CN115571036A - Motion control method for low-speed dispensing robot - Google Patents

Motion control method for low-speed dispensing robot Download PDF

Info

Publication number
CN115571036A
CN115571036A CN202210685183.XA CN202210685183A CN115571036A CN 115571036 A CN115571036 A CN 115571036A CN 202210685183 A CN202210685183 A CN 202210685183A CN 115571036 A CN115571036 A CN 115571036A
Authority
CN
China
Prior art keywords
points
steering
motion
point
mode
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
CN202210685183.XA
Other languages
Chinese (zh)
Inventor
李汉生
周永
连智浩
伊明锐
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Aishang Intelligent Technology Co ltd
Original Assignee
Beijing Aishang Intelligent Technology Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Beijing Aishang Intelligent Technology Co ltd filed Critical Beijing Aishang Intelligent Technology Co ltd
Priority to CN202210685183.XA priority Critical patent/CN115571036A/en
Publication of CN115571036A publication Critical patent/CN115571036A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
    • 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
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • 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
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
    • B60L7/26—Controlling the braking effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
    • B62D11/003—Electric or electronic control systems
    • 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
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • 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
    • B60L2200/00—Type of vehicles
    • B60L2200/36—Vehicles designed to transport cargo, e.g. trucks
    • 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
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/42—Electrical machine applications with use of more than one motor
    • 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
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines

Abstract

The invention discloses a motion control method of a low-speed distribution robot, which realizes the modes of electromagnetic parking, in-situ rotation, omnidirectional translation and four-wheel steering motion, greatly improves the flexibility of the robot and can cope with narrow and limited space. Constructing a mathematical model of the motion of the vehicle body, which specifically comprises the following steps: the four wheel positions are respectively A-D four points, the central position of the front wheel axis is E point, the origin of the plane rectangular coordinate system is positioned at the central O point of the whole vehicle, and the steering instant point P is set on the X axis. And under the condition that no motion command is issued, entering an electromagnetic parking mode. In the omnidirectional translation mode, the deflection angles of the four steering motors are all rad _ e. In the pivot rotation mode, four points all make circular motion by taking O as the center of a circle, and the turning radii are the same. In the four-wheel steering mode, all mass points on the robot do circular motion by taking a point P as a circle center in the turning process, direction vectors corresponding to four points are determined, and the rotating speed value of a driving motor and the deflection angle value of a steering motor of the four points are set.

Description

Motion control method for low-speed dispensing robot
Technical Field
The invention relates to the technical field of robots, in particular to a motion control method of a low-speed dispensing robot.
Background
At present, with the increasing maturity of automatic driving, AI,5G and other novel technologies, the e-commerce platform and the express company have released the non-contact delivery in a dispute, and the unmanned delivery robot goes to the street.
The robot is delivered through automatic driving, personnel contact can be avoided, the efficiency is high, the cost is low, and the robot is welcomed by express enterprises and consumers. Meanwhile, the distribution demand from the terminal to the user is increasing day by day, and the realization of unmanned distribution at the last kilometer end is also the trend of the distribution robot in the future.
The motion mode of the prior distribution robot generally adopts a four-wheel traveling mode, the speed of the four-wheel traveling mode does not exceed 2m/s, a front wheel drives a front wheel to steer or a rear wheel drives the front wheel to steer, and power is driven by a single driving motor; turning is realized by a central steering engine, and speed adaptation of left and right side wheels is carried out by a mechanical structure differential so as to meet the speed difference caused by turning.
The motion chassis of the common distribution robot is complex in mechanical structure (a differential needs to be designed), and is single in motion mode and only capable of moving forwards or backwards integrally; meanwhile, in the turning process, the turning instant point is generally positioned on the rear axis, and a larger turning radius is needed in the turning process; under the full load condition of delivery goods, it is serious to also cause the wheel wearing and tearing simply to lean on differential turn, simultaneously when carrying out terminal to the family, during indoor delivery, in the face of narrow and small limited spaces such as elevator, corridor, its motion is restricted can't satisfy the delivery demand. And because it only has the driving capability to front wheel or rear wheel, when meetting no driving capability wheel and falling into road surface pothole, can cause whole car can't continue to advance.
Therefore, the current low-speed dispensing robot has the defect of being incapable of working in limited motion spaces such as indoor spaces.
Disclosure of Invention
In view of this, the invention provides a motion control method for a low-speed distribution robot, which realizes electromagnetic parking, in-situ rotation, omnidirectional translation and four-wheel steering motion modes, greatly improves the flexibility of the whole robot, and can well cope with narrow and limited space.
In order to achieve the purpose, the technical scheme of the invention comprises the following steps:
the method comprises the following steps of (1) constructing a mathematical model of the motion of the vehicle body, specifically: the four wheel positions are respectively four points A, B, C and D, the central position of the front wheel axis is a point E, and the point E is used as a whole vehicle motion parameter introduction point and comprises an angle value rad _ E and a speed value ve; l1 and L2 are respectively the distance between the front and rear axles of the vehicle body and the distance between wheels at two sides, the origin of the plane rectangular coordinate system is positioned at the center O point of the whole vehicle, and the steering instant point P is set on the X axis.
In the case where no motion command is issued, it defaults to the electromagnetic parking mode.
When the steering motor enters the omnidirectional translation mode, the deflection angles of the four steering motors are all rad _ e, and the value range is as follows:
Figure BDA0003693810060000021
Figure BDA0003693810060000022
when the vehicle enters the pivot rotation mode, the four points A, B, C and D all make circular motion by taking the O as the center of a circle, and the turning radii are the same, so the corresponding steering angles are also the same.
When the four-wheel steering mode is entered, all mass points on the robot do circular motion by taking a point P as a circle center in the turning process, so the magnitude and the direction of the angular velocity omega are the same, the direction vectors corresponding to the points A, B, C and D are determined, and the rotating speed values of the driving motors of the four points A, B, C and D and the deflection angle value of the steering motor are set.
Further, under the condition that no motion command is issued, the electromagnetic parking mode is entered by default, specifically:
in the electromagnetic parking mode, the rotating speed values of the four driving motors are 0r/min; the turning directions of points A and D areThe directions of the turning points B and C are clockwise, and the turning angle values are all
Figure BDA0003693810060000023
Further, when the omnidirectional translation mode is entered, the deflection angles of the four steering motors are all rad _ e, and the value range is as follows:
Figure BDA0003693810060000024
the method specifically comprises the following steps:
the rotating speed values of the four driving motors are all rotating speed values obtained by ve (m/s) conversion
Figure BDA0003693810060000031
d is the diameter of the hub of the drive motor.
Further, when entering the pivot rotation mode, the four points a, B, C, and D in this mode all use O as the center of a circle to make circular motion, and the turning radii thereof are all the same, so the corresponding steering angles are also the same, specifically:
as can be seen from the established mathematical model of the motion,
Figure BDA0003693810060000032
in the mode, four points A, B, C and D all make circular motion by taking O as the center of a circle, and the turning radii are the same, so the corresponding steering angles are the same in size and are all
Figure BDA0003693810060000033
The turning direction of points A and D is clockwise, and the turning direction of points B and C is anticlockwise; the rotating speed values of the four driving motors are kept the same and are rotating speed values converted by ve; the driving directions of the points A and C are forward or backward, and the driving directions of the points B and D are backward or forward, so that the integral clockwise or counterclockwise in-situ rotation is realized.
Further, in the four-wheel steering mode, the right-turn process and the left-turn process are specifically included:
in the process of the right-hand turn,
Figure BDA0003693810060000034
can obtain the product
Figure BDA0003693810060000035
Figure BDA0003693810060000036
Can obtain the product
Figure BDA0003693810060000037
All mass points on the robot do circular motion by taking the point P as the center of a circle simultaneously in the turning process, so the angular velocity omega has the same magnitude and direction, and the angular velocity space vector can be obtained by the velocity value ve of the point E, the length of PE and the right-hand spiral rule
Figure BDA0003693810060000038
Can obtain
Figure BDA0003693810060000039
By means of a unit vector perpendicular to the plane of motion, it is possible to obtain
Figure BDA00036938100600000310
Figure BDA00036938100600000311
The length of the mould is the speed of the point line A, namely the speed value of the wheel, the direction is the required steering angle value, the direction vectors corresponding to the points B, C and D can be obtained by the same method, and then the rotating speed values of the driving motors of the four points A, B, C and D and the deflection angle value of the steering motor are obtained, wherein the steering of the points A and B is clockwise, the steering of the points C and D is anticlockwise, and the driving directions of the four points are consistent.
During a left turn, rad _ p = rad _ e,
Figure BDA00036938100600000312
can obtain
Figure BDA00036938100600000313
Figure BDA0003693810060000041
Can obtain
Figure BDA0003693810060000042
In the turning process, all mass points on the robot do circular motion by taking the point P as the center of a circle, so the magnitude and the direction of the angular velocity omega are the same, and the angular velocity space vector can be obtained by determining the velocity value ve of the point E, the length of PE and a right-hand spiral rule
Figure BDA0003693810060000043
Can obtain the product
Figure BDA0003693810060000044
By means of unit vectors perpendicular to the plane of motion, one obtains
Figure BDA0003693810060000045
Figure BDA0003693810060000046
The length of the mould is the speed of the point line A, namely the speed value of the wheel, the direction is the required steering angle value, the direction vectors corresponding to the points B, C and D can be obtained by the same method, and then the rotating speed values of the driving motors of the four points A, B, C and D and the deflection angle value of the steering motor are obtained, wherein the turning of the points A and B is anticlockwise, the turning of the points C and D is clockwise, and the driving directions of the four points are consistent.
Has the advantages that:
1. on the basis of realizing the control of the four-wheel drive four-wheel steering motion mode, the model established by the invention can be intuitively approximately equivalent to a common kinematics bicycle model by setting the reference point E, and related personnel at a control end can understand the model more easily so as to get on hand quickly; the turning instantaneous center point is arranged on the X axis, the turning radius is reduced, meanwhile, the four-wheel motion model is more conveniently expanded, the electromagnetic parking, in-situ rotation, omnidirectional translation and four-wheel turning motion modes are realized, the flexibility of the whole robot is greatly improved, and the whole robot can well deal with narrow and small limited space.
2. The invention mainly aims to solve the defect that a distribution robot cannot work in limited motion spaces such as indoor space and the like, and provides a four-wheel steering four-wheel driving motion control method. The whole vehicle single driving motor and the steering motor are changed into the mode that each wheel is provided with an independent steering motor and driving motor, a motion mathematical model is established, a former axis central point is used as a parameter introduction point (advancing speed and steering angle), the rotating speed values of the four driving motors and the deflection angle values of the four steering motors are obtained through calculation respectively, and then the electromagnetic parking, in-situ rotation, omnidirectional translation and four-wheel steering motion modes are realized, so that the flexibility of the whole robot is greatly improved, the narrow and small limited space can be well met, the terminal distribution requirement is met, the ground friction of the wheels is reduced, the mechanical design part is simplified, and the operation and maintenance cost is reduced. Because the four wheels are all provided with the independent high-power driving motors, the four wheels have good escaping capability when facing a complex pothole road surface, and the bearing capability is greatly improved.
3. The control mode related by the invention also has stronger expansion function, and can be increased to six-wheel drive on the basis of four wheels; the instant center of turning is set on the X axis of the center of the vehicle body, so that two wheels can be respectively arranged at the central positions M and N of the front wheel and the rear wheel at the left side and the right side, the speed directions of the two newly-added wheels are ensured to be perpendicular to the turning radiuses MP and NP at any time, the turning process is not required, and only the speed difference matching is carried out. The newly-added two-wheel non-steering motor can reduce the cost and the complexity of operation, simultaneously the driving capability can be greatly improved, and the application scene of larger load and more complicated road conditions can be further met.
Drawings
FIG. 1 is a mathematical model diagram of the overall motion of a low-speed distribution robot according to an embodiment of the present invention;
FIG. 2 is a mathematical model diagram of an electromagnetic park mode in an embodiment of the present invention;
FIG. 3 is a mathematical model diagram of an omni-directional panning mode according to an embodiment of the present invention;
FIG. 4 is a diagram of a mathematical model of an in-place rotation mode according to an embodiment of the present invention;
FIG. 5 is a mathematical model diagram of a four-wheel steering model according to an embodiment of the present invention;
FIG. 6 is a mathematical model diagram of a four-wheel steering model according to an embodiment of the present invention;
FIG. 7 is a diagram of a closed-loop control and extended six-round mathematical model according to an embodiment of the present invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The mathematical model of the vehicle body motion established by the invention is shown in figure 1, four wheel positions are respectively A, B, C and D, the central position of a front wheel axis is an E point, and the E point is used as a whole vehicle motion parameter introduction point and comprises rad _ E (an angular value rad) and ve (a velocity value m/s); l1 and L2 are respectively the distance between the front and rear axles of the vehicle body and the distance between wheels at two sides, the origin of the plane rectangular coordinate system is positioned at the center O point of the whole vehicle, and the steering instant point P is set on the X axis.
1) Under the condition that no motion command is issued, the electromagnetic parking mode is entered by default, namely the rotating speed values of the four driving motors are 0r/min; the steering directions of the points A and D are anticlockwise, the steering directions of the points B and C are clockwise, and the steering angle values are all
Figure BDA0003693810060000061
The movement form is shown in figure 2;
2) When the steering mechanism enters the omnidirectional translation mode, the deflection angles of the four steering motors are all
Figure BDA0003693810060000062
Figure BDA0003693810060000063
The rotating speed values of the four driving motors are all rotating speed values obtained by ve (m/s) conversion
Figure BDA0003693810060000064
(d is the diameter of the hub of the driving motor), and the movement form is shown in FIG. 3;
3) When entering the in-situ rotation mode, as shown in fig. 4, by establishing a mathematical model of the motion,
Figure BDA0003693810060000065
Figure BDA0003693810060000066
in the mode, four points A, B, C and D all make circular motion by taking O as the center of a circle, and the turning radiuses of the points are the same, so that the corresponding steering angles are the same in size and are all the same
Figure BDA0003693810060000067
The turning direction of points A and D is clockwise, and the turning direction of points B and C is anticlockwise; the rotating speed values of the four driving motors are kept the same and are rotating speed values converted by ve; the driving directions of the points A and C are forward or backward, and the driving directions of the points B and D are backward or forward, so that the integral clockwise or counterclockwise in-situ rotation is realized.
4) When the four-wheel steering mode is entered, the steering angle direction at the point E is set to be a right steering value, and the steering angle direction at the point E is set to be a left steering value. As shown in fig. 5, through the established mathematical model of motion, during the right turn,
Figure BDA0003693810060000068
Figure BDA0003693810060000069
can obtain the product
Figure BDA00036938100600000610
Can obtain the product
Figure BDA00036938100600000611
All mass points on the robot do circular motion by taking the point P as the center of a circle simultaneously in the turning process, so the angular velocity omega has the same magnitude and direction, and the angular velocity space vector can be obtained by the velocity value ve of the point E, the length of PE and the right-hand spiral rule
Figure BDA00036938100600000612
Can obtain the product
Figure BDA00036938100600000613
By means of a unit vector perpendicular to the plane of motion, it is possible to obtain
Figure BDA00036938100600000614
The length of the model is the speed of a point line A, namely the speed value of the wheel, the direction is the required steering angle value, direction vectors corresponding to points B, C and D can be obtained by the same method, and further the rotating speed values of driving motors and the deflection angle values of the steering motors of the four points A, B, C and D are obtained, wherein the steering of the points A and B is clockwise, the steering of the points C and D is anticlockwise, and the driving directions of the four points are consistent; during a left turn, as shown in figure 6,
Figure BDA00036938100600000615
can obtain
Figure BDA00036938100600000616
Can obtain
Figure BDA0003693810060000071
In the turning process, all mass points on the robot do circular motion by taking the point P as the center of a circle, so the magnitude and the direction of the angular velocity omega are the same, and the angular velocity space vector can be obtained by determining the velocity value ve of the point E, the length of PE and a right-hand spiral rule
Figure BDA0003693810060000072
Can obtain the product
Figure BDA0003693810060000073
By means of unit vectors perpendicular to the plane of motion, one obtains
Figure BDA0003693810060000074
The length of the mould is the speed of the point line A, namely the speed value of the wheel, the direction is the required steering angle value, the direction vectors corresponding to the points B, C and D can be obtained by the same method, and then the rotating speed values of the driving motors of the four points A, B, C and D and the deflection angle value of the steering motor are obtained, wherein the turning of the points A and B is anticlockwise, the turning of the points C and D is clockwise, and the driving directions of the four points are consistent. According to the mode, all four wheels participate in steering, the turning radius is greatly reduced, and the flexibility and the trafficability are greatly improved; meanwhile, the rotating speed of each driving motor is subjected to differential adaptation, so that wheels caused by the fact that turning radius of each point is not communicated are avoidedA drag condition occurs.
5) Compared with a general open control mode, the motion control also adopts a closed-loop control mode, namely, the speed values and the steering angle values of any one point of A, B, C and D can be read in real time and converted into the motion parameters corresponding to the entry point E while the motion parameter commands are received and issued. As shown in fig. 7, during the right turn, the turning angle value at point a is known as rad _ a, the speed is known as va, and MP = MA tan _ a,
Figure BDA0003693810060000075
can obtain
Figure BDA0003693810060000076
All mass points of the robot are in concentric circle motion during turning, so that the mass points have the same angular velocity value
Figure BDA0003693810060000077
Then according to the circular motion theory v = ω r (linear velocity v, angular velocity ω, motion radius r of a certain point on the circular motion) can be obtained,
Figure BDA0003693810060000078
the angle value and the speed value read by the single point A are converted to obtain the actual angle value and speed value of the reference point E through the operation, and the upper-layer control end can timely compare the issued parameters and the response parameters in real time in a closed-loop control mode, so that the motion control accuracy and stability can be well improved in an automatic driving scene.
6) The control mode related by the invention also has stronger expansion function, and can be increased to six-wheel drive on the basis of four wheels; as shown in figure 7, because the instant center point of the turning is set on the X axis of the center of the vehicle body, two wheels which are additionally arranged can be respectively arranged at the center positions M and N of the front wheel and the rear wheel at the left side and the right side, thus ensuring that the speed directions of the two newly added wheels are vertical to the turning radiuses MP and NP at any time, and only speed difference matching is needed without turning in the turning process. The newly-added two-wheel non-steering motor can reduce the cost and the complexity of operation, simultaneously the driving capability can be greatly improved, and the application scene of larger load and more complex road conditions is further met.
It will be understood by those skilled in the art that all or part of the processes for implementing the above embodiments may be implemented by operating relevant hardware through a computer program, and the program may be stored in a computer readable storage medium, and when executed, may include the processes of the above embodiments. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (5)

1. A motion control method for a low-speed dispensing robot is characterized by comprising the following steps:
the method comprises the following steps of (1) constructing a mathematical model of the motion of the vehicle body, specifically: the four wheel positions are respectively four points A, B, C and D, the central position of the front wheel axis is a point E, and the point E is used as a whole vehicle motion parameter introduction point and comprises an angle value rad _ E and a speed value ve; l1 and L2 are respectively the distance between the front and rear axles of the vehicle body and the distance between wheels at two sides, the origin of the plane rectangular coordinate system is positioned at the center O point of the whole vehicle, and the steering instantaneous point P is set on the X axis;
under the condition that no motion command is issued, the electromagnetic parking mode is entered by default;
when the steering motor enters the omnidirectional translation mode, the deflection angles of the four steering motors are all rad _ e, and the value range is as follows:
Figure FDA0003693810050000011
Figure FDA0003693810050000012
when the vehicle enters an in-situ rotation mode, four points A, B, C and D all perform circular motion by taking O as the center of a circle, and the turning radii of the points are the same, so that the corresponding steering angles are also the same;
when the robot enters a four-wheel steering mode, all mass points on the robot do circular motion by taking a point P as a circle center in the turning process, so that the magnitude and the direction of the angular velocity omega are the same, the direction vectors corresponding to the points A, B, C and D are determined, and the rotating speed values of the driving motors and the deflection angle values of the steering motors at the four points A, B, C and D are set.
2. The motion control method for the low-speed dispensing robot according to claim 1, wherein the electromagnetic parking mode is entered by default when no motion command is issued, specifically:
in the electromagnetic parking mode, the rotating speed values of the four driving motors are 0r/min; the steering directions of the points A and D are anticlockwise, the steering directions of the points B and C are clockwise, and the steering angle values are all
Figure FDA0003693810050000013
3. A low-speed dispensing robot movement control method according to claim 1 or 2, characterized in that when entering the omnidirectional translation mode, the four steering motors have all the deflection angles rad _ e, with the value range:
Figure FDA0003693810050000014
the method comprises the following specific steps:
the four driving motor rotating speed values are all rotating speed values converted by ve (m/s)
Figure FDA0003693810050000015
d is the diameter of the hub of the drive motor.
4. The method for controlling the movement of a low-speed dispensing robot according to any one of claims 1 to 3, wherein when entering the pivot rotation mode, the four points A, B, C and D all make a circular movement around the center of O, and the turning radii are the same, so the corresponding turning angles are the same, specifically:
as can be known from the established mathematical model of motion,
Figure FDA0003693810050000021
in the mode, four points A, B, C and D all make circular motion by taking O as the center of a circle, and the turning radii are the same, so the corresponding steering angles are the same in size and are all
Figure FDA0003693810050000022
The turning direction of points A and D is clockwise, and the turning direction of points B and C is anticlockwise; the rotating speed values of the four driving motors are kept the same and are the rotating speed values converted by ve; the driving directions of the points A and C are forward or backward, and the driving directions of the points B and D are backward or forward, so that the integral clockwise or counterclockwise in-situ rotation is realized.
5. The motion control method for the low-speed dispensing robot according to claim 4, wherein the four-wheel steering mode specifically comprises a right-turn process and a left-turn process:
during a right turn, rad _ p = rad _ e
Figure FDA0003693810050000023
Can obtain the product
Figure FDA0003693810050000024
Figure FDA0003693810050000025
Can obtain
Figure FDA0003693810050000026
All mass points on the robot do circular motion by taking the point P as the center of a circle simultaneously in the turning process, so the angular velocity omega has the same magnitude and direction, and the angular velocity space vector can be obtained by the velocity value ve of the point E, the length of PE and the right-hand spiral rule
Figure FDA0003693810050000027
Can obtain
Figure FDA0003693810050000028
By means of unit vectors perpendicular to the plane of motion, one obtains
Figure FDA0003693810050000029
Figure FDA00036938100500000210
The length of the model is the speed of a point line A, namely the speed value of the wheel, the direction is the required steering angle value, direction vectors corresponding to points B, C and D can be obtained by the same method, and further the rotating speed values of driving motors and the deflection angle values of the steering motors of the four points A, B, C and D are obtained, wherein the steering of the points A and B is clockwise, the steering of the points C and D is anticlockwise, and the driving directions of the four points are consistent;
during a left turn, rad _ p = rad _ e,
Figure FDA00036938100500000211
can obtain the product
Figure FDA00036938100500000212
Figure FDA00036938100500000213
Can obtain the product
Figure FDA00036938100500000214
In the turning process, all mass points on the robot do circular motion by taking the point P as the center of a circle, so the magnitude and the direction of the angular velocity omega are the same, and the angular velocity space vector can be obtained by determining the velocity value ve of the point E, the length of PE and a right-hand spiral rule
Figure FDA0003693810050000031
Can obtain the product
Figure FDA0003693810050000032
By means of unit vectors perpendicular to the plane of motion, one obtains
Figure FDA0003693810050000033
Figure FDA0003693810050000034
The length of the mould is the speed of the point line A, namely the speed value of the wheel, the direction is the required steering angle value, the direction vectors corresponding to the points B, C and D can be obtained by the same method, and then the rotating speed values of the driving motors of the points A, B, C and D and the deflection angle value of the steering motor are obtained, wherein the steering of the points A and B is anticlockwise, the steering of the points C and D is clockwise, and the driving directions of the four points are consistent.
CN202210685183.XA 2022-06-14 2022-06-14 Motion control method for low-speed dispensing robot Pending CN115571036A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210685183.XA CN115571036A (en) 2022-06-14 2022-06-14 Motion control method for low-speed dispensing robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210685183.XA CN115571036A (en) 2022-06-14 2022-06-14 Motion control method for low-speed dispensing robot

Publications (1)

Publication Number Publication Date
CN115571036A true CN115571036A (en) 2023-01-06

Family

ID=84579584

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210685183.XA Pending CN115571036A (en) 2022-06-14 2022-06-14 Motion control method for low-speed dispensing robot

Country Status (1)

Country Link
CN (1) CN115571036A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116619420A (en) * 2023-07-10 2023-08-22 国网江苏省电力有限公司南通供电分公司 Line auxiliary construction robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116619420A (en) * 2023-07-10 2023-08-22 国网江苏省电力有限公司南通供电分公司 Line auxiliary construction robot

Similar Documents

Publication Publication Date Title
Hang et al. LPV/H∞ controller design for path tracking of autonomous ground vehicles through four-wheel steering and direct yaw-moment control
CN109625123B (en) Spliced type carrying vehicle, carrying system and carrying method
US9254866B2 (en) Method of controlling steering of a ground vehicle
CN105425792A (en) Omnidirectional mobile automatic guided vehicle
CN107783540A (en) The control method and device that a kind of four-wheel drive turns to
CN109606506A (en) A kind of control method that diagonal driving turns to
US11738793B2 (en) Movable object with steering control
CN108749920B (en) Heavy type electric drive all-wheel steering all-wheel drive unmanned frame transport vehicle
CN115571036A (en) Motion control method for low-speed dispensing robot
CN112016155B (en) All-electric drive distributed unmanned vehicle motion simulation platform and design method thereof
CN111679676A (en) AGV movement track control method
CN113799869A (en) Movable body with attitude control
CN209600608U (en) A kind of transfer and AGV trolley suitable for AGV trolley
CN114715167A (en) Automatic driving track tracking control method based on multiple driving modes of omnidirectional moving vehicle
Tan et al. Design and development of a novel autonomous scaled multiwheeled vehicle
Tan et al. A path tracking algorithm for articulated vehicle: Development and simulations
CN114872782B (en) Four-wheel omni-directional chassis control method and system
CN114291117B (en) Four-wheel steering unmanned vehicle track tracking control method
CN114397883A (en) Control system of multi-axis heavy-load AGV (automatic guided vehicle) trolley of all directions
Chen et al. Research and application of improved pure pursuit algorithm in low-speed driverless vehicle system
CN113859359A (en) Movement control method of light explosion-proof four-wheel eight-drive chassis
CN108790589B (en) Control method of omnidirectional drive gear train assembly
CN218987699U (en) Storage robot
CN220262920U (en) Omnidirectional moving AGV platform
CN109947111B (en) Automatic carrying trolley movement control method and device and automatic carrying trolley

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination