also provided with a first middle wheel and a second middle wheel, the first middle wheel is positioned between a front steering wheel and a rear steering wheel contained in the first side wheel, and the second middle wheel is positioned between a front steering wheel and a rear steering wheel contained in the second side wheel;
the speed detection assembly comprises a first sensor and a second sensor, the first sensor is arranged on the first middle wheel, the second sensor is arranged on the second middle wheel, and the first speed sensor and the second speed sensor are communicated with the controller. In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may be made to those skilled in the art, based on the above disclosure, and still be within the scope of the present disclosure.
Claims (10)
1. A pivot steering control method for controlling a six-wheeled mobile robot to pivot steer, the six-wheeled mobile robot having first and second side wheels each including front and rear steered wheels, the method comprising the steps of:
under the condition of in-situ steering of a six-wheel mobile robot, when the first side wheel and the second side wheel reach a preset deflection corner angle, acquiring real-time movement speeds of the first side wheel and the second side wheel in real time;
and controlling the real-time movement speed of the second side based on the real-time movement speed of the first side wheel under the condition that the real-time movement speed of the first side wheel is determined to be larger than the real-time movement speed of the second side wheel, otherwise, controlling the real-time movement speed of the first side based on the real-time movement speed of the second side wheel so as to realize the pivot steering control of the six-wheel mobile robot.
2. The pivot steering control method according to claim 1, wherein the preset deviation turning angle satisfies:
and the theta is a deflection angle of the front steering wheel and the rear steering wheel, the L is a wheelbase, the wheelbases of the front axle and the middle axle and the wheelbases of the middle axle and the rear axle are equal, and the W is the wheelbase.
3. The pivot steering control method according to claim 1 or 2, wherein the six-wheeled mobile robot further comprises a first intermediate wheel and a second intermediate wheel, the first intermediate wheel is located between a front steering wheel and a rear steering wheel included in the first side wheel, the second intermediate wheel is located between a front steering wheel and a rear steering wheel included in the second side wheel, and the real-time obtaining of the real-time movement speed of the first side wheel and the second side wheel comprises:
acquiring the real-time movement speed of the first intermediate wheel and the real-time movement speed of the second intermediate wheel in real time;
defining the real-time movement speed of the first middle wheel as the real-time movement speed of the first side wheel;
and defining the real-time movement speed of the second middle wheel as the real-time movement speed of the second side wheel.
4. The pivot steering control method according to claim 1, wherein the real-time movement speed of the first side wheel is a real-time movement speed acquired by a rotation speed sensor mounted on the first intermediate wheel;
and the real-time movement speed of the second side wheel is the real-time movement speed collected by a rotating speed sensor arranged on the second middle wheel.
5. A steering control apparatus in-place, wherein the six-wheeled mobile robot has first and second side wheels each including a front steering wheel, a middle wheel, and a rear steering wheel, comprising:
the acquisition module is used for acquiring real-time movement speeds of the first side wheel and the second side wheel in real time when front steering wheels and rear steering wheels contained in the first side wheel and the second side wheel reach a preset deflection corner angle under the condition of in-situ steering of the six-wheel mobile robot;
and the control module is used for controlling the real-time movement speed of the second side wheel based on the real-time movement speed of the first side wheel under the condition that the real-time movement speed of the first side wheel is determined to be greater than the real-time movement speed of the second side wheel, and otherwise, controlling the real-time movement speed of the first side wheel based on the real-time movement speed of the second side wheel.
6. The home steering control device according to claim 5, wherein the preset deviation angle satisfies:
wherein theta is a deflection angle of the front steering wheel and the rear steering wheel, L is a wheel base, and W is a wheel base.
7. The steering control device of claim 5, wherein the six-wheeled mobile robot further comprises a first intermediate wheel and a second intermediate wheel, the first intermediate wheel is located between a front steering wheel and a rear steering wheel included in the first side wheel, the second intermediate wheel is located between a front steering wheel and a rear steering wheel included in the second side wheel, and the obtaining module is specifically configured to collect a real-time movement speed of the first intermediate wheel and a real-time movement speed of the second intermediate wheel in real time, and to define the real-time movement speed of the first intermediate wheel as the real-time movement speed of the first side wheel and define the real-time movement speed of the second intermediate wheel as the real-time movement speed of the second side wheel.
8. The primary steering control device according to claim 5, wherein the real-time movement speed of the first intermediate wheel is a real-time movement speed acquired by a rotation speed sensor mounted on the first intermediate wheel;
the real-time movement speed of the second intermediate wheel is the real-time movement speed collected by a rotating speed sensor arranged on the second intermediate wheel.
9. The pivot steering control system is characterized by comprising a six-wheel mobile robot, a speed measuring assembly and a controller, wherein the six-wheel mobile robot is provided with a first side wheel and a second side wheel, and the first side wheel and the second side wheel respectively comprise a front steering wheel, a middle wheel and a rear steering wheel;
the controller is communicated with the speed measuring component, and the speed measuring component is used for acquiring the real-time movement speed of the first side wheel and the real-time movement speed of the second side wheel;
the controller is in communication with the six-wheeled mobile robot, the controller being configured to control the speed of movement of the first and/or second side wheels based on the method of any of claims 1 to 4.
10. The system of claim 9, wherein the six-wheeled mobile robot further has a first intermediate wheel positioned between a front steerable wheel and a rear steerable wheel contained in the first side wheel and a second intermediate wheel positioned between a front steerable wheel and a rear steerable wheel contained in the second side wheel;
the speed detection assembly comprises a first sensor and a second sensor, the first sensor is arranged on the first middle wheel, the second sensor is arranged on the second middle wheel, and the first speed sensor and the second speed sensor are communicated with the controller.
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| CN115257922B (en) | 2024-06-25 |
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