WO2018188583A1 - 轮式移动机器人的控制方法和装置 - Google Patents

轮式移动机器人的控制方法和装置 Download PDF

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Publication number
WO2018188583A1
WO2018188583A1 PCT/CN2018/082488 CN2018082488W WO2018188583A1 WO 2018188583 A1 WO2018188583 A1 WO 2018188583A1 CN 2018082488 W CN2018082488 W CN 2018082488W WO 2018188583 A1 WO2018188583 A1 WO 2018188583A1
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WIPO (PCT)
Prior art keywords
driving
angular acceleration
mobile robot
driving torque
driving wheel
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.)
Ceased
Application number
PCT/CN2018/082488
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English (en)
French (fr)
Inventor
霍峰
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 Jingdong Century Trading Co Ltd
Beijing Jingdong Shangke Information Technology Co Ltd
Original Assignee
Beijing Jingdong Century Trading Co Ltd
Beijing Jingdong Shangke Information Technology Co Ltd
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Publication of WO2018188583A1 publication Critical patent/WO2018188583A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal

Definitions

  • the present application relates to the field of robot control, and more particularly to a control method and apparatus for a wheeled mobile robot.
  • the mobile mechanisms mainly include wheeled, crawler, leg and composite. Wheeled mobile robots are widely used in industrial, agricultural, space exploration and other fields due to their advantages of light weight, large load capacity, simple mechanism, relatively convenient driving and control, fast walking speed and flexibility. The operation of wheeled mobile robots needs to adapt to a variety of different flatness and roughness of the ground, so slipping has become a problem that must be solved.
  • the wheeled mobile robot generally includes a driving wheel and a driven wheel. At present, it is mainly judged whether the slip phenomenon occurs by comparing the speeds of the driving wheel and the driven wheel of the wheeled mobile robot, or the speed of the robot body and the driving wheel.
  • the purpose of the present application is to propose an improved method and apparatus for controlling a wheeled mobile robot to solve the technical problems mentioned in the background art above.
  • an embodiment of the present application provides a method for controlling a wheeled mobile robot, the wheeled mobile robot comprising a driving wheel, a speed measuring device disposed on the driving wheel, and a driving device for providing driving torque to the driving wheel, the method comprising : determining an angular acceleration change rate of the driving wheel according to the output value of the speed measuring device; determining that the driving wheel is slipping in response to determining that the angular acceleration change rate is greater than a preset threshold.
  • the method further includes: controlling the driving device to reduce the driving torque in response to determining that the driving wheel has a slip phenomenon.
  • the method further includes: determining an angular acceleration of the driving wheel according to the output value of the speed measuring device; determining the angular acceleration and the angular acceleration according to the preset angular acceleration, the angular acceleration change rate, and the driving torque correction value.
  • the drive torque correction value corresponding to the rate; the control drive device provides the drive torque corrected according to the determined drive torque correction value.
  • the wheeled mobile robot further includes other driving wheels except the driving wheels; and the method further includes: determining driving torque adjustment values of the driving devices of the other driving wheels according to the driving torque correction value, wherein, when the wheel type When the mobile robot is a two-wheel drive mobile robot and is in the steering state, the driving torque adjustment value is the same as the driving torque correction value, and the positive and negative are opposite.
  • the driving torque is The adjustment value is the same as the drive torque correction value.
  • the wheeled mobile robot further includes a communication device; and the method further includes: uploading, by the communication device, the operation data of the wheeled mobile robot to the target server, wherein the operation data includes at least one of the following: an angular velocity of the driving wheel
  • the angular acceleration of the driving wheel, the angular acceleration rate of the driving wheel, and the response speed of the driving device, the target server is used to obtain the running data, and the angular acceleration and angular acceleration rate modified according to the operating data are issued to the wheeled mobile robot.
  • the drive torque correction value correspondence with the drive torque correction value.
  • the wheeled mobile robot is a transport robot
  • the operation data further includes operation position information of the transport robot and load information of the transport robot
  • the target server is further configured to deliver the drive device according to the operation data determined by the operation data to the transport robot.
  • a threshold of driving torque a threshold of driving torque; and the method further comprising: receiving a threshold of the driving torque; and controlling the driving device to provide a driving torque that is less than a threshold of the driving torque.
  • an embodiment of the present application provides a control device for a wheeled mobile robot.
  • the wheeled mobile robot includes a driving wheel, a speed measuring device disposed on the driving wheel, and a driving device for providing driving torque to the driving wheel, and the device includes a first determining unit, configured to determine an angular acceleration change rate of the driving wheel according to an output value of the speed measuring device; and a second determining unit, configured to determine that the driving wheel has a slip phenomenon in response to determining that the angular acceleration change rate is greater than a preset threshold.
  • the apparatus further includes: a first control unit configured to control the driving device to reduce the driving torque in response to determining that the driving wheel has a slip phenomenon.
  • the apparatus further includes: a third determining unit, configured to determine an angular acceleration of the driving wheel according to an output value of the speed measuring device; and a fourth determining unit, configured to change and rate the angular acceleration according to a preset angular acceleration
  • the corresponding relationship between the torque correction values determines a driving torque correction value corresponding to the angular acceleration and the angular acceleration change rate
  • the second control unit is configured to control the driving device to provide the driving torque corrected according to the determined driving torque correction value.
  • the speed measuring device is configured to measure and output the angular velocity of the driving wheel every predetermined time, the corresponding relationship is stored in the fuzzy control rule table; and the fourth determining unit is further configured to: periodically acquire the angular velocity, and perform the angular velocity
  • the differential acceleration calculates the angular acceleration and the angular acceleration change rate; according to the fuzzy control rule table, the correction value of the driving torque corresponding to the angular acceleration and the angular acceleration change rate is determined.
  • the wheeled mobile robot further includes other driving wheels except the driving wheel; and the device further includes: a fifth determining unit, configured to determine, in addition to the driving wheel, the wheeled mobile robot according to the driving torque correction value
  • the driving torque adjustment value of the driving device of the other driving wheel wherein when the wheeled mobile robot is a two-wheel driving mobile robot and is in a steering state, the driving torque adjustment value is the same as the driving torque correction value, and the positive and negative are opposite when the wheel type When the mobile robot is a two-wheel drive mobile robot and is in a non-steering state, the driving torque adjustment value is the same as the driving torque correction value.
  • the wheeled mobile robot further includes a communication device; and the device further includes: an uploading unit, configured to upload the running data of the wheeled mobile robot to the target server by using the communication device, wherein the operating data includes at least one of the following : angular velocity of the driving wheel, angular acceleration of the driving wheel, angular acceleration rate of the driving wheel, response speed of the driving device, the target server is used to acquire the running data, and the angular acceleration modified according to the operating data is issued to the wheeled mobile robot. Correspondence between the rate of change of the angular acceleration and the correction value of the driving torque.
  • the wheeled mobile robot is a transport robot
  • the operation data further includes operation position information of the transport robot and load information of the transport robot
  • the target server is further configured to deliver the drive device according to the operation data determined by the operation data to the transport robot.
  • the threshold of the driving torque; and the device further includes: a receiving unit configured to receive a threshold of the driving torque; and a third control unit configured to control the driving device to provide a driving torque that is less than a threshold of the driving torque.
  • an embodiment of the present application provides an apparatus, including: one or more processors; and a storage device, configured to store one or more programs, when the one or more programs are used by the one or more processors Executing such that the one or more processors described above implement the method as described above in the first aspect.
  • an embodiment of the present application provides a computer readable storage medium having stored thereon a computer program, wherein the program is executed by a processor to implement the method as described in the first aspect.
  • the method and device for controlling a wheeled mobile robot determines the angular acceleration change rate of the driving wheel according to the output value of the speed measuring device, and then determines that the driving wheel appears to slip in response to determining that the angular acceleration change rate is greater than a preset threshold.
  • the phenomenon improves the efficiency of determining whether the driving wheel of the wheeled mobile robot has a slip phenomenon.
  • FIG. 1 is an exemplary system architecture diagram to which the present application can be applied;
  • FIG. 2 is a schematic flow chart of one embodiment of a control method of a wheeled mobile robot according to the present application
  • FIG. 3 is a schematic force analysis diagram of a driving wheel of the wheeled mobile robot of the present application.
  • FIG. 5 is a schematic control logic diagram of one embodiment of a control method of a wheeled mobile robot according to the present application.
  • FIG. 6 is a schematic flow chart of still another embodiment of a control method of a wheeled mobile robot according to the present application.
  • FIG. 7 is an exemplary structural diagram of one embodiment of a control device for a wheeled mobile robot according to the present application.
  • FIG. 8 is a block diagram showing the structure of a computer system suitable for implementing the control device of the embodiment of the present application.
  • FIG. 1 shows an exemplary system architecture 100 of an embodiment of a control method of a wheeled mobile robot or a control device of a wheeled mobile robot to which the present application can be applied.
  • system architecture 100 can include wheeled mobile robot 101, network 102, and server 103.
  • the wheeled mobile robot 101 may include a driving wheel 1011, a speed measuring device 1012 disposed on the driving wheel 1011, and a driving device 1013 for providing a driving torque to the driving wheel 1011 for determining the driving wheel 1011 according to the output value of the speed measuring device 1012.
  • the rate of change of angular acceleration and in response to the determined rate of change of angular acceleration being greater than a predetermined threshold, determines a control device 1014 in which the drive wheel 1011 exhibits a slip phenomenon, and a communication device 1015 for controlling data transfer between the device 1014 and other devices.
  • Control device 1014 can include a microcontroller or other device having data processing functionality.
  • the network 102 is used to provide a medium for the transmission link between the wheeled mobile robot 101 and the server 103.
  • the network 102 can include various types of connections, such as wired, wireless transmission links, or fiber optic cables, and the like.
  • the wheeled mobile robot 101 interacts with the server 103 via the network 102 to receive an instruction or return a response or the like.
  • the wheeled mobile robot 101 can be used for cargo handling, and can be loaded, unloaded, and transported according to instructions or cargo information sent from the server 103.
  • the server 103 may be a server that provides support for the operation of the wheeled mobile robot 101, and the server 103 may send a command to the wheeled mobile robot 101 to manage the wheeled mobile robot 101. Specifically, the server 103 may acquire the wheeled mobile robot 101.
  • the running data, the running data may include: an angular velocity of the driving wheel 1011, an angular acceleration of the driving wheel 1011, an angular acceleration change rate of the driving wheel 1011, a response speed of the driving device 1013, and the server may issue the data to the wheeled mobile robot 1011. Correspondence between angular acceleration, angular acceleration change rate and drive torque correction value after the modified data.
  • control method of the wheeled mobile robot provided by the embodiment of the present application may be performed by the control device 1014. Accordingly, the control device of the wheeled mobile robot may be disposed in the control device 1014.
  • wheeled mobile robots in Figure 1 and their various components, networks, and servers is merely illustrative. Depending on the needs of the implementation, there may be any number of wheeled mobile robots and their various components, networks and servers.
  • the control method of the wheeled mobile robot comprises the following steps:
  • Step 201 Determine an angular acceleration change rate of the driving wheel according to an output value of the speed measuring device.
  • the wheeled mobile robot includes a driving wheel, a speed measuring device disposed on the driving wheel, a driving device for providing driving torque to the driving wheel, and an electronic device on which the control method of the wheeled mobile robot runs (for example, The control device shown in 1) can determine the angular acceleration change rate of the drive wheel based on the output value of the speed measuring device.
  • the drive wheel which may also be referred to as a drive wheel, is subjected to ground friction to provide a driving force for the robot to travel.
  • the speed measuring device may be an angular velocity sensor, a photoelectric speed dial, an angular acceleration sensor, or the like.
  • the driving device may be a motor, and may be driven by an electronically controlled hydraulic drive or an electronically controlled pneumatic drive.
  • the drive device may be connected to the drive wheel through a drive axle, a bearing, a gear, or the like to provide a drive torque to the drive wheel.
  • the speed measuring device can output the angular velocity or the angular acceleration of the driving wheel, and the electronic device can determine the angular acceleration change rate of the driving wheel by differential calculation according to the output of the speed measuring device and the related time information.
  • Step 202 Determine, in response to determining that the angular acceleration change rate is greater than a preset threshold, determining that the driving wheel has a slip phenomenon.
  • the electronic device may determine that the driving wheel is slipping in response to the angular acceleration change rate determined in step 201 being greater than a preset threshold.
  • the driving device gives a clockwise driving torque T, which causes the driving wheel to rotate clockwise, and the driving wheel contacts the ground to generate a backward movement.
  • the trend is that the ground has to hinder the movement of the drive wheel, creating a counter-clockwise resistance torque.
  • the resistance to the drive wheel is the forward friction force F, which is opposite to the relative movement direction of the drive wheel and the ground. Forward traction.
  • the drive wheel produces an angular acceleration.
  • the feedback value of the speed measuring device such as the photoelectric encoder cannot be used as a reference for position control, but it can still be used to measure the angular velocity or angular acceleration of the wheel. Relative to the change of angular velocity, the change of angular acceleration is easier to monitor and observe. Compared with the normal operating state, the angular acceleration will be abrupt when slipping, that is, the rate of change of angular acceleration will be greater than the preset threshold.
  • the preset threshold can be determined according to the rate of change of the angular acceleration during normal operation in the historical running record of the wheeled mobile robot, or can be determined according to experiments.
  • the preset threshold can be updated according to actual needs, and the updated preset threshold can be sent by the server to the wheeled mobile robot.
  • the method further includes controlling the driving device to reduce the driving torque in response to determining that the driving wheel is slipping.
  • the driving torque can be reduced according to a preset rule. For example, when the value of the angular acceleration is within a certain range, the driving torque of a certain magnitude is reduced, and the driving torque can be gradually reduced according to the preset amplitude. Until the angular acceleration rate of change is not greater than a preset threshold.
  • the method further includes: determining an angular acceleration of the driving wheel according to an output value of the speed measuring device; determining according to a preset relationship between an angular acceleration, an angular acceleration change rate, and a driving torque correction value.
  • the driving torque correction value corresponding to the angular acceleration and the angular acceleration change rate; the control driving device provides the driving torque corrected according to the determined driving torque correction value.
  • the correspondence between the angular acceleration, the angular acceleration change rate, and the drive torque correction value may be stored in advance in the storage medium of the wheeled mobile robot or acquired from the server.
  • the server can determine the driving torque during normal operation according to the angular acceleration of the normal running operation of the wheeled mobile robot, the relationship between the angular acceleration rate and the driving torque, and the control device can correct the current driving device according to the current driving device.
  • the magnitude of the driving torque since the friction torque is related to the driving wheel load, the material properties of the driving wheel and the running area, and the surface condition (roughness, humidity, etc.), the driving torque of the wheeled mobile robot can also be determined according to the driving wheel load and its operating region. Correction value.
  • the wheeled mobile robot further includes other drive wheels other than the drive wheels; and the method further includes: determining a drive torque adjustment value of the drive device of the other drive wheels according to the drive torque correction value
  • the driving torque adjustment value is the same as the driving torque correction value
  • the positive and negative are opposite when the wheeled mobile robot is a two-wheeled mobile robot and is in a non- In the steering state
  • the drive torque adjustment value is the same as the drive torque correction value.
  • the chassis wheel distribution can be as shown in FIG. 4, and the two-wheel drive mobile robot chassis 401 is provided with four driven wheels 4011 and two driving wheels 4012.
  • the driven wheel 4011 can make the operation of the robot more stable.
  • the two-wheel drive mobile robot can adopt differential control, that is, the speed direction of the two driving wheels is exactly the same when going straight, and the two wheels have the same magnitude and opposite direction when the vehicle is turned in place. Therefore, when the driving torque of one driving wheel is adjusted, the same amount of adjustment is also applied to the other driving wheel. Among them, the direction of the adjustment is the same when going straight, and the direction is opposite when turning.
  • the wheeled mobile robot further includes a communication device; and the method further includes: uploading, by the communication device, the operational data of the wheeled mobile robot to the target server, wherein the operational data includes at least one of the following Item: angular velocity of the driving wheel, angular acceleration of the driving wheel, angular acceleration rate of the driving wheel, response speed of the driving device, the target server is used to acquire the running data, and the modified corner according to the operating data is issued to the wheeled mobile robot Correspondence between acceleration rate, angular acceleration change rate and drive torque correction value.
  • the target server that is, the background server of the wheeled mobile robot, such as the server shown in FIG. 1, feeds back the actual running data to the server, so that the server can adjust the corresponding relationship to further optimize the wheeled mobile robot. control.
  • the wheeled mobile robot is a transport robot
  • the operation data further includes operation position information of the transport robot and load information of the transport robot
  • the target server is further configured to send the operation data to the transport robot. Determining a threshold value of a driving torque provided by the driving device; and the method further comprising: receiving a threshold of the driving torque; and controlling the driving device to provide a driving torque that is less than a threshold of the driving torque.
  • the operation condition is complicated, and it is determined according to the running position information and load information of the handling robot. Its driving torque threshold prevents it from slipping.
  • the method provided by the above embodiment of the present application determines the angular acceleration change rate of the driving wheel according to the output value of the speed measuring device, and then determines that the driving wheel has a slip phenomenon in response to determining that the angular acceleration change rate is greater than the preset threshold value, and improves the determining wheel type. Whether the driving wheel of the mobile robot has the efficiency of slipping.
  • FIG. 6 is a schematic flowchart diagram of still another embodiment of a control method of the wheeled mobile robot according to the embodiment.
  • the flow 600 of the control method of the wheeled mobile robot includes the following steps:
  • Step 601 Determine an angular acceleration change rate of the driving wheel according to an output value of the speed measuring device.
  • the wheeled mobile robot includes a driving wheel, a speed measuring device disposed on the driving wheel, a driving device for providing driving torque to the driving wheel, and an electronic device on which the control method of the wheeled mobile robot runs (for example, The control device shown in 1) can determine the angular acceleration change rate of the drive wheel based on the output value of the speed measuring device.
  • Step 602 determining that the driving wheel has a slip phenomenon in response to determining that the angular acceleration change rate is greater than a preset threshold.
  • 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 the angular velocity is obtained periodically, and the angular acceleration and the angular acceleration change rate are obtained by differentially calculating the angular velocity.
  • the electronic device may periodically acquire an angular velocity, and perform differential calculation on the angular velocity to obtain an angular acceleration and an angular acceleration change rate.
  • T is the original driving torque input value.
  • the speed measuring device feeds back the angular velocity ⁇ to the comparator, puts it into the stack, and performs differential calculation to obtain angular acceleration.
  • angular acceleration rate is the logic of the control of the wheeled mobile robot.
  • Step 604 Determine a driving torque correction value corresponding to the angular acceleration and the angular acceleration change rate according to the fuzzy control rule table.
  • the electronic device may determine the driving torque correction value corresponding to the angular acceleration and the angular acceleration change rate obtained in step 603 according to the fuzzy control rule table.
  • Angular acceleration And angular acceleration rate As the input of the fuzzy controller, firstly after the fuzzy processing, the fuzzy inference is given according to the fuzzy control rule, and the fuzzy output is given. Finally, the fuzzy correction value ⁇ T is obtained, which will be used as the negative feedback to correct the driving torque input value. T, thereby achieving control of the wheeled mobile robot.
  • each input variable And the output variable ⁇ T defines seven linguistic variable values in the fuzzy controller according to their respective domains: negative (NB), negative (NM), negative (NS), zero (ZE), positive (PS) ), center (PM), Zhengda (PB).
  • the fuzzy control rule table is as follows:
  • the fuzzy control rule table can be appropriately adjusted according to the running condition of the wheeled mobile robot and the response condition of the driving device.
  • the fuzzy controller performs fuzzy reasoning according to the rules, the fuzzy value can be obtained to obtain the adjustment value of the driving torque.
  • the control device will reduce the input drive drive torque and not exceed the maximum resistance torque that the ground can provide.
  • the driving torque can also be appropriately increased, so that the robot can smoothly pass the process point.
  • the flow 600 of the control method of the wheeled mobile robot in the present embodiment highlights the fuzzy control step for the wheeled mobile robot as compared with the embodiment corresponding to FIG.
  • the solution described in this embodiment better ensures that the wheeled mobile robot operates smoothly according to the design trajectory.
  • the present application provides an embodiment of a control device for a wheeled mobile robot, and the device embodiment corresponds to the method embodiment shown in FIG. 2 , and the device may specifically Used in a variety of electronic devices.
  • the control apparatus 700 of the wheeled mobile robot of the present embodiment includes: a first determining unit 701 and a second determining unit 702, wherein the first determining unit 701 is configured to determine the driving according to the output value of the speed measuring device.
  • the rate of change of the angular acceleration of the wheel; the second determining unit 702 is configured to determine that the driving wheel has a slip phenomenon in response to determining that the rate of change of the angular acceleration is greater than a preset threshold.
  • the apparatus further includes: a first control unit (not shown) for controlling the driving device to reduce the driving torque in response to determining that the driving wheel is slipping.
  • the apparatus further includes: a third determining unit (not shown) for determining an angular acceleration of the driving wheel according to an output value of the speed measuring device; and a fourth determining unit (in the figure) Not shown), for determining the driving torque correction value corresponding to the angular acceleration and the angular acceleration change rate according to the preset angular acceleration, the angular acceleration change rate, and the driving torque correction value; the second control unit (not shown) Shown) for controlling the drive device to provide a drive torque corrected according to the determined drive torque correction value.
  • the speed measuring device is configured to measure and output the angular velocity of the driving wheel every predetermined time, the correspondence relationship is stored in the fuzzy control rule table; and the fourth determining unit (not shown) Further configured to: periodically obtain an angular velocity, and perform differential calculation on the angular velocity to obtain an angular acceleration and an angular acceleration change rate; and determine a driving torque correction value corresponding to the angular acceleration and the angular acceleration change rate according to the fuzzy control rule table.
  • the wheeled mobile robot further includes other drive wheels other than the drive wheels; and the apparatus further includes: a fifth determination unit (not shown) for correcting according to the drive torque a value that determines a driving torque adjustment value of a driving device of a driving wheel other than the driving wheel in the wheeled mobile robot, wherein the driving torque adjustment value and the driving when the wheeled mobile robot is a two-wheel driving mobile robot and is in a steering state
  • the torque correction values are the same in magnitude, and the positive and negative are opposite.
  • the driving torque adjustment value is the same as the driving torque correction value.
  • the wheeled mobile robot further includes a communication device; and the device further includes: an uploading unit (not shown) for uploading the running data of the wheeled mobile robot through the communication device To the target server, wherein the operation data comprises at least one of: an angular velocity of the driving wheel, an angular acceleration of the driving wheel, an angular acceleration rate of the driving wheel, a response speed of the driving device, the target server is used to acquire the running data, and the steering wheel
  • the mobile robot issues a corresponding relationship between the angular acceleration, the angular acceleration change rate and the driving torque correction value after the modified operation data.
  • the wheeled mobile robot is a transport robot
  • the operation data further includes operation position information of the transport robot and load information of the transport robot
  • the target server is further configured to send the operation data to the transport robot.
  • a threshold value of the driving torque provided by the determined driving device and the device further comprising: a receiving unit (not shown) for receiving a threshold of the driving torque; and a third control unit (not shown) for controlling the driving The device provides a drive torque that is less than a threshold of the drive torque.
  • the control device 700 of the wheeled mobile robot in this embodiment determines the angular acceleration change rate of the drive wheel according to the output value of the speed measuring device, and then determines that the angular acceleration change rate is greater than the preset threshold value.
  • the driving wheel has a slip phenomenon, which improves the efficiency of determining whether the driving wheel of the wheeled mobile robot has a slip phenomenon.
  • FIG. 8 a block diagram of a computer system 800 suitable for use in implementing the control device of the embodiments of the present application is shown.
  • the control device shown in Fig. 8 is merely an example and should not impose any limitation on the function and scope of use of the embodiments of the present application.
  • computer system 800 includes a central processing unit (CPU) 801 that can be loaded into a program in random access memory (RAM) 803 according to a program stored in read only memory (ROM) 802 or from storage portion 808. And perform various appropriate actions and processes.
  • RAM random access memory
  • ROM read only memory
  • RAM 803 various programs and data required for the operation of the system 800 are also stored.
  • the CPU 801, the ROM 802, and the RAM 803 are connected to each other through a bus 804.
  • An input/output (I/O) interface 805 is also coupled to bus 804.
  • the following components are connected to the I/O interface 805: an input portion 806 including a keyboard, a mouse, etc.; an output portion 807 including, for example, a cathode ray tube (CRT), a liquid crystal display (LCD), and the like, and a storage portion 808 including a hard disk or the like. And a communication portion 809 including a network interface card such as a LAN card, a modem, or the like. The communication section 809 performs communication processing via a network such as the Internet.
  • Driver 810 is also coupled to I/O interface 806 as needed.
  • a removable medium 811 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory or the like, is mounted on the drive 810 as needed so that a computer program read therefrom is installed into the storage portion 808 as needed.
  • an embodiment of the present disclosure includes a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for executing the method illustrated in the flowchart.
  • the computer program can be downloaded and installed from the network via communication portion 809, and/or installed from removable media 811.
  • the central processing unit (CPU) 801 the above-described functions defined in the method of the present application are performed.
  • the computer readable medium described herein may be a computer readable signal medium or a computer readable storage medium or any combination of the two.
  • the computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of computer readable storage media may include, but are not limited to, electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable Programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the foregoing.
  • a computer readable storage medium may be any tangible medium that can contain or store a program, which can be used by or in connection with an instruction execution system, apparatus or device.
  • a computer readable signal medium may include a data signal that is propagated in the baseband or as part of a carrier, carrying computer readable program code. Such propagated data signals can take a variety of forms including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • the computer readable signal medium can also be any computer readable medium other than a computer readable storage medium, which can transmit, propagate, or transport a program for use by or in connection with the instruction execution system, apparatus, or device.
  • Program code embodied on a computer readable medium can be transmitted by any suitable medium, including but not limited to wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
  • each block of the flowchart or block diagrams can represent a unit, a program segment, or a portion of code that includes one or more logic for implementing the specified.
  • Functional executable instructions can also occur in a different order than that illustrated in the drawings. For example, two successively represented blocks may in fact be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block of the block diagrams and/or flowcharts, and combinations of blocks in the block diagrams and/or flowcharts can be implemented in a dedicated hardware-based system that performs the specified function or operation. Or it can be implemented by a combination of dedicated hardware and computer instructions.
  • the units involved in the embodiments of the present application may be implemented by software or by hardware.
  • the described unit may also be provided in the processor, for example, as a processor comprising a first determining unit and a second determining unit.
  • the names of the units do not constitute a limitation on the unit itself in some cases.
  • the first determining unit may also be described as “a unit that determines the rate of change of the angular acceleration of the driving wheel according to the output value of the speed measuring device”. .
  • the present application further provides a non-volatile computer storage medium, which may be a non-volatile computer storage medium included in the apparatus described in the foregoing embodiments; It may be a non-volatile computer storage medium that exists alone and is not incorporated into the control device.
  • the non-volatile computer storage medium stores one or more programs, when the one or more programs are executed by a device, causing the device to: determine an angular acceleration change rate of the driving wheel according to an output value of the speed measuring device; In response to determining that the angular acceleration change rate is greater than a predetermined threshold, determining that the drive wheel is slipping.

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Abstract

一种轮式移动机器人(101)的控制方法和装置。轮式移动机器人(101)包括驱动轮(1011)、设置在驱动轮(1011)上的测速器件(1012)，为驱动轮(1011)提供驱动力矩的驱动器件(1013)，控制方法的一具体实施方式包括：根据测速器件(1012)的输出值确定驱动轮(1011)的角加速度变化率(201)；响应于确定出角加速度变化率大于预设阈值，确定驱动轮(1011)出现打滑现象(202)。这一实施方式提高了确定轮式移动机器人(101)的驱动轮(1011)是否出现打滑现象的效率。

Description

轮式移动机器人的控制方法和装置
相关申请的交叉引用
本专利申请要求于2017年4月10日提交的、申请号为201710228624.2、发明名称为“轮式移动机器人的控制方法和装置”的中国专利申请的优先权，该申请的全文以引用的方式并入本申请中。
技术领域
本申请涉及机器人控制领域，尤其涉及轮式移动机器人的控制方法和装置。
背景技术
随着社会发展和科技进步，机器人在当前生产生活中得到了越来越广泛的应用。移动机器人是研发较早的一种机器人，移动机构主要有轮式、履带式、腿式和复合式等。轮式移动机器人由于具有自重轻、承载大、机构简单、驱动和控制相对方便、行走速度快、机动灵活等优点，而被大量应用于工业、农业、空间探索等领域。轮式移动机器人的运行需要适应各种的不同平整度和粗糙度的地面，因此打滑成为一个必须解决的问题。轮式移动机器人一般包括驱动轮和从动轮，目前，主要通过比较轮式移动机器人的驱动轮和从动轮的速度，或者机器人主体和主动轮的速度来判断是否出现了打滑现象。
然而，要获得从动轮或机器人主体的速度，就需要额外在从动轮或机器人主体安装光电码盘或者其它测速装置。
发明内容
本申请的目的在于提出一种改进的轮式移动机器人的控制方法和装置，来解决以上背景技术部分提到的技术问题。
第一方面，本申请实施例提供了一种轮式移动机器人的控制方法，轮式移动机器人包括驱动轮、设置在驱动轮上的测速器件，为驱动轮 提供驱动力矩的驱动器件，该方法包括：根据测速器件的输出值确定驱动轮的角加速度变化率；响应于确定出角加速度变化率大于预设阈值，确定驱动轮出现打滑现象。
在本实施例中，方法还包括：响应于确定出驱动轮出现打滑现象，控制驱动器件减小驱动力矩。
在本实施例中，方法还包括：根据测速器件的输出值确定驱动轮的角加速度；根据预先设置的角加速度、角加速度变化率与驱动力矩修正值的对应关系，确定角加速度和角加速度变化率对应的驱动力矩修正值；控制驱动器件提供根据所确定的驱动力矩修正值修正后的驱动力矩。
在本实施例中，轮式移动机器人还包括除驱动轮外的其它驱动轮；以及方法还包括：根据驱动力矩修正值，确定其它驱动轮的驱动器件的驱动力矩调整值，其中，当轮式移动机器人为双轮驱动移动机器人且处于转向状态时，驱动力矩调整值与驱动力矩修正值大小相同，正负相反，当轮式移动机器人为双轮驱动移动机器人且处于非转向状态时，驱动力矩调整值与驱动力矩修正值相同。
在本实施例中，轮式移动机器人还包括通信器件；以及方法还包括：通过通信器件将轮式移动机器人的运行数据上传至目标服务器，其中，运行数据包括以下至少一项：驱动轮的角速度、驱动轮的角加速度、驱动轮的角加速度变化率、驱动器件的响应速度，目标服务器用于获取运行数据，并向轮式移动机器人下发根据运行数据修改后的角加速度、角加速度变化率与驱动力矩修正值的对应关系。
在本实施例中，轮式移动机器人为搬运机器人，运行数据还包括搬运机器人的运行位置信息和搬运机器人的负载信息，目标服务器还用于向搬运机器人下发根据运行数据确定的驱动器件提供的驱动力矩的阈值；以及方法还包括：接收驱动力矩的阈值；控制驱动器件提供小于驱动力矩的阈值的驱动力矩。
第二方面，本申请实施例提供了一种轮式移动机器人的控制装置，轮式移动机器人包括驱动轮、设置在驱动轮上的测速器件，为驱动轮提供驱动力矩的驱动器件，该装置包括：第一确定单元，用于根据测 速器件的输出值确定驱动轮的角加速度变化率；第二确定单元，用于响应于确定出角加速度变化率大于预设阈值，确定驱动轮出现打滑现象。
在本实施例中，装置还包括：第一控制单元，用于响应于确定出驱动轮出现打滑现象，控制驱动器件减小驱动力矩。
在本实施例中，装置还包括：第三确定单元，用于根据测速器件的输出值确定驱动轮的角加速度；第四确定单元，用于根据预先设置的角加速度、角加速度变化率与驱动力矩修正值的对应关系，确定角加速度和角加速度变化率对应的驱动力矩修正值；第二控制单元，用于控制驱动器件提供根据所确定的驱动力矩修正值修正后的驱动力矩。
在本实施例中，测速器件用于每隔预定时间测量并输出驱动轮的角速度，对应关系存储在模糊控制规则表中；以及第四确定单元，进一步配置用于：定时获取角速度，对角速度进行微分计算得到角加速度和角加速度变化率；根据模糊控制规则表，确定角加速度和角加速度变化率对应的驱动力矩修正值。
在本实施例中，轮式移动机器人还包括除驱动轮外的其它驱动轮；以及装置还包括：第五确定单元，用于根据驱动力矩修正值，确定轮式移动机器人中除驱动轮外的其它驱动轮的驱动器件的驱动力矩调整值，其中，当轮式移动机器人为双轮驱动移动机器人且处于转向状态时，驱动力矩调整值与驱动力矩修正值大小相同，正负相反，当轮式移动机器人为双轮驱动移动机器人且处于非转向状态时，驱动力矩调整值与驱动力矩修正值相同。
在本实施例中，轮式移动机器人还包括通信器件；以及装置还包括：上传单元，用于通过通信器件将轮式移动机器人的运行数据上传至目标服务器，其中，运行数据包括以下至少一项：驱动轮的角速度、驱动轮的角加速度、驱动轮的角加速度变化率、驱动器件的响应速度，目标服务器用于获取运行数据，并向轮式移动机器人下发根据运行数据修改后的角加速度、角加速度变化率与驱动力矩修正值的对应关系。
在本实施例中，轮式移动机器人为搬运机器人，运行数据还包括 搬运机器人的运行位置信息和搬运机器人的负载信息，目标服务器还用于向搬运机器人下发根据运行数据确定的驱动器件提供的驱动力矩的阈值；以及装置还包括：接收单元，用于接收驱动力矩的阈值；第三控制单元，用于控制驱动器件提供小于驱动力矩的阈值的驱动力矩。
第三方面，本申请实施例提供了一种设备，包括：一个或多个处理器；存储装置，用于存储一个或多个程序，当上述一个或多个程序被上述一个或多个处理器执行，使得上述一个或多个处理器实现如第一方面上述的方法。
第四方面，本申请实施例提供了一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现如第一方面上述的方法。
本申请实施例提供的轮式移动机器人的控制方法和装置，根据测速器件的输出值确定驱动轮的角加速度变化率，而后响应于确定出角加速度变化率大于预设阈值，确定驱动轮出现打滑现象，提高了确定轮式移动机器人的驱动轮是否出现打滑现象的效率。
附图说明
通过阅读参照以下附图所作的对非限制性实施例所作的详细描述，本申请的其它特征、目的和优点将会变得更明显：
图1是本申请可以应用于其中的示例性系统架构图；
图2是根据本申请的轮式移动机器人的控制方法的一个实施例的示意性流程图；
图3是本申请的轮式移动机器人的驱动轮的示意性受力分析图；
图4是本申请的轮式移动机器人的示例性车轮分布图；
图5是根据本申请的轮式移动机器人的控制方法的一个实施例的示意性控制逻辑图。
图6是根据本申请的轮式移动机器人的控制方法的又一个实施例的示意性流程图；
图7是根据本申请的轮式移动机器人的控制装置的一个实施例的示例性结构图；
图8是适于用来实现本申请实施例的控制装置的计算机系统的结构示意图。
具体实施方式
下面结合附图和实施例对本申请作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释相关发明，而非对该发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与有关发明相关的部分。
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本申请。
图1示出了可以应用本申请的轮式移动机器人的控制方法或轮式移动机器人的控制装置的实施例的示例性系统架构100。
如图1所示，系统架构100可以包括轮式移动机器人101、网络102和服务器103。轮式移动机器人101可以包括驱动轮1011，设置于驱动轮1011上的测速器件1012，用于为驱动轮1011提供驱动力矩的驱动器件1013，用于根据测速器件1012的输出值确定驱动轮1011的角加速度变化率，并响应于确定出的角加速度变化率大于预设阈值，确定驱动轮1011出现打滑现象的控制器件1014，以及用于控制器件1014与其他设备间的数据传输的通信器件1015。控制器件1014可以包括单片机或其他具有数据处理功能的器件。
网络102用以在轮式移动机器人101和服务器103之间提供传输链路的介质，网络102可以包括各种连接类型，例如有线、无线传输链路或者光纤电缆等等。
轮式移动机器人101通过网络102与服务器103交互，以接收指令或返回响应等。轮式移动机器人101可以用于货物搬运，可以根据服务器103发来的指令或货物信息进行装载、卸载和运输。
服务器103可以是对轮式移动机器人101的运行提供支持的服务器，服务器103可以向轮式移动机器人101发送命令以对轮式移动机器人101进行管理，具体的，服务器103可以获取轮式移动机器人101 的运行数据，运行数据可以包括：驱动轮1011的角速度、驱动轮1011的角加速度、驱动轮1011的角加速度变化率、驱动器件1013的响应速度，而后服务器可以向轮式移动机器人1011下发根据运行数据修改后的角加速度、角加速度变化率与驱动力矩修正值的对应关系。
需要说明的是，本申请实施例所提供的轮式移动机器人的控制方法可以由控制器件1014执行，相应地，轮式移动机器人的控制装置可以设置于控制器件1014中。
应该理解，图1中的轮式移动机器人及其各个组成部分、网络和服务器的数目仅仅是示意性的。根据实现需要，可以具有任意数目的轮式移动机器人及其各个组成部分、网络和服务器。
继续参考图2，示出了根据本申请的轮式移动机器人的控制方法的一个实施例的流程200。该轮式移动机器人的控制方法，包括以下步骤：
步骤201，根据测速器件的输出值确定驱动轮的角加速度变化率。
在本实施例中，轮式移动机器人包括驱动轮、设置在驱动轮上的测速器件，为驱动轮提供驱动力矩的驱动器件，轮式移动机器人的控制方法运行于其上的电子设备(例如图1所示的控制装置)可以根据测速器件的输出值确定驱动轮的角加速度变化率。驱动轮，也可以被称作主动轮，其所受的地面摩擦力向前，为机器人的行驶提供驱动力。测速器件可以是角速度传感器、光电测速码盘、角加速度传感器等。驱动器件可以是电机，可以采用电控液压驱动或电控气压驱动等驱动方式，驱动器件可以通过驱动桥、轴承、齿轮等方式与驱动轮进行连接，以向驱动轮提供驱动力矩。测速器件可以输出驱动轮的角速度或角加速度，上述电子设备可以根据测速器件的输出及相关的时间信息，通过微分计算确定出驱动轮的角加速度变化率。
步骤202，响应于确定出角加速度变化率大于预设阈值，确定驱动轮出现打滑现象。
在本实施例中，上述电子设备可以响应于步骤201中确定的角加速度变化率大于预设阈值，确定驱动轮出现打滑现象。如图3所示， 当轮式移动机器人以速度V前进时，驱动器件给出了一个顺时针方向的驱动力矩T，使驱动轮顺时针转动，驱动轮与地面接触的地方产生了向后运动的趋势，地面要阻碍驱动轮的运动，产生了一个逆时针方向的阻力矩，对驱动轮提供阻力矩的就是向前的摩擦力F，它和驱动轮与地面的相对运动方向相反，成为机器人前进的牵引力。当轮式移动机器人发生打滑时，地面给驱动轮提供的摩擦力突然减小，阻力矩随之减小，而此时驱动力矩并无变化，因此驱动力矩和阻力矩的和力矩将会使此驱动轮产生一个角加速度。这种情况下，测速器件如光电码盘的反馈值无法作为位置控制的参考值，但是却依然可以用来测量车轮的角速度或角加速度。相对于角速度的变化，角加速度的变化更易于监测和观察，相对于正常运行状态，打滑时角加速度会发生突变，即角加速度变化率会大于预设阈值。预设阈值可以根据轮式移动机器人历史运行记录中，正常运行时的角加速度变化率来确定，也可以根据实验确定。预设阈值可以根据实际需要进行更新，可以由服务器向轮式移动机器人下发更新后的预设阈值。
在本实施例的一些可选实现方式中，方法还包括：响应于确定出驱动轮出现打滑现象，控制驱动器件减小驱动力矩。
在本实现方式中，可以按照预先设置的规则减小驱动力矩，例如，角加速度的数值在某一范围内时，减小一定大小的驱动力矩，也可以按照预先设置的幅度逐步减小驱动力矩，直到角加速度变化率不大于预设阈值。通过控制驱动器件减小驱动力矩，进一步避免了驱动轮原地空转导致的轮式移动机器人运行效率降低的问题。
在本实施例的一些可选实现方式中，方法还包括：根据测速器件的输出值确定驱动轮的角加速度；根据预先设置的角加速度、角加速度变化率与驱动力矩修正值的对应关系，确定角加速度和角加速度变化率对应的驱动力矩修正值；控制驱动器件提供根据所确定的驱动力矩修正值修正后的驱动力矩。
在本实现方式中，角加速度、角加速度变化率与驱动力矩修正值的对应关系可以预先存储在轮式移动机器人的存储介质中，或从服务器中获取。服务器可以根据轮式移动机器人历史运行记录中正常运行 时的角加速度、角加速度变化率与驱动力矩的对应关系，来确定正常运行时驱动力矩的大小，控制器件可以据此修正当前驱动器件提供的驱动力矩的大小。此外，由于摩擦力矩与驱动轮负荷、驱动轮与运行区域的材料性质和表面状况(粗糙程度，湿度等)有关，所以也可根据驱动轮负荷，及其运行区域确定轮式移动机器人的驱动力矩修正值。
在本实施例的一些可选实现方式中，轮式移动机器人还包括除驱动轮外的其它驱动轮；以及方法还包括：根据驱动力矩修正值，确定其它驱动轮的驱动器件的驱动力矩调整值，其中，当轮式移动机器人为双轮驱动移动机器人且处于转向状态时，驱动力矩调整值与驱动力矩修正值大小相同，正负相反，当轮式移动机器人为双轮驱动移动机器人且处于非转向状态时，驱动力矩调整值与驱动力矩修正值相同。
在本实现方式中，由于轮式移动机器人需要保持一定的运动状态(转弯或直行)，所以针对除调整了驱动力矩的驱动轮外，其他驱动轮也需要进行相应的调整。以双轮驱动移动机器人为例，其底盘车轮分布可以如图4所示，双轮驱动移动机器人底盘401上设置有四个从动轮4011，及两个驱动轮4012。从动轮4011可以使机器人的运行更平稳。双轮驱动移动机器人可以采用差动控制，即直行时两驱动轮的速度大小方向完全相同，原地转向时两轮速度大小相同，方向相反。因此，当调整一个驱动轮的驱动力矩时，也要在另一个驱动轮上相应地下发大小相同的调整量。其中，直行时调整量方向相同，转向时方向相反。
在本实施例的一些可选实现方式中，轮式移动机器人还包括通信器件；以及方法还包括：通过通信器件将轮式移动机器人的运行数据上传至目标服务器，其中，运行数据包括以下至少一项：驱动轮的角速度、驱动轮的角加速度、驱动轮的角加速度变化率、驱动器件的响应速度，目标服务器用于获取运行数据，并向轮式移动机器人下发根据运行数据修改后的角加速度、角加速度变化率与驱动力矩修正值的对应关系。
在本实现方式中，目标服务器即轮式移动机器人的后台服务器，例如图1所示的服务器，通过向服务器反馈实际的运行数据，使得服 务器可以调整上述对应关系，进一步优化对于轮式移动机器人的控制。
在本实施例的一些可选实现方式中，轮式移动机器人为搬运机器人，运行数据还包括搬运机器人的运行位置信息和搬运机器人的负载信息，目标服务器还用于向搬运机器人下发根据运行数据确定的驱动器件提供的驱动力矩的阈值；以及方法还包括：接收驱动力矩的阈值；控制驱动器件提供小于驱动力矩的阈值的驱动力矩。
在本实现方式中，由于搬运机器人的负载多变，且需要其适应各种新旧仓库内不同平整度和粗糙度的地面，所以其运行情况较为复杂，根据搬运机器人的运行位置信息和负载信息确定其驱动力矩的阈值，可防止其出现打滑现象。
本申请的上述实施例提供的方法根据测速器件的输出值确定驱动轮的角加速度变化率，而后响应于确定出角加速度变化率大于预设阈值，确定驱动轮出现打滑现象，提高了确定轮式移动机器人的驱动轮是否出现打滑现象的效率。
请参考图6，图6是根据本实施例的轮式移动机器人的控制方法的又一个实施例的流程示意图。
在图6中，该轮式移动机器人的控制方法的流程600，包括以下步骤：
步骤601，根据测速器件的输出值确定驱动轮的角加速度变化率。
在本实施例中，轮式移动机器人包括驱动轮、设置在驱动轮上的测速器件，为驱动轮提供驱动力矩的驱动器件，轮式移动机器人的控制方法运行于其上的电子设备(例如图1所示的控制装置)可以根据测速器件的输出值确定驱动轮的角加速度变化率。
步骤602，响应于确定出角加速度变化率大于预设阈值，确定驱动轮出现打滑现象。
在本实施例中，上述电子设备可以响应于步骤601中确定的角加速度变化率大于预设阈值，确定驱动轮出现打滑现象。
步骤603，定时获取角速度，对角速度进行微分计算得到角加速度和角加速度变化率。
在本实施例中，上述电子设备可以定时获取角速度，对角速度进行微分计算得到角加速度和角加速度变化率。如图5所示，其示出了对轮式移动机器人控制的逻辑过程。T为原始的驱动力矩输入值，在每个控制周期，测速器件将角速度ω反馈给比较器，由其放入堆栈，并进行微分计算得到角加速度
Figure PCTCN2018082488-appb-000001
和角加速度变化率
Figure PCTCN2018082488-appb-000002
步骤604，根据模糊控制规则表，确定角加速度和角加速度变化率对应的驱动力矩修正值。
在本实施例中，上述电子设备可以根据模糊控制规则表，确定步骤603中得到的角加速度和角加速度变化率对应的驱动力矩修正值。角加速度
Figure PCTCN2018082488-appb-000003
和角加速度变化率
Figure PCTCN2018082488-appb-000004
将作为模糊控制器的输入，首先经过模糊化处理，依据模糊控制规则进行模糊推理后，给出模糊输出量，最后解模糊得到驱动力矩修正值ΔT，它将作为负反馈来修正驱动力矩输入值T，从而实现对轮式移动机器人的控制。
其中，每个输入变量
Figure PCTCN2018082488-appb-000005
和输出变量ΔT在模糊控制器中按照其各自的论域分别定义7个语言变量值:负大(NB)、负中(NM)、负小(NS)、零(ZE)、正小(PS)、正中(PM)、正大(PB)。模糊控制规则表如下：
表1
Figure PCTCN2018082488-appb-000006
在实际操作过程中，可以根据轮式移动机器人运行情况和驱动装置的响应情况对模糊控制规则表适当做出调整。模糊控制器按照规则进行模糊推理后，进行解模糊化即可得到驱动力矩的调整值。通常情况下，一旦检测出驱动轮出现打滑，控制器件都会减小输入的驱动驱动力矩，不超过地面所能提供的最大阻力矩。而当驱动轮遇到阻碍， 同样也可以适当增加驱动力矩，使机器人更加顺利的通过过程点。
步骤601至步骤602的实现细节和技术效果可以参考步骤201至步骤202中的说明，在此不再赘述。
从图6中可以看出，与图2对应的实施例相比，本实施例中的轮式移动机器人的控制方法的流程600突出了对轮式移动机器人的模糊控制步骤。由此，本实施例描述的方案更好的确保了轮式移动机器人按设计轨迹平稳地运行。
进一步参考图7，作为对上述方法的实现，本申请提供了一种轮式移动机器人的控制装置的一个实施例，该装置实施例与图2所示的方法实施例相对应，该装置具体可以应用于各种电子设备中。
如图7所示，本实施例的轮式移动机器人的控制装置700包括：第一确定单元701和第二确定单元702，其中，第一确定单元701，用于根据测速器件的输出值确定驱动轮的角加速度变化率；第二确定单元702，用于响应于确定出角加速度变化率大于预设阈值，确定驱动轮出现打滑现象。
在本实施例中，第一确定单元701和第二确定单元702的具体处理可以参考图2对应实施例步骤201和步骤202的详细描述，在此不再赘述。
在本实施例的一些可选实现方式中，装置还包括：第一控制单元(图中未示出)，用于响应于确定出驱动轮出现打滑现象，控制驱动器件减小驱动力矩。
在本实施例的一些可选实现方式中，装置还包括：第三确定单元(图中未示出)，用于根据测速器件的输出值确定驱动轮的角加速度；第四确定单元(图中未示出)，用于根据预先设置的角加速度、角加速度变化率与驱动力矩修正值的对应关系，确定角加速度和角加速度变化率对应的驱动力矩修正值；第二控制单元(图中未示出)，用于控制驱动器件提供根据所确定的驱动力矩修正值修正后的驱动力矩。
在本实施例的一些可选实现方式中，测速器件用于每隔预定时间测量并输出驱动轮的角速度，对应关系存储在模糊控制规则表中；以 及第四确定单元(图中未示出)，进一步配置用于：定时获取角速度，对角速度进行微分计算得到角加速度和角加速度变化率；根据模糊控制规则表，确定角加速度和角加速度变化率对应的驱动力矩修正值。
在本实施例的一些可选实现方式中，轮式移动机器人还包括除驱动轮外的其它驱动轮；以及装置还包括：第五确定单元(图中未示出)，用于根据驱动力矩修正值，确定轮式移动机器人中除驱动轮外的其它驱动轮的驱动器件的驱动力矩调整值，其中，当轮式移动机器人为双轮驱动移动机器人且处于转向状态时，驱动力矩调整值与驱动力矩修正值大小相同，正负相反，当轮式移动机器人为双轮驱动移动机器人且处于非转向状态时，驱动力矩调整值与驱动力矩修正值相同。
在本实施例的一些可选实现方式中，轮式移动机器人还包括通信器件；以及装置还包括：上传单元(图中未示出)，用于通过通信器件将轮式移动机器人的运行数据上传至目标服务器，其中，运行数据包括以下至少一项：驱动轮的角速度、驱动轮的角加速度、驱动轮的角加速度变化率、驱动器件的响应速度，目标服务器用于获取运行数据，并向轮式移动机器人下发根据运行数据修改后的角加速度、角加速度变化率与驱动力矩修正值的对应关系。
在本实施例的一些可选实现方式中，轮式移动机器人为搬运机器人，运行数据还包括搬运机器人的运行位置信息和搬运机器人的负载信息，目标服务器还用于向搬运机器人下发根据运行数据确定的驱动器件提供的驱动力矩的阈值；以及装置还包括：接收单元(图中未示出)，用于接收驱动力矩的阈值；第三控制单元(图中未示出)，用于控制驱动器件提供小于驱动力矩的阈值的驱动力矩。
从图7中可以看出，本实施例中轮式移动机器人的控制装置700根据测速器件的输出值确定驱动轮的角加速度变化率，而后响应于确定出角加速度变化率大于预设阈值，确定驱动轮出现打滑现象，提高了确定轮式移动机器人的驱动轮是否出现打滑现象的效率。
下面参考图8，其示出了适于用来实现本申请实施例的控制装置器的计算机系统800的结构示意图。图8示出的控制装置仅仅是一个 示例，不应对本申请实施例的功能和使用范围带来任何限制。
如图8所示，计算机系统800包括中央处理单元(CPU)801，其可以根据存储在只读存储器(ROM)802中的程序或者从存储部分808加载到随机访问存储器(RAM)803中的程序而执行各种适当的动作和处理。在RAM 803中，还存储有系统800操作所需的各种程序和数据。CPU 801、ROM 802以及RAM 803通过总线804彼此相连。输入/输出(I/O)接口805也连接至总线804。
以下部件连接至I/O接口805：包括键盘、鼠标等的输入部分806；包括诸如阴极射线管(CRT)、液晶显示器(LCD)等以及扬声器等的输出部分807；包括硬盘等的存储部分808；以及包括诸如LAN卡、调制解调器等的网络接口卡的通信部分809。通信部分809经由诸如因特网的网络执行通信处理。驱动器810也根据需要连接至I/O接口806。可拆卸介质811，诸如磁盘、光盘、磁光盘、半导体存储器等等，根据需要安装在驱动器810上，以便于从其上读出的计算机程序根据需要被安装入存储部分808。
特别地，根据本公开的实施例，上文参考流程图描述的过程可以被实现为计算机软件程序。例如，本公开的实施例包括一种计算机程序产品，其包括承载在计算机可读介质上的计算机程序，该计算机程序包含用于执行流程图所示的方法的程序代码。在这样的实施例中，该计算机程序可以通过通信部分809从网络上被下载和安装，和/或从可拆卸介质811被安装。在该计算机程序被中央处理单元(CPU)801执行时，执行本申请的方法中限定的上述功能。需要说明的是，本申请所述的计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质或者是上述两者的任意组合。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子可以包括但不限于：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机访问存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适 的组合。在本申请中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。而在本申请中，计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于：无线、电线、光缆、RF等等，或者上述的任意合适的组合。
附图中的流程图和框图，图示了按照本申请各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个单元、程序段、或代码的一部分，所述单元、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
描述于本申请实施例中所涉及到的单元可以通过软件的方式实现，也可以通过硬件的方式来实现。所描述的单元也可以设置在处理器中，例如，可以描述为：一种处理器包括第一确定单元，第二确定单元。其中，这些单元的名称在某种情况下并不构成对该单元本身的限定，例如，第一确定单元还可以被描述为“根据测速器件的输出值确定驱动轮的角加速度变化率的单元”。
作为另一方面，本申请还提供了一种非易失性计算机存储介质，该非易失性计算机存储介质可以是上述实施例中所述装置中所包含的 非易失性计算机存储介质；也可以是单独存在，未装配入控制装置中的非易失性计算机存储介质。上述非易失性计算机存储介质存储有一个或者多个程序，当所述一个或者多个程序被一个设备执行时，使得所述设备：根据测速器件的输出值确定驱动轮的角加速度变化率；响应于确定出角加速度变化率大于预设阈值，确定驱动轮出现打滑现象。
以上描述仅为本申请的较佳实施例以及对所运用技术原理的说明。本领域技术人员应当理解，本申请中所涉及的发明范围，并不限于上述技术特征的特定组合而成的技术方案，同时也应涵盖在不脱离所述发明构思的情况下，由上述技术特征或其等同特征进行任意组合而形成的其它技术方案。例如上述特征与本申请中公开的(但不限于)具有类似功能的技术特征进行互相替换而形成的技术方案。

Claims (16)

  1. 一种轮式移动机器人的控制方法，所述轮式移动机器人包括驱动轮、设置在所述驱动轮上的测速器件，为所述驱动轮提供驱动力矩的驱动器件，其特征在于，所述方法包括：
    根据所述测速器件的输出值确定所述驱动轮的角加速度变化率；
    响应于确定出所述角加速度变化率大于预设阈值，确定所述驱动轮出现打滑现象。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    响应于确定出所述驱动轮出现打滑现象，控制所述驱动器件减小所述驱动力矩。
  3. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    根据所述测速器件的输出值确定所述驱动轮的角加速度；
    根据预先设置的角加速度、角加速度变化率与驱动力矩修正值的对应关系，确定所述角加速度和所述角加速度变化率对应的驱动力矩修正值；
    控制所述驱动器件提供根据所确定的驱动力矩修正值修正后的驱动力矩。
  4. 根据权利要求3所述的方法，其特征在于，所述测速器件用于每隔预定时间测量并输出所述驱动轮的角速度，所述对应关系存储在模糊控制规则表中；以及
    所述根据预先设置的角加速度、角加速度变化率与驱动力矩修正值的对应关系，确定所述角加速度和所述角加速度变化率对应的驱动力矩修正值，包括：
    定时获取所述角速度，对所述角速度进行微分计算得到角加速度和角加速度变化率；
    根据所述模糊控制规则表，确定所述角加速度和所述角加速度变 化率对应的驱动力矩修正值。
  5. 根据权利要求3或4所述方法，其特征在于，所述轮式移动机器人还包括除所述驱动轮外的其它驱动轮；以及
    所述方法还包括：
    根据所述驱动力矩修正值，确定所述其它驱动轮的驱动器件的驱动力矩调整值，其中，当所述轮式移动机器人为双轮驱动移动机器人且处于转向状态时，所述驱动力矩调整值与所述驱动力矩修正值大小相同，正负相反，当所述轮式移动机器人为双轮驱动移动机器人且处于非转向状态时，所述驱动力矩调整值与所述驱动力矩修正值相同。
  6. 根据权利要求3或4所述的方法，其特征在于，所述轮式移动机器人还包括通信器件；以及
    所述方法还包括：
    通过所述通信器件将所述轮式移动机器人的运行数据上传至目标服务器，其中，所述运行数据包括以下至少一项：驱动轮的角速度、驱动轮的角加速度、驱动轮的角加速度变化率、驱动器件的响应速度，所述目标服务器用于获取所述运行数据，并向轮式移动机器人下发根据所述运行数据修改后的角加速度、角加速度变化率与驱动力矩修正值的对应关系。
  7. 根据权利要求6所述的方法，其特征在于，所述轮式移动机器人为搬运机器人，所述运行数据还包括所述搬运机器人的运行位置信息和所述搬运机器人的负载信息，所述目标服务器还用于向所述搬运机器人下发根据所述运行数据确定的驱动器件提供的驱动力矩的阈值；以及
    所述方法还包括：
    接收所述驱动力矩的阈值；
    控制所述驱动器件提供小于所述驱动力矩的阈值的驱动力矩。
  8. 一种轮式移动机器人的控制装置，所述轮式移动机器人包括驱动轮、设置在所述驱动轮上的测速器件，为所述驱动轮提供驱动力矩的驱动器件，其特征在于，所述装置包括：
    第一确定单元，用于根据所述测速器件的输出值确定所述驱动轮的角加速度变化率；
    第二确定单元，用于响应于确定出所述角加速度变化率大于预设阈值，确定所述驱动轮出现打滑现象。
  9. 根据权利要求8所述的装置，其特征在于，所述装置还包括：
    第一控制单元，用于响应于确定出所述驱动轮出现打滑现象，控制所述驱动器件减小所述驱动力矩。
  10. 根据权利要求8所述的装置，其特征在于，所述装置还包括：
    第三确定单元，用于根据所述测速器件的输出值确定所述驱动轮的角加速度；
    第四确定单元，用于根据预先设置的角加速度、角加速度变化率与驱动力矩修正值的对应关系，确定所述角加速度和所述角加速度变化率对应的驱动力矩修正值；
    第二控制单元，用于控制所述驱动器件提供根据所确定的驱动力矩修正值修正后的驱动力矩。
  11. 根据权利要求10所述的装置，其特征在于，所述测速器件用于每隔预定时间测量并输出所述驱动轮的角速度，所述对应关系存储在模糊控制规则表中；以及
    所述第四确定单元，进一步配置用于：
    定时获取所述角速度，对所述角速度进行微分计算得到角加速度和角加速度变化率；
    根据所述模糊控制规则表，确定所述角加速度和所述角加速度变化率对应的驱动力矩修正值。
  12. 根据权利要求10或11所述装置，其特征在于，所述轮式移动机器人还包括除所述驱动轮外的其它驱动轮；以及
    所述装置还包括：
    第五确定单元，用于根据所述驱动力矩修正值，确定所述轮式移动机器人中除所述驱动轮外的其它驱动轮的驱动器件的驱动力矩调整值，其中，当所述轮式移动机器人为双轮驱动移动机器人且处于转向状态时，所述驱动力矩调整值与所述驱动力矩修正值大小相同，正负相反，当所述轮式移动机器人为双轮驱动移动机器人且处于非转向状态时，所述驱动力矩调整值与所述驱动力矩修正值相同。
  13. 根据权利要求10或11所述的装置，其特征在于，所述轮式移动机器人还包括通信器件；以及
    所述装置还包括：
    上传单元，用于通过所述通信器件将所述轮式移动机器人的运行数据上传至目标服务器，其中，所述运行数据包括以下至少一项：驱动轮的角速度、驱动轮的角加速度、驱动轮的角加速度变化率、驱动器件的响应速度，所述目标服务器用于获取所述运行数据，并向轮式移动机器人下发根据所述运行数据修改后的角加速度、角加速度变化率与驱动力矩修正值的对应关系。
  14. 根据权利要求13所述的装置，其特征在于，所述轮式移动机器人为搬运机器人，所述运行数据还包括所述搬运机器人的运行位置信息和所述搬运机器人的负载信息，所述目标服务器还用于向所述搬运机器人下发根据所述运行数据确定的驱动器件提供的驱动力矩的阈值；以及
    所述装置还包括：
    接收单元，用于接收所述驱动力矩的阈值；
    第三控制单元，用于控制所述驱动器件提供小于所述驱动力矩的阈值的驱动力矩。
  15. 一种轮式移动机器人，其特征在于，包括：
    一个或多个处理器；
    存储装置，用于存储一个或多个程序；
    驱动轮，所述驱动轮上设置有测速器件；
    驱动器件，用于为所述驱动轮提供驱动力矩；
    当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如权利要求1-7中任一所述的方法。
  16. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现如权利要求1-7中任一所述的方法。
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