HK1237440B - Apparatus and method for controlling wheeled movable robot - Google Patents

Description

Control method and device for wheeled mobile robot

Technical Field

The present application relates to the field of robot control, and in particular to a control method and device for a wheeled mobile robot.

Background Art

With the development of society and the advancement of science and technology, robots have been increasingly widely used in current production and life. Mobile robots are a type of robot that was developed earlier. Their mobile mechanisms mainly include wheeled, tracked, legged, and composite types. Wheeled mobile robots are widely used in industry, agriculture, space exploration, and other fields due to their advantages such as light weight, large load capacity, simple structure, relatively easy drive and control, fast walking speed, and maneuverability. The operation of wheeled mobile robots needs to adapt to a variety of surfaces with different flatness and roughness, so slippage has become a problem that must be solved. Wheeled mobile robots generally include driving wheels and driven wheels. At present, the main method of judging whether slippage has occurred is to compare the speeds of the driving and driven wheels of the wheeled mobile robot, or the speeds of the robot body and the driving wheels.

However, in order to obtain the speed of the driven wheel or the robot body, it is necessary to additionally install a photoelectric encoder or other speed measuring device on the driven wheel or the robot body.

Summary of the Invention

The purpose of this application is to propose an improved control method and device for a wheeled mobile robot to solve the technical problems mentioned in the above background technology section.

In a first aspect, an embodiment of the present application provides a control method for a wheeled mobile robot, wherein the wheeled mobile robot includes a driving wheel, a speed measuring device arranged on the driving wheel, and a driving device that provides a driving torque for the driving wheel. The method includes: determining the angular acceleration change rate of the driving wheel based on the output value of the speed measuring device; in response to determining that the angular acceleration change rate is greater than a preset threshold value, determining that the driving wheel is slipping.

In this embodiment, the method further includes: in response to determining that the driving wheel is slipping, controlling the driving device to reduce the driving torque.

In this embodiment, the method also includes: determining the angular acceleration of the driving wheel based on the output value of the speed measuring device; determining the driving torque correction value corresponding to the angular acceleration and the angular acceleration change rate based on the preset correspondence between the angular acceleration, the angular acceleration change rate and the driving torque correction value; and controlling the driving device to provide the driving torque corrected according to the determined driving torque correction value.

In this embodiment, the wheeled mobile robot also includes other driving wheels in addition to the driving wheels; and the method also includes: determining the driving torque adjustment value of the driving device of the other driving wheels based on the driving torque correction value, wherein, when the wheeled mobile robot is a two-wheel drive mobile robot and is in a turning state, the driving torque adjustment value and the driving torque correction value are the same in size and opposite in sign; when the wheeled mobile robot is a two-wheel drive mobile robot and is in a non-steering state, the driving torque adjustment value and the driving torque correction value are the same.

In this embodiment, the wheeled mobile robot also includes a communication device; and the method also includes: uploading the operating data of the wheeled mobile robot to a target server through the communication device, wherein the operating data includes at least one of the following: the angular velocity of the driving wheel, the angular acceleration of the driving wheel, the angular acceleration change rate of the driving wheel, and the response speed of the driving device. The target server is used to obtain the operating data and send the corresponding relationship between the angular acceleration, the angular acceleration change rate and the driving torque correction value modified according to the operating data to the wheeled mobile robot.

In this embodiment, the wheeled mobile robot is a transport robot, and the operating data also includes the operating position information of the transport robot and the load information of the transport robot. The target server is also used to send a threshold value of the driving torque provided by the driving device determined according to the operating data to the transport robot; and the method also includes: receiving the threshold value of the driving torque; controlling the driving device to provide a driving torque that is less than the threshold value of the driving torque.

In the second aspect, an embodiment of the present application provides a control device for a wheeled mobile robot, the wheeled mobile robot including a driving wheel, a speed measuring device arranged on the driving wheel, and a driving device that provides driving torque for the driving wheel, the device including: a first determination unit for determining the angular acceleration change rate of the driving wheel based on the output value of the speed measuring device; and a second determination unit for determining that the driving wheel is slipping in response to determining that the angular acceleration change rate is greater than a preset threshold.

In this embodiment, the device further includes: a first control unit for controlling the driving device to reduce the driving torque in response to determining that the driving wheel is slipping.

In this embodiment, the device also includes: a third determination unit, used to determine the angular acceleration of the driving wheel based on the output value of the speed measuring device; a fourth determination unit, used to determine the driving torque correction value corresponding to the angular acceleration and the angular acceleration change rate based on the preset correspondence between the angular acceleration, the angular acceleration change rate and the driving torque correction value; and a second control unit, used to control the driving device to provide the driving torque corrected according to the determined driving torque correction value.

In this embodiment, the speed measuring device is used to measure and output the angular velocity of the driving wheel at predetermined intervals, and the corresponding relationship is stored in the fuzzy control rule table; and the fourth determination unit is further configured to: obtain the angular velocity at regular intervals, differentiate the angular velocity to obtain the angular acceleration and the rate of change of the angular acceleration; and determine the driving torque correction value corresponding to the angular acceleration and the rate of change of the angular acceleration according to the fuzzy control rule table.

In this embodiment, the wheeled mobile robot also includes other driving wheels in addition to the driving wheels; and the device also includes: a fifth determination unit, which is used to determine the driving torque adjustment value of the driving device of the driving wheels other than the driving wheels in the wheeled mobile robot based on the driving torque correction value, wherein, when the wheeled mobile robot is a two-wheel drive mobile robot and is in a turning state, the driving torque adjustment value and the driving torque correction value are the same in size and opposite in sign; when the wheeled mobile robot is a two-wheel drive mobile robot and is in a non-steering state, the driving torque adjustment value and the driving torque correction value are the same.

In this embodiment, the wheeled mobile robot also includes a communication device; and the apparatus also includes: an uploading unit for uploading the operating data of the wheeled mobile robot to a target server through the communication device, wherein the operating data includes at least one of the following: the angular velocity of the driving wheel, the angular acceleration of the driving wheel, the rate of change of the angular acceleration of the driving wheel, and the response speed of the driving device. The target server is used to obtain the operating data and send the corresponding relationship between the angular acceleration, the rate of change of the angular acceleration and the driving torque correction value modified according to the operating data to the wheeled mobile robot.

In this embodiment, the wheeled mobile robot is a transport robot, and the operating data also includes the operating position information of the transport robot and the load information of the transport robot. The target server is also used to send to the transport robot the threshold value of the driving torque provided by the driving device determined according to the operating data; and the device also includes: a receiving unit for receiving the threshold value of the driving torque; a third control unit for controlling the driving device to provide a driving torque that is less than the threshold value of the driving torque.

In a third aspect, an embodiment of the present application provides a device comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the method described above in the first aspect.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, characterized in that when the program is executed by a processor, the method described above in the first aspect is implemented.

The control method and device for a wheeled mobile robot provided in the embodiments of the present application determine the angular acceleration change rate of the driving wheel based on the output value of the speed measuring device, and then determine that the driving wheel is slipping in response to determining that the angular acceleration change rate is greater than a preset threshold, thereby improving the efficiency of determining whether the driving wheel of the wheeled mobile robot is slipping.

BRIEF DESCRIPTION OF THE DRAWINGS

Other features, objects and advantages of the present application will become more apparent upon reading the detailed description of non-limiting embodiments made with reference to the following drawings:

FIG1 is a diagram of an exemplary system architecture in which the present application may be applied;

FIG2 is a schematic flow chart of an embodiment of a control method for a wheeled mobile robot according to the present application;

FIG3 is a schematic force analysis diagram of the driving wheel of the wheeled mobile robot of the present application;

FIG4 is an exemplary wheel distribution diagram of the wheeled mobile robot of the present application;

FIG5 is a schematic control logic diagram of an embodiment of a control method for a wheeled mobile robot according to the present application.

FIG6 is a schematic flow chart of another embodiment of a control method for a wheeled mobile robot according to the present application;

FIG7 is an exemplary structural diagram of an embodiment of a control device for a wheeled mobile robot according to the present application;

FIG8 is a schematic diagram of the structure of a computer system suitable for implementing the control device of an embodiment of the present application.

DETAILED DESCRIPTION

The present application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the relevant invention and are not intended to limit the invention. It should also be noted that, for ease of description, only portions relevant to the relevant invention are shown in the accompanying drawings.

It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

FIG1 shows an exemplary system architecture 100 to which an embodiment of a method for controlling a wheeled mobile robot or a device for controlling a wheeled mobile robot of the present application can be applied.

As shown in FIG1 , system architecture 100 may include a wheeled mobile robot 101, a network 102, and a server 103. Wheeled mobile robot 101 may include a drive wheel 1011, a speed measuring device 1012 disposed on drive wheel 1011, a drive device 1013 for providing a driving torque to drive wheel 1011, a control device 1014 for determining the angular acceleration rate of drive wheel 1011 based on an output value of speed measuring device 1012 and determining that drive wheel 1011 is slipping in response to the determined angular acceleration rate being greater than a preset threshold, and a communication device 1015 for transmitting data between control device 1014 and other devices. Control device 1014 may include a single-chip microcomputer or other device with data processing capabilities.

The network 102 is used to provide a medium for a transmission link between the wheeled mobile robot 101 and the server 103. The network 102 may include various connection types, such as wired or wireless transmission links or optical fiber cables.

The wheeled mobile robot 101 interacts with the server 103 via the network 102 to receive instructions or return responses, etc. The wheeled mobile robot 101 can be used for cargo handling and can load, unload and transport cargo according to instructions or cargo information sent by the server 103.

The server 103 may be a server that provides support for the operation of the wheeled mobile robot 101. The server 103 may send commands to the wheeled mobile robot 101 to manage the wheeled mobile robot 101. Specifically, the server 103 may obtain the operation data of the wheeled mobile robot 101. The operation data may include: the angular velocity of the driving wheel 1011, the angular acceleration of the driving wheel 1011, the angular acceleration change rate of the driving wheel 1011, and the response speed of the driving device 1013. The server may then send the corresponding relationship between the angular acceleration, the angular acceleration change rate and the driving torque correction value modified according to the operation data to the wheeled mobile robot 1011.

It should be noted that the control method of the wheeled mobile robot provided in the embodiment of the present application can be executed by the control device 1014, and accordingly, the control device of the wheeled mobile robot can be set in the control device 1014.

It should be understood that the number of wheeled mobile robots and their respective components, networks, and servers in Figure 1 is merely illustrative. Depending on implementation requirements, any number of wheeled mobile robots and their respective components, networks, and servers may be provided.

2 , a process 200 of an embodiment of a method for controlling a wheeled mobile robot according to the present application is shown. The method for controlling a wheeled mobile robot includes the following steps:

Step 201: Determine the angular acceleration change rate of the driving wheel according to the output value of the speed measuring device.

In this embodiment, the wheeled mobile robot includes a driving wheel, a speed measuring device disposed on the driving wheel, and a driving device that provides a driving torque to the driving wheel. The electronic device on which the control method of the wheeled mobile robot is running (e.g., the control device shown in FIG1 ) can determine the rate of change of the angular acceleration of the driving wheel based on the output value of the speed measuring device. The driving wheel, which can also be called an active wheel, is subjected to a forward ground friction force, providing a driving force for the movement of the robot. The speed measuring device can be an angular velocity sensor, a photoelectric speed measuring code disk, an angular acceleration sensor, etc. The driving device can be a motor, and can adopt a driving method such as an electric hydraulic drive or an electric pneumatic drive. The driving device can be connected to the driving wheel through a drive bridge, bearings, gears, etc. to provide a driving torque to the driving wheel. The speed measuring device can output the angular velocity or angular acceleration of the driving wheel. The above-mentioned electronic device can determine the rate of change of the angular acceleration of the driving wheel through differential calculation based on the output of the speed measuring device and related time information.

Step 202: In response to determining that the rate of change of the angular acceleration is greater than a preset threshold, it is determined that the drive wheel is slipping.

In this embodiment, the electronic device can determine that the drive wheel is slipping in response to the rate of change of angular acceleration determined in step 201 being greater than a preset threshold. As shown in Figure 3, when the wheeled mobile robot is moving at a speed V, the drive device provides a clockwise driving torque T, causing the drive wheel to rotate clockwise. The contact area between the drive wheel and the ground generates a tendency to move backward. The ground resists the movement of the drive wheel, generating a counterclockwise resistance torque. The forward friction force F provides the resistance torque to the drive wheel, which is opposite to the relative motion between the drive wheel and the ground and acts as the traction force for the robot's forward movement. When the wheeled mobile robot slips, the friction force provided by the ground on the drive wheel suddenly decreases, and the resistance torque also decreases. However, the driving torque remains unchanged. Therefore, the sum of the driving torque and the resistance torque will cause the drive wheel to generate an angular acceleration. In this case, the feedback value of the speed measuring device, such as the photoelectric encoder, cannot be used as a reference value for position control, but it can still be used to measure the angular velocity or angular acceleration of the wheel. Compared to changes in angular velocity, changes in angular acceleration are easier to monitor and observe. During slipping, angular acceleration undergoes a sudden change relative to normal operation, meaning the rate of change of angular acceleration exceeds a preset threshold. This threshold can be determined based on the angular acceleration rate of change during normal operation, as documented in the wheeled mobile robot's historical operating records, or through experimentation. The threshold can be updated as needed, with the server distributing the updated threshold to the wheeled mobile robot.

In some optional implementations of this embodiment, the method further includes: in response to determining that the driving wheel is slipping, controlling the driving device to reduce the driving torque.

In this implementation, the driving torque can be reduced according to pre-set rules. For example, when the angular acceleration value is within a certain range, the driving torque is reduced by a certain amount. Alternatively, the driving torque can be gradually reduced by a pre-set amount until the rate of change of angular acceleration does not exceed a preset threshold. By controlling the driving device to reduce the driving torque, the problem of reduced operating efficiency of the wheeled mobile robot caused by idling of the drive wheels is further avoided.

In some optional implementations of this embodiment, the method also includes: determining the angular acceleration of the driving wheel based on the output value of the speed measuring device; determining the driving torque correction value corresponding to the angular acceleration and the angular acceleration change rate based on the preset correspondence between the angular acceleration, the angular acceleration change rate and the driving torque correction value; and controlling the driving device to provide the driving torque corrected according to the determined driving torque correction value.

In this implementation, the correspondence between angular acceleration, the rate of change of angular acceleration, and the drive torque correction value can be pre-stored in the wheeled mobile robot's storage medium or retrieved from a server. The server can determine the magnitude of the drive torque during normal operation based on the correspondence between the angular acceleration, the rate of change of angular acceleration, and the drive torque during normal operation in the wheeled mobile robot's historical operation records. The control device can then correct the magnitude of the drive torque currently provided by the driver accordingly. Furthermore, since friction torque is related to the drive wheel load, the material properties of the drive wheel and the operating area, and the surface conditions (roughness, humidity, etc.), the drive torque correction value of the wheeled mobile robot can also be determined based on the drive wheel load and the operating area.

In some optional implementations of this embodiment, the wheeled mobile robot also includes other driving wheels in addition to the driving wheels; and the method also includes: determining the driving torque adjustment value of the driving device of the other driving wheels based on the driving torque correction value, wherein, when the wheeled mobile robot is a two-wheel drive mobile robot and is in a turning state, the driving torque adjustment value and the driving torque correction value are the same in size and opposite in sign; when the wheeled mobile robot is a two-wheel drive mobile robot and is in a non-steering state, the driving torque adjustment value and the driving torque correction value are the same.

In this implementation, since a wheeled mobile robot needs to maintain a certain state of motion (turning or moving straight), in addition to the drive wheel whose driving torque has been adjusted, the other drive wheels also need to be adjusted accordingly. Taking a two-wheel drive mobile robot as an example, its chassis wheel distribution can be shown in Figure 4. The two-wheel drive mobile robot chassis 401 is provided with four driven wheels 4011 and two driving wheels 4012. The driven wheels 4011 can make the robot's operation more stable. The two-wheel drive mobile robot can adopt differential control, that is, when moving straight, the speed of the two drive wheels is exactly the same in magnitude and direction. When turning in place, the speed of the two wheels is the same in magnitude but in opposite directions. Therefore, when adjusting the driving torque of one drive wheel, the same adjustment amount of the same magnitude should also be issued to the other drive wheel. Among them, the adjustment amount is in the same direction when moving straight, and in opposite directions when turning.

In some optional implementations of this embodiment, the wheeled mobile robot also includes a communication device; and the method also includes: uploading the operating data of the wheeled mobile robot to a target server through the communication device, wherein the operating data includes at least one of the following: the angular velocity of the driving wheel, the angular acceleration of the driving wheel, the angular acceleration change rate of the driving wheel, and the response speed of the driving device. The target server is used to obtain the operating data and send the corresponding relationship between the angular acceleration, the angular acceleration change rate and the driving torque correction value modified according to the operating data to the wheeled mobile robot.

In this implementation, the target server is the background server of the wheeled mobile robot, such as the server shown in FIG1 , and by feeding back actual operating data to the server, the server can adjust the above correspondence and further optimize the control of the wheeled mobile robot.

In some optional implementations of this embodiment, the wheeled mobile robot is a transport robot, the operating data also includes the operating position information of the transport robot and the load information of the transport robot, and the target server is also used to send to the transport robot a threshold value of the driving torque provided by the driving device determined according to the operating data; and the method also includes: receiving the threshold value of the driving torque; controlling the driving device to provide a driving torque that is less than the threshold value of the driving torque.

In this implementation, since the load of the handling robot is variable and it needs to adapt to the floors of different flatness and roughness in various new and old warehouses, its operation is relatively complicated. The threshold of its driving torque is determined based on the operating position information and load information of the handling robot to prevent it from slipping.

The method provided in the above-mentioned embodiment of the present application determines the angular acceleration change rate of the driving wheel based on the output value of the speed measuring device, and then determines that the driving wheel is slipping in response to determining that the angular acceleration change rate is greater than a preset threshold, thereby improving the efficiency of determining whether the driving wheel of the wheeled mobile robot is slipping.

Please refer to FIG. 6 , which is a flow chart of another embodiment of the control method for the wheeled mobile robot according to this embodiment.

In FIG6 , the process 600 of the control method of the wheeled mobile robot includes the following steps:

Step 601: Determine the angular acceleration change rate of the driving wheel according to the output value of the speed measuring device.

In this embodiment, the wheeled mobile robot includes a driving wheel, a speed measuring device arranged on the driving wheel, and a driving device that provides driving torque to the driving wheel. The electronic device on which the control method of the wheeled mobile robot runs (such as the control device shown in Figure 1) can determine the angular acceleration change rate of the driving wheel based on the output value of the speed measuring device.

Step 602: In response to determining that the rate of change of the angular acceleration is greater than a preset threshold, it is determined that the driving wheel is slipping.

In this embodiment, the electronic device may determine that the driving wheel is slipping in response to the angular acceleration change rate determined in step 601 being greater than a preset threshold.

Step 603: Obtain the angular velocity at regular intervals, and perform differential calculation on the angular velocity to obtain the angular acceleration and the rate of change of the angular acceleration.

In this embodiment, the electronic device can periodically obtain angular velocity, perform differential calculations on the angular velocity, and obtain angular acceleration and angular acceleration change rate. As shown in Figure 5, it shows the logical process of controlling the wheeled mobile robot. T is the original driving torque input value. In each control cycle, the speed measuring device feeds the angular velocity ω back to the comparator, which puts it into the stack and performs differential calculations to obtain angular acceleration and angular acceleration change rate.

Step 604: Determine the driving torque correction value corresponding to the angular acceleration and the angular acceleration change rate according to the fuzzy control rule table.

In this embodiment, the electronic device can determine the driving torque correction value corresponding to the angular acceleration and angular acceleration change rate obtained in step 603 based on the fuzzy control rule table. The angular acceleration and angular acceleration change rate serve as inputs to the fuzzy controller. They are first fuzzified and then subjected to fuzzy inference according to the fuzzy control rules to produce a fuzzy output. Finally, the fuzzification is performed to obtain the driving torque correction value ΔT, which serves as negative feedback to correct the driving torque input value T, thereby achieving control of the wheeled mobile robot.

Each input variable and output variable ΔT in the fuzzy controller is defined as seven linguistic variable values according to its respective domain: negative large (NB), negative medium (NM), negative small (NS), zero (ZE), positive small (PS), positive medium (PM), and positive large (PB). The fuzzy control rule table is as follows:

Table 1

During actual operation, the fuzzy control rule table can be adjusted appropriately based on the wheeled mobile robot's operating conditions and the response of the drive unit. After the fuzzy controller performs fuzzy inference according to the rules and defuzzifies them, it can determine the adjustment value for the drive torque. Normally, if the drive wheel slip is detected, the control device will reduce the input drive torque to ensure that it does not exceed the maximum resistance torque provided by the ground. If the drive wheel encounters an obstacle, the drive torque can also be appropriately increased to ensure that the robot passes the process point more smoothly.

The implementation details and technical effects of steps 601 to 602 can be referred to the descriptions of steps 201 to 202 and will not be repeated here.

As can be seen from Figure 6, compared to the embodiment corresponding to Figure 2, the control method process 600 of the wheeled mobile robot in this embodiment highlights the fuzzy control steps of the wheeled mobile robot. Therefore, the solution described in this embodiment better ensures that the wheeled mobile robot runs smoothly according to the designed trajectory.

With further reference to FIG7 , as an implementation of the above method, the present application provides an embodiment of a control device for a wheeled mobile robot. The device embodiment corresponds to the method embodiment shown in FIG2 , and the device can be specifically applied to various electronic devices.

As shown in Figure 7, the control device 700 of the wheeled mobile robot of this embodiment includes: a first determination unit 701 and a second determination unit 702, wherein the first determination unit 701 is used to determine the angular acceleration change rate of the driving wheel according to the output value of the speed measuring device; the second determination unit 702 is used to determine that the driving wheel is slipping in response to determining that the angular acceleration change rate is greater than a preset threshold.

In this embodiment, the specific processing of the first determining unit 701 and the second determining unit 702 can refer to the detailed description of step 201 and step 202 of the corresponding embodiment in FIG. 2 , which will not be repeated here.

In some optional implementations of this embodiment, the device further includes: a first control unit (not shown in the figure), which is used to control the driving device to reduce the driving torque in response to determining that the driving wheel is slipping.

In some optional implementations of this embodiment, the device also includes: a third determination unit (not shown in the figure), used to determine the angular acceleration of the driving wheel based on the output value of the speed measuring device; a fourth determination unit (not shown in the figure), used to determine the driving torque correction value corresponding to the angular acceleration and the angular acceleration change rate based on the preset correspondence between the angular acceleration, the angular acceleration change rate and the driving torque correction value; a second control unit (not shown in the figure), used to control the driving device to provide the driving torque corrected according to the determined driving torque correction value.

In some optional implementations of this embodiment, the speed measuring device is used to measure and output the angular velocity of the driving wheel at predetermined intervals, and the corresponding relationship is stored in the fuzzy control rule table; and the fourth determination unit (not shown in the figure) is further configured to: obtain the angular velocity at regular intervals, differentiate the angular velocity to obtain the angular acceleration and the rate of change of angular acceleration; and determine the driving torque correction value corresponding to the angular acceleration and the rate of change of angular acceleration according to the fuzzy control rule table.

In some optional implementations of this embodiment, the wheeled mobile robot also includes other driving wheels in addition to the driving wheels; and the device also includes: a fifth determination unit (not shown in the figure), which is used to determine the driving torque adjustment value of the driving device of the driving wheels other than the driving wheels in the wheeled mobile robot based on the driving torque correction value, wherein, when the wheeled mobile robot is a two-wheel drive mobile robot and is in a turning state, the driving torque adjustment value and the driving torque correction value are the same in size and opposite in sign, and when the wheeled mobile robot is a two-wheel drive mobile robot and is in a non-steering state, the driving torque adjustment value and the driving torque correction value are the same in size and opposite in sign; when the wheeled mobile robot is a two-wheel drive mobile robot and is in a non-steering state, the driving torque adjustment value and the driving torque correction value are the same.

In some optional implementations of this embodiment, the wheeled mobile robot also includes a communication device; and the device also includes: an uploading unit (not shown in the figure), which is used to upload the operating data of the wheeled mobile robot to the target server through the communication device, wherein the operating data includes at least one of the following: the angular velocity of the driving wheel, the angular acceleration of the driving wheel, the angular acceleration change rate of the driving wheel, and the response speed of the driving device. The target server is used to obtain the operating data and send the wheeled mobile robot the corresponding relationship between the angular acceleration, the angular acceleration change rate and the driving torque correction value modified according to the operating data.

In some optional implementations of this embodiment, the wheeled mobile robot is a transport robot, the operating data also includes the operating position information of the transport robot and the load information of the transport robot, and the target server is also used to send to the transport robot a threshold value of the driving torque provided by the driving device determined according to the operating data; and the device also includes: a receiving unit (not shown in the figure), which is used to receive the threshold value of the driving torque; and a third control unit (not shown in the figure), which is used to control the driving device to provide a driving torque that is less than the threshold value of the driving torque.

As can be seen from Figure 7, the control device 700 of the wheeled mobile robot in this embodiment determines the angular acceleration change rate of the driving wheel based on the output value of the speed measuring device, and then determines that the driving wheel is slipping in response to determining that the angular acceleration change rate is greater than the preset threshold value, thereby improving the efficiency of determining whether the driving wheel of the wheeled mobile robot is slipping.

8, which shows a schematic diagram of a computer system 800 suitable for implementing a control device according to an embodiment of the present invention. The control device shown in FIG8 is merely an example and should not limit the functionality and scope of use of the embodiment of the present invention.

As shown in FIG8 , a computer system 800 includes a central processing unit (CPU) 801, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage unit 808 into a random access memory (RAM) 803. Various programs and data required for the operation of the system 800 are also stored in the RAM 803. The CPU 801, the ROM 802, and the RAM 803 are connected to each other via a bus 804. An input/output (I/O) interface 805 is also connected to the bus 804.

The following components are connected to the I/O interface 805: an input section 806 including a keyboard, a mouse, and the like; an output section 807 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and speakers; a storage section 808 including a hard disk; and a communication section 809 including a network interface card such as a LAN card or a modem. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to the I/O interface 806 as needed. A removable medium 811, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 810 as needed, so that computer programs read therefrom can be installed into the storage section 808 as needed.

In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 809, and/or installed from the removable medium 811. When the computer program is executed by the central processing unit (CPU) 801, the above-mentioned functions defined in the method of the present application are executed. It should be noted that the computer-readable medium described in the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code embodied on a computer-readable medium may be transmitted using any suitable medium, including, but not limited to, wireless, wire, optical cable, RF, etc., or any suitable combination thereof.

The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a unit, program segment or a part of code, and the unit, program segment or a part of code includes one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and/or flow chart, and the combination of the boxes in the block diagram and/or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

The units described in the embodiments of this application may be implemented in software or hardware. The units described may also be provided in a processor. For example, they may be described as follows: a processor includes a first determination unit and a second determination unit. The names of these units do not, in some cases, limit the units themselves. For example, the first determination unit may also be described as "a unit for determining the rate of change of the angular acceleration of the drive wheel based on the output value of the speed measuring device."

As another aspect, the present application further provides a non-volatile computer storage medium, which may be the non-volatile computer storage medium included in the device described in the above embodiment; or a standalone non-volatile computer storage medium not incorporated into the control device. The non-volatile computer storage medium stores one or more programs, which, when executed by a device, cause the device to: determine the angular acceleration rate of the drive wheel based on the output value of the speed measuring device; and, in response to determining that the angular acceleration rate of change is greater than a preset threshold, determine that the drive wheel is slipping.

The above description is merely a preferred embodiment of the present application and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of the invention herein is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also encompasses other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the inventive concept. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features having similar functions disclosed in this application.

Claims (14)

1. A control method for a wheeled mobile robot, the wheeled mobile robot comprising a drive wheel, a speed measuring device disposed on the drive wheel, and a driving device for providing driving torque to the drive wheel, characterized in that the method comprises: The rate of change of angular acceleration of the drive wheel is determined based on the output value of the speed measuring device; In response to determining that the rate of change of angular acceleration is greater than a preset threshold, it is determined that the drive wheel is slipping; The method further includes: The angular acceleration of the drive wheel is determined based on the output value of the speed measuring device; Based on the pre-set correspondence between angular acceleration, rate of change of angular acceleration and driving torque correction value, determine the driving torque correction value corresponding to the angular acceleration and the rate of change of angular acceleration; The drive device is controlled to provide a drive torque corrected according to a determined drive torque correction value. 2. The method according to claim 1, characterized in that the method further comprises: In response to determining that the drive wheel is slipping, the drive device is controlled to reduce the drive torque. 3. The method according to claim 1, wherein the speed measuring device is used to measure and output the angular velocity of the drive wheel at predetermined time intervals, and the correspondence is stored in a fuzzy control rule table; and The step of determining the driving torque correction value corresponding to the angular acceleration and the rate of change of angular acceleration based on a pre-set correspondence between angular acceleration, angular acceleration change rate, and driving torque correction value includes: The angular velocity is acquired periodically, and the angular acceleration and the rate of change of angular acceleration are obtained by differential calculation of the angular velocity. Based on the fuzzy control rule table, determine the driving torque correction values corresponding to the angular acceleration and the rate of change of angular acceleration. 4. The method according to any one of claims 1-3, characterized in that the wheeled mobile robot further includes other drive wheels besides the drive wheels; and The method further includes: Based on the driving torque correction value, the driving torque adjustment value of the driving device of the other driving wheels is determined. When the wheeled mobile robot is a two-wheel drive mobile robot and is in a turning state, the driving torque adjustment value and the driving torque correction value are the same in magnitude but opposite in sign. When the wheeled mobile robot is a two-wheel drive mobile robot and is in a non-turning state, the driving torque adjustment value and the driving torque correction value are the same. 5. The method according to any one of claims 1-3, characterized in that the wheeled mobile robot further includes a communication device; and The method further includes: The communication device uploads the operation data of the wheeled mobile robot to the target server. The operation data includes at least one of the following: angular velocity of the drive wheel, angular acceleration of the drive wheel, rate of change of angular acceleration of the drive wheel, and response speed of the drive device. The target server is used to acquire the operation data and send the wheeled mobile robot the correspondence between the modified angular acceleration, rate of change of angular acceleration and drive torque correction value based on the operation data. 6. The method according to claim 5, wherein the wheeled mobile robot is a transport robot, the operating data further includes the operating position information and load information of the transport robot, and the target server is further configured to issue a threshold value of the driving torque provided by the driving device determined according to the operating data to the transport robot; and The method further includes: The threshold value for receiving the driving torque; The driving device is controlled to provide a driving torque less than a threshold value for the driving torque. 7. A control device for a wheeled mobile robot, the wheeled mobile robot comprising a drive wheel, a speed measuring device disposed on the drive wheel, and a driving device for providing driving torque to the drive wheel, characterized in that the device comprises: The first determining unit is used to determine the rate of change of angular acceleration of the drive wheel based on the output value of the speed measuring device; The second determining unit is used to determine that the drive wheel is slipping in response to determining that the rate of change of angular acceleration is greater than a preset threshold. The device further includes: The third determining unit is used to determine the angular acceleration of the drive wheel based on the output value of the speed measuring device; The fourth determining unit is used to determine the driving torque correction value corresponding to the angular acceleration and the angular acceleration change rate according to the pre-set correspondence between angular acceleration, angular acceleration change rate and driving torque correction value; The second control unit is used to control the driving device to provide a driving torque corrected according to the determined driving torque correction value. 8. The apparatus according to claim 7, wherein the apparatus further comprises: A first control unit is configured to control the driving device to reduce the driving torque in response to determining that the drive wheel is slipping. 9. The apparatus according to claim 8, wherein the speed measuring device is used to measure and output the angular velocity of the drive wheel at predetermined time intervals, and the correspondence is stored in a fuzzy control rule table; and The fourth determining unit is further configured to: The angular velocity is acquired periodically, and the angular acceleration and the rate of change of angular acceleration are obtained by differential calculation of the angular velocity. Based on the fuzzy control rule table, determine the driving torque correction values corresponding to the angular acceleration and the rate of change of angular acceleration. 10. The apparatus according to any one of claims 7-9, characterized in that the wheeled mobile robot further includes other drive wheels besides the drive wheels; and The device further includes: The fifth determining unit is used to determine the driving torque adjustment value of the driving components of the driving wheels other than the driving wheel in the wheeled mobile robot according to the driving torque correction value. When the wheeled mobile robot is a two-wheel drive mobile robot and is in a turning state, the driving torque adjustment value and the driving torque correction value are the same in magnitude but opposite in sign. When the wheeled mobile robot is a two-wheel drive mobile robot and is in a non-turning state, the driving torque adjustment value and the driving torque correction value are the same. 11. The apparatus according to any one of claims 7-9, characterized in that the wheeled mobile robot further comprises a communication device; and The device further includes: The uploading unit is used to upload the operation data of the wheeled mobile robot to the target server through the communication device. The operation data includes at least one of the following: angular velocity of the drive wheel, angular acceleration of the drive wheel, rate of change of angular acceleration of the drive wheel, and response speed of the drive device. The target server is used to acquire the operation data and send the wheeled mobile robot the correspondence between the modified angular acceleration, rate of change of angular acceleration and drive torque correction value based on the operation data. 12. The apparatus according to claim 11, wherein the wheeled mobile robot is a transport robot, the operating data further includes the operating position information of the transport robot and the load information of the transport robot, and the target server is further configured to issue a threshold value of the driving torque provided by the driving device determined according to the operating data to the transport robot; and The device further includes: A receiving unit is used to receive the threshold value of the driving torque; The third control unit is used to control the driving device to provide a driving torque that is less than a threshold value of the driving torque. 13. A wheeled mobile robot, characterized in that it comprises: One or more processors; Storage device for storing one or more programs; A drive wheel, on which a speed measuring device is installed; A driving mechanism for providing driving torque to the drive wheel; When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1-6. 14. A computer-readable storage medium having a computer program stored thereon, characterized in that the program, when executed by a processor, implements the method as described in any one of claims 1-6.