WO2018192465A1 - 控制搬运机器人运行的方法、装置及机器人 - Google Patents

控制搬运机器人运行的方法、装置及机器人 Download PDF

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Publication number
WO2018192465A1
WO2018192465A1 PCT/CN2018/083277 CN2018083277W WO2018192465A1 WO 2018192465 A1 WO2018192465 A1 WO 2018192465A1 CN 2018083277 W CN2018083277 W CN 2018083277W WO 2018192465 A1 WO2018192465 A1 WO 2018192465A1
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WIPO (PCT)
Prior art keywords
driving wheel
position adjustment
right driving
left driving
running distance
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PCT/CN2018/083277
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English (en)
French (fr)
Inventor
霍峰
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北京京东尚科信息技术有限公司
北京京东世纪贸易有限公司
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Application filed by 北京京东尚科信息技术有限公司, 北京京东世纪贸易有限公司 filed Critical 北京京东尚科信息技术有限公司
Priority to US16/605,575 priority Critical patent/US11340614B2/en
Publication of WO2018192465A1 publication Critical patent/WO2018192465A1/zh

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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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels

Definitions

  • the present disclosure relates to the field of robot technology, and in particular, to a method, a device, and a handling robot for controlling the operation of a handling robot.
  • the two driving wheels are respectively closed-loop controlled, and the parameters are adjusted according to the respective response conditions, and the servo driving system of each driving wheel is independently controlled.
  • the inventors have recognized that according to the related art method of controlling the operation of the handling robot, two independent servo drive systems are not matched, and the dynamic characteristics of the two servo drive systems cause different responses, which greatly affects the robot. Accurate movement according to the set trajectory makes it difficult for the handling robot to accurately move linearly according to a predetermined trajectory.
  • the present disclosure provides a method, apparatus, and robot for controlling the operation of a transport robot, which improves the accuracy of the motion trajectory of the transport robot.
  • a method for controlling operation of a handling robot includes: obtaining an actual running distance of a left driving wheel of a handling robot and an actual running distance of a right driving wheel; and according to the actual running distance of the left driving wheel, the right
  • the actual running distance of the driving wheel and the predetermined running track determine the left driving wheel following error of the handling robot at the current point, the right driving wheel following error; and the left driving wheel position adjustment according to the left driving wheel following error and the right driving wheel following error a command and a right driving wheel position adjustment command; respectively transmitting the left driving wheel position adjusting command and the right driving wheel position adjusting command to a first servo driving system for driving the left driving wheel and a second driving for driving the left driving wheel
  • the servo drive system is configured to reduce the deviation between the actual running track of the handling robot and the predetermined running track, and any position point in the actual running track corresponds to the actual running distance of the left driving wheel and the actual running distance of the right driving wheel.
  • the running distances of the left driving wheel and the right driving wheel are respectively set to an abscissa and an ordinate of a Cartesian coordinate system; and the predetermined running track is set to be in the Cartesian coordinate system and the abscissa
  • the angle is a straight line of 45 degrees, and any one of the predetermined running trajectories corresponds to a predetermined running distance of the left driving wheel and a predetermined running distance of the right driving wheel; determining the left driving wheel following error as the actual left driving wheel
  • the difference between the running distance and the predetermined running distance of the left driving wheel determines the right driving wheel following error as the difference between the actual driving distance of the right driving wheel and the predetermined running distance of the right driving wheel.
  • the generating the left driving wheel position adjustment instruction and the right driving wheel position adjustment instruction comprises: determining an actual running trajectory of the handling robot and the running reservation based on the left driving wheel following error, the right driving wheel following error Deviation error between the tracks; performing a proportional integral operation on the deviation error to obtain a position adjustment output amount; and generating the left driving wheel position adjustment command and the right driving wheel position adjustment command based on the position adjustment output amount.
  • generating the left driving wheel position adjustment instruction and the right driving wheel position adjustment instruction based on the position adjustment output amount comprising: converting a product of the position adjustment output quantity and a left driving wheel adjustment coefficient into the a left driving wheel position adjustment command; converting a product of the position adjustment output amount and a right driving wheel adjustment coefficient into the right driving wheel position adjustment command.
  • the first servo drive system includes: a first position loop unit, a first speed loop unit and a first motor; a position command outputting the first position loop unit and the left drive wheel position adjustment command Performing addition or subtraction to obtain a first control command; wherein the first control command acts on the first motor through the first speed loop unit to adjust a rotational speed of the first motor.
  • the second servo drive system includes: a second position loop unit, a second speed loop unit, and a second motor; a position command outputting the second position loop unit and the right drive wheel position adjustment command Performing addition or subtraction to obtain a second control command; wherein the second control command acts on the second motor through the second speed loop unit to adjust the rotation speed of the second motor.
  • the first pulse information of the left driving wheel is collected by the first encoder
  • the actual running distance of the left driving wheel is calculated according to the first pulse information
  • the right driving wheel is collected by the second encoder.
  • the second pulse information calculates the actual running distance of the right driving wheel based on the second pulse information.
  • an apparatus for controlling operation of a handling robot including: a running distance acquisition module, configured to acquire an actual running distance of a left driving wheel of the handling robot and an actual running distance of the right driving wheel; and a following error determining module, And determining, according to the actual running distance of the left driving wheel, the actual running distance of the right driving wheel, and the predetermined running trajectory, determining a left driving wheel following error and a right driving wheel following error of the handling robot at the current point; and a position adjustment instruction generating module, Generating a left driving wheel position adjustment command and a right driving wheel position adjustment command according to the left driving wheel following error and the right driving wheel following error; a trajectory adjusting module, configured to: the left driving wheel position adjusting instruction and the The right driving wheel position adjustment command is respectively sent to the first servo driving system that drives the left driving wheel and the second servo driving system that drives the right driving wheel to reduce the deviation between the actual running track of the handling robot and the predetermined running track.
  • the following error determining module is further configured to set an operating distance of the left driving wheel and the right driving wheel to an abscissa and an ordinate of a Cartesian coordinate system, respectively, and set the predetermined running track as a straight line at an angle of 45 degrees with the abscissa in the Cartesian coordinate system, any one of the predetermined running trajectories corresponding to a predetermined running distance of the left driving wheel and a predetermined running distance of the right driving wheel; the left driving wheel
  • the following error is determined as a difference between the actual running distance of the left driving wheel and a predetermined running distance of the left driving wheel, and the right driving wheel following error is determined as the actual running distance of the right driving wheel and the right driving wheel is scheduled The difference in running distance.
  • the generating the left driving wheel position adjustment instruction and the right driving wheel position adjustment instruction comprises: the position adjustment instruction generating module, further configured to determine, according to the left driving wheel following error, the right driving wheel following error a deviation error between the actual running track of the handling robot and the predetermined running track; performing a proportional integral operation on the deviation error to obtain a position adjustment output amount; and generating the left driving wheel position adjustment command based on the position adjustment output amount And the right drive wheel position adjustment command.
  • the position adjustment instruction generating module is specifically configured to: adjust the position adjustment output amount and the left driving wheel adjustment coefficient The product is converted into the left driving wheel position adjustment command; the product of the position adjustment output amount and the right driving wheel adjustment coefficient is converted into the right driving wheel position adjustment command.
  • the first servo drive system includes: a first position loop unit, a first speed loop unit, and a first motor; the trajectory adjustment module is configured to: output a position command of the first position loop unit The left driving wheel position adjustment command performs addition or subtraction to obtain a first control instruction; wherein the first control command acts on the first motor through the first speed loop unit to adjust the The speed of the first motor.
  • the second servo drive system includes: a second position loop unit, a second speed loop unit, and a second motor; the trajectory adjustment module is further configured to: output a position command of the second position loop unit Adding or subtracting the right driving wheel position adjustment command to obtain a second control command; wherein the second control command acts on the second motor through the second speed ring unit to adjust the The rotational speed of the second motor.
  • the running distance obtaining module is configured to collect the first pulse information of the left driving wheel by using the first encoder, calculate the actual running distance of the left driving wheel according to the first pulse information, and pass the second encoding. Collecting the second pulse information of the right driving wheel, and calculating the actual running distance of the right driving wheel according to the second pulse information.
  • a handling robot comprising: a device for controlling operation of a handling robot as described above.
  • an apparatus for controlling operation of a handling robot comprising: a memory; and a processor coupled to the memory, the processor being configured to be based on an instruction stored in the memory, The method of controlling the operation of the transport robot as described above is performed.
  • the present disclosure also provides a computer readable storage medium storing computer instructions that, when executed by a processor, implement a method of controlling the operation of a handling robot as described above.
  • the method, device and handling robot for controlling the operation of the handling robot of the present disclosure generate a left driving wheel position adjustment command and a right driving wheel position adjustment command based on the following error of the left driving wheel and the right driving wheel, and simultaneously control the operation of the two independent motors
  • the independent control of the motor becomes a coupling control.
  • the coupling control method solves the problems of inconsistent response delay, parameter mismatch and load disturbance between the motors, reduces the influence of the dynamic characteristics of each motor on the operation of the handling robot, and improves the accuracy of the movement of the handling robot. And improve the stability of the handling of the handling robot.
  • FIG. 1 is a schematic view showing the arrangement of a driving wheel of a handling robot according to the present disclosure
  • FIG. 2 is a flow diagram of some embodiments of a method of controlling operation of a handling robot in accordance with the present disclosure
  • FIG. 3 is a schematic diagram of a servo drive system frame in some embodiments of a method of controlling operation of a handling robot in accordance with the present disclosure
  • FIG. 4 is a schematic diagram of trajectory error in some embodiments of a method of controlling operation of a handling robot in accordance with the present disclosure
  • FIG. 5 is a block diagram of some embodiments of an apparatus for controlling operation of a handling robot in accordance with the present disclosure
  • FIG. 6 is a block diagram of another embodiment of an apparatus for controlling the operation of a handling robot in accordance with the present disclosure.
  • FIG. 1 is a schematic view showing the arrangement of a driving wheel of a handling robot according to the present disclosure.
  • the chassis of the transport robot is distributed with a pair of driving wheels 01 and 02.
  • the driving wheels 01 and 02 are driven by respective motors.
  • the two motors rotate in the same direction at the same speed to realize linear forward and backward movement of the robot. Reverse rotation at the same speed allows the robot to turn in place.
  • FIG. 2 is a flow diagram of some embodiments of a method of controlling the operation of a handling robot in accordance with the present disclosure. As shown in FIG. 2, the method of this embodiment includes steps 101-104.
  • step 101 the actual running distance of the left driving wheel of the handling robot and the actual running distance of the right driving wheel are obtained.
  • the actual running distance of the left and right driving wheels can be obtained in various ways.
  • the first pulse information of the left driving wheel is collected by the first encoder, and the actual running distance of the left driving wheel is calculated according to the first pulse information.
  • the second pulse information of the right driving wheel is collected by the second encoder, and the actual running distance of the right driving wheel is calculated according to the second pulse information.
  • the pulse generated by the first encoder in one revolution is Cnt
  • the number of pulses (first pulse information) acquired by the first encoder when the left driving wheel runs to the current distance is DeltaCnt
  • the gearbox acceleration ratio is GearRatio
  • the left active The diameter of the wheel is D
  • the calculation method of the actual running distance of the right driving wheel is the same as the calculation method of the actual running distance of the left driving wheel.
  • the left driving wheel following error and the right driving wheel following error of the handling robot at the current point are determined according to the actual running distance of the left driving wheel, the actual running distance of the right driving wheel, and the predetermined running trajectory.
  • the left driving wheel following error and the right driving wheel following error refer to the theoretical position of the left driving wheel and the right driving wheel on the predetermined running track and the left driving wheel and the right driving wheel when the left driving wheel and the right driving wheel are running to the current point.
  • the actual position is the difference between the abscissa and the ordinate.
  • Any one of the predetermined running trajectories corresponds to a predetermined running distance of the left driving wheel and a predetermined running distance of the right driving wheel.
  • a left drive wheel position adjustment command and a right drive wheel position adjustment command are generated based on the left drive wheel following error and the right drive wheel following error.
  • step 104 the left driving wheel position adjustment command and the right driving wheel position adjusting command are respectively sent to the first servo driving system that drives the left driving wheel and the second servo driving system that drives the right driving wheel to reduce the handling robot.
  • Any position point in the actual running track corresponds to the actual running distance of the left driving wheel and the actual running distance of the right driving wheel.
  • the servo drive system is simply referred to as servo, and is divided into a position loop, a speed loop, and a current loop from the outside to the inside.
  • the first servo drive system includes a first position loop unit, a first speed loop unit, and a first motor.
  • the output shaft of the first motor is coupled to the left drive wheel via a transmission system.
  • the second servo drive system includes a second position loop unit, a second speed loop unit, and a second motor.
  • the output shaft of the second motor is coupled to the right drive wheel via a transmission system.
  • the first position loop unit and the second position loop unit may both be proportional (P) controlled, and both the first speed loop unit and the second speed loop unit may be proportional integral (PI) control.
  • the PI control constitutes a control deviation according to a given value and an actual output value, and the ratio (P) of the deviation and the integral (I) are linearly combined to form a control amount.
  • the block diagram of the servo drive system in Fig. 3 shows the first servo drive system and the second servo drive system.
  • the first servo drive system is the same as the second servo drive system, the speed loop is PI control, and the position loop unit is P control.
  • the proportional gain parameters of the position loops of the first servo drive system and the second servo drive system are K PL and K PR , respectively .
  • K L and K R are the integrated gains of the left and right wheel servo drive systems, respectively.
  • R L is the theoretical distance of the left driving wheel input through the position command module along the predetermined running track, that is, the predetermined running distance of the left wheel
  • R R is the theoretical distance of the right driving wheel input through the position command module along the predetermined running track, that is, right The scheduled running distance of the wheel.
  • the running trajectory is the running trajectory of the forward, reverse or in-situ steering of the handling robot, and the running distances of the left driving wheel and the right driving wheel are respectively set to the abscissa and the ordinate of the Cartesian coordinate system;
  • the predetermined trajectory is set to a straight line at an angle of 45 degrees with the abscissa in the Cartesian coordinate system;
  • the left driving wheel following error is determined as the difference between the actual running distance of the left driving wheel and the predetermined running distance of the left driving wheel, and the right driving wheel follows The error is determined as the difference between the actual running distance of the right driving wheel and the predetermined running distance of the right driving wheel.
  • the running track of the two driving wheels is placed in a Cartesian coordinate system
  • the coordinate axis R represents the running distance of the right driving wheel
  • the coordinate axis L represents the running distance of the left driving wheel
  • the moving robot moves forward and backward or
  • the 45-degree straight line also corresponds to a running theoretical position point of the transport robot (point A in FIG. 4).
  • the speed of the two driving wheels is the same, and the predetermined running distance of the left wheel and the predetermined running distance of the right wheel at any time can be calculated, the predetermined running distance of the left wheel and the predetermined running distance of the right wheel. the same.
  • the actual running distance of the left driving wheel and the actual running distance of the right driving wheel can be obtained by the first encoder and the second encoder, and the actual running distance of the left driving wheel and the actual running distance of the right driving wheel are left in this control period.
  • the actual running distance of the right drive wheel is the difference between the actual driving distance of the left driving wheel and the predetermined running distance of the left driving wheel
  • the right driving wheel following error is the difference between the actual running distance of the right driving wheel and the predetermined running distance of the right driving wheel.
  • the deviation error between the actual running trajectory of the handling robot and the running predetermined trajectory is determined based on the left driving wheel following error, the right driving wheel following error.
  • the cross-coupling controller can select PI control, which is more convenient to reduce the steady-state error than P control.
  • the real-time calculation is performed by reading the feedback of the motor code disc (ie, the encoder), and the actual running distance of the left driving wheel and the actual running distance of the right driving wheel are obtained. Calculate the difference between the actual running distance of the left driving wheel and the actual running distance of the right driving wheel and the predetermined running distance of the left driving wheel and the predetermined running distance of the right driving wheel respectively, and obtain the left driving wheel following error and the right driving wheel following error. .
  • the left driving wheel following error and the right driving wheel following error are brought into the equation (1-1) to obtain the deviation error ⁇ , and the deviation error ⁇ is proportionally integrated to obtain the position adjustment output.
  • the proportional information involved in the proportional operation and the upper and lower limits involved in the integral calculation can be determined by testing according to the characteristics of the motor and the structure of the transfer robot.
  • the left driving wheel position adjustment command and the right driving wheel position adjustment command are generated based on the preset adjustment rule and the position adjustment output amount. There may be various adjustment rules, for example, setting the left driving wheel adjustment coefficient C L and the right driving wheel adjustment coefficient C R , and multiplying the position adjustment output by the left driving wheel adjustment coefficient C L and the right driving wheel adjustment coefficient C R , respectively. After the conversion, the left driving wheel position adjustment command and the right driving wheel position adjustment command are obtained.
  • the first servo drive system includes a first position loop unit, a first speed loop unit, and a first motor. Adding or subtracting the position command outputted by the first position ring unit and the left driving wheel position adjustment command to obtain a first control command, the first control command is applied to the first motor through the first speed ring unit to adjust the first motor Speed.
  • the second servo drive system includes a second position loop unit, a second speed loop unit, and a second motor. Adding or subtracting the position command outputted by the second position loop unit and the right driving wheel position adjustment command to obtain a second control command, and the second control command acts on the second motor through the second speed loop unit to adjust the second motor The speed of rotation enables cross-coupling control of the two motors.
  • the method, device and handling robot for controlling the operation of the handling robot provided in the above embodiments generate a left driving wheel position adjustment command and a right driving wheel position adjustment command based on the following error of the left driving wheel and the right driving wheel, and simultaneously control two independent
  • the operation of the motor changes the independent control of the motor into a coupling control.
  • the coupling control method solves the problems of inconsistent response delay, parameter mismatch and load disturbance between the motors, reduces the influence of the dynamic characteristics of each motor on the operation of the handling robot, and improves the accuracy of the movement of the handling robot. And improve the stability of the handling of the handling robot.
  • the present disclosure provides a device 50 for controlling the operation of a handling robot, including: a running distance obtaining module 51, a following error determining module 52, a position adjusting command generating module 53 and a track adjusting module 54.
  • the running distance acquisition module 51 obtains the actual running distance of the left driving wheel of the handling robot and the actual running distance of the right driving wheel.
  • the following error determination module 52 determines the left drive wheel following error and the right drive wheel following error of the handling robot at the current point according to the actual running distance of the left driving wheel, the actual running distance of the right driving wheel, and the predetermined running trajectory.
  • the position adjustment command generating module 53 generates a left driving wheel position adjustment command and a right driving wheel position adjustment command according to the left driving wheel following error and the right driving wheel following error.
  • the trajectory adjustment module 54 sends the left driving wheel position adjustment command and the right driving wheel position adjustment command to the first servo driving system that drives the left driving wheel and the second servo driving system that drives the right driving wheel to reduce the handling robot. The deviation of the actual running trajectory from the predetermined running trajectory.
  • the running distance obtaining module 51 collects the first pulse information of the left driving wheel through the first encoder, calculates the actual running distance of the left driving wheel according to the first pulse information, and collects the second pulse information of the right driving wheel through the second encoder, according to The second pulse information calculates the actual running distance of the right driving wheel.
  • the predetermined trajectory is the trajectory of the forward, reverse, or in situ steering of the handling robot.
  • the following error determination module 52 sets the running distances of the left and right driving wheels to the abscissa and the ordinate of the Cartesian coordinate system, respectively.
  • the following error determination module 52 sets the running predetermined trajectory to a straight line at an angle of 45 degrees to the abscissa in the Cartesian coordinate system.
  • the following error determination module 52 determines the left drive wheel following error as the difference between the actual running distance of the left driving wheel and the predetermined running distance of the left driving wheel, and determines the right driving wheel following error as the actual running distance of the right driving wheel and the scheduled running of the right driving wheel. The difference in distance.
  • the position adjustment command generation module 53 determines a deviation error between the actual running trajectory of the handling robot and the running predetermined trajectory based on the left driving wheel following error and the right driving wheel following error.
  • the position adjustment command generation module 53 performs a proportional-integral operation on the deviation error, acquires the position adjustment output amount, and generates a left driving wheel position adjustment command and a right driving wheel position adjustment command based on the position adjustment output amount.
  • the position adjustment command generating module 53 is specifically configured to: convert the product of the position adjustment output quantity and the left driving wheel adjustment coefficient into a left driving wheel position adjustment instruction; The product of the position adjustment output and the right drive wheel adjustment coefficient is converted into a right drive wheel position adjustment command.
  • the first servo drive system includes a first position loop unit, a first speed loop unit, and a first motor.
  • the trajectory adjustment module 54 adds or subtracts the position command output by the first position loop unit and the left driving wheel position adjustment command to obtain a first control command, and the first control command acts on the first motor through the first speed loop unit. Used to adjust the speed of the first motor.
  • the second servo drive system includes a second position loop unit, a second speed loop unit, and a second motor.
  • the trajectory adjustment module 54 adds or subtracts the position command output by the second position ring unit and the right driving wheel position adjustment command to obtain a second control command, and the second control command acts on the second motor through the second speed ring unit. It is used to adjust the rotation speed of the second motor.
  • the present disclosure provides a handling robot comprising apparatus for controlling the operation of a handling robot in any of the embodiments above.
  • the handling robot provided by the present disclosure further includes: a first encoder for acquiring first pulse information of the left driving wheel, and a second encoder for collecting second pulse information of the right driving wheel
  • the device for controlling the operation of the handling robot calculates the left driving wheel running distance according to the first pulse information, and calculates the right driving wheel running distance according to the second pulse information.
  • the apparatus can include a memory 61, a processor 62, a communication interface 63, and a bus 64.
  • the memory 61 is for storing instructions
  • the processor 62 is coupled to the memory 61
  • the processor 62 is configured to perform the method of controlling the operation of the handling robot described above based on the instructions stored by the memory 61.
  • the memory 61 may be a high speed RAM memory, a non-volatile memory, or the like, and the memory 61 may be a memory array.
  • the memory 61 may also be partitioned, and the blocks may be combined into a virtual volume according to certain rules.
  • the processor 62 can be a central processing unit CPU, or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the methods of the present disclosure that control the operation of the handling robot.
  • ASIC application specific integrated circuit
  • the present disclosure provides a computer readable storage medium storing computer instructions that, when executed by a processor, implement a method of controlling the operation of a handling robot in any of the above embodiments.
  • the method, device and handling robot for controlling the operation of the handling robot provided in the above embodiments generate a left driving wheel position adjustment command and a right driving wheel position adjustment command based on the following error of the left driving wheel and the right driving wheel, and simultaneously control two independent
  • the operation of the motor changes the independent control of the motor into a coupling control.
  • the coupling control method solves the problems of inconsistent response delay, parameter mismatch and load disturbance between the motors, reduces the influence of the dynamic characteristics of each motor on the operation of the handling robot, and improves the accuracy of the movement of the handling robot.
  • the stability of the handling robot operation is improved, and the safety of the logistics transportation can be ensured; and the movement of the unmanned warehouse handling robot can be controlled by the cross-coupling control method, and the correction position sensor of the handling robot can be simplified.
  • the methods and systems of the present disclosure may be implemented in a number of ways.
  • the methods and systems of the present disclosure may be implemented in software, hardware, firmware, or any combination of software, hardware, or firmware.
  • the above-described sequence of steps for the method is for illustrative purposes only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless otherwise specifically stated.
  • the present disclosure may also be embodied as programs recorded in a recording medium, the programs including machine readable instructions for implementing a method in accordance with the present disclosure.
  • the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

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Abstract

一种控制搬运机器人运行的方法、装置及机器人，涉及机器人技术领域，该方法包括：根据左主动轮实际运行距离、右主动轮实际运行距离以及预定运行轨迹确定左主动轮跟随误差、右主动轮跟随误差（102），根据左主动轮跟随误差和右主动轮跟随误差生成左主动轮位置调整指令和右主动轮位置调整指令（103），将左主动轮位置调整指令和右主动轮位置调整指令分别发送给第一伺服驱动系统和第二伺服驱动系统，减少搬运机器人的实际运行轨迹与预定运行轨迹的偏差（104）。该方法、装置及机器人，基于左、右主动轮的跟随误差同时控制两台独立电机的运行，将电机的独立控制变成耦合控制，减小了各个电机的动态特性对于搬运机器人运行的影响，提高了搬运机器人的运动轨迹精度，并且提高了搬运机器人运行的稳定性。

Description

控制搬运机器人运行的方法、装置及机器人
相关申请的交叉引用
本申请是以CN申请号为201710247046.7，申请日为2017年4月17日的申请为 基础，并主张其优先权，该CN申请的公开内容在此作为整体引入本申请中。
技术领域
本公开涉及机器人技术领域，尤其涉及一种控制搬运机器人运行的方法、装置及搬运机器人。
背景技术
信息化时代的大潮推动了物流行业的不断改革，机器人和自动化设备正在成为物流行业的生力军。无人仓的应用越来越多，无人仓中的搬运机器人将全面用于货物的搬运。
根据相关技术的控制搬运机器人运行的方法，对两个主动轮分别进行闭环控制，分别根据各自的响应情况调节参数，对每个主动轮的伺服驱动系统进行独立控制。
发明内容
发明人认识到，根据相关技术的控制搬运机器人运行的方法，两套独立的伺服驱动系统没有进行匹配，两个伺服驱动系统的电机动特性不同导致了各自响应不同，极大的影响了机器人快速准确的按设定轨迹运动，使得搬运机器人难以精确地按照预定轨迹进行直线运动。
有鉴于此，本公开提供一种控制搬运机器人运行的方法、装置及机器人，提高了搬运机器人的运动轨迹精度。
根据本公开的一个方面，提供一种控制搬运机器人运行的方法，包括：获取搬运机器人的左主动轮实际运行距离和右主动轮实际运行距离；根据所述左主动轮实际运行距离、所述右主动轮实际运行距离以及预定运行轨迹确定搬运机器人在当前点的左主动轮跟随误差、右主动轮跟随误差；根据所述左主动轮跟随误差和所述右主动轮跟随误差生成左主动轮位置调整指令和右主动轮位置调整指令；将所述左主动轮位置调整指令和所述右主动轮位置调整指令分别发送给驱动左主动轮运行的第一伺服驱动系统和驱动右主动轮运行的第二伺服驱动系统，用以减少搬运机器人的实际运行轨迹与所述预定运行轨迹的偏差， 所述实际运行轨迹中的任一位置点对应左主动轮实际运行距离和右主动轮实际运行距离。
可选地，将所述左主动轮和所述右主动轮的运行距离分别设置为直角坐标系的横坐标和纵坐标；将所述预定运行轨迹设置为在所述直角坐标系中与横坐标夹角呈45度的直线，所述预定运行轨迹中的任一位置点对应左主动轮预定运行距离和右主动轮预定运行距离；将所述左主动轮跟随误差确定为所述左主动轮实际运行距离与所述左主动轮预定运行距离的差值，将所述右主动轮跟随误差确定为所述右主动轮实际运行距离与所述右主动轮预定运行距离的差值。
可选地，所述生成左主动轮位置调整指令和右主动轮位置调整指令包括：基于所述左主动轮跟随误差、所述右主动轮跟随误差确定搬运机器人的实际运行轨迹与所述运行预定轨迹之间的偏离误差；对所述偏离误差进行比例积分运算，获取位置调整输出量；基于所述位置调整输出量生成所述左主动轮位置调整指令和所述右主动轮位置调整指令。
可选地，基于所述位置调整输出量生成所述左主动轮位置调整指令和所述右主动轮位置调整指令包括：将所述位置调整输出量与左主动轮调整系数的乘积转换成所述左主动轮位置调整指令；将所述位置调整输出量与右主动轮调整系数的乘积转换成所述右主动轮位置调整指令。
可选地，所述第一伺服驱动系统包括：第一位置环单元、第一速度环单元和第一电机；将所述第一位置环单元输出的位置指令与所述左主动轮位置调整指令进行相加或相减，获得第一控制指令；其中，所述第一控制指令经过所述第一速度环单元作用于所述第一电机，用以调节所述第一电机的转速。
可选地，所述第二伺服驱动系统包括：第二位置环单元、第二速度环单元和第二电机；将所述第二位置环单元输出的位置指令与所述右主动轮位置调整指令进行相加或相减，获得第二控制指令；其中，所述第二控制指令经过所述第二速度环单元作用于所述第二电机，用以调节所述第二电机的转速。
可选地，通过第一编码器采集所述左主动轮的第一脉冲信息，根据所述第一脉冲信息计算出所述左主动轮实际运行距离；通过第二编码器采集所述右主动轮的第二脉冲信息，根据所述第二脉冲信息计算出所述右主动轮实际运行距离。
根据本公开的另一方面，提供一种控制搬运机器人运行的装置，包括：运行距离获取模块，用于获取搬运机器人的左主动轮实际运行距离和右主动轮实际运行距离；跟随误差确定模块，用于根据所述左主动轮实际运行距离、所述右主动轮实际运行距离以及预定运行轨迹确定搬运机器人在当前点的左主动轮跟随误差、右主动轮跟随误差；位置调整指令 生成模块，用于根据所述左主动轮跟随误差和所述右主动轮跟随误差生成左主动轮位置调整指令和右主动轮位置调整指令；轨迹调整模块，用于将所述左主动轮位置调整指令和所述右主动轮位置调整指令分别发送给驱动左主动轮运行的第一伺服驱动系统和驱动右主动轮运行的第二伺服驱动系统，用以减少搬运机器人的实际运行轨迹与所述预定运行轨迹的偏差，所述实际运行轨迹中的任一位置点对应左主动轮实际运行距离和右主动轮实际运行距离。
可选地，所述跟随误差确定模块，还用于将所述左主动轮和所述右主动轮的运行距离分别设置为直角坐标系的横坐标和纵坐标；将所述预定运行轨迹设置为在所述直角坐标系中与横坐标夹角呈45度的直线，所述预定运行轨迹中的任一位置点对应左主动轮预定运行距离和右主动轮预定运行距离；将所述左主动轮跟随误差确定为所述左主动轮实际运行距离与所述左主动轮预定运行距离的差值，将所述右主动轮跟随误差确定为所述右主动轮实际运行距离与所述右主动轮预定运行距离的差值。
可选地，所述生成左主动轮位置调整指令和右主动轮位置调整指令包括：所述位置调整指令生成模块，还用于基于所述左主动轮跟随误差、所述右主动轮跟随误差确定搬运机器人的实际运行轨迹与所述运行预定轨迹之间的偏离误差；对所述偏离误差进行比例积分运算，获取位置调整输出量；基于所述位置调整输出量生成所述左主动轮位置调整指令和所述右主动轮位置调整指令。
可选地，所述位置调整指令生成模块在生成所述左主动轮位置调整指令和所述右主动轮位置调整指令时，具体用于：将所述位置调整输出量与左主动轮调整系数的乘积转换成所述左主动轮位置调整指令；将所述位置调整输出量与右主动轮调整系数的乘积转换成所述右主动轮位置调整指令。
可选地，所述第一伺服驱动系统包括：第一位置环单元、第一速度环单元和第一电机；所述轨迹调整模块，用于将所述第一位置环单元输出的位置指令与所述左主动轮位置调整指令进行相加或相减，获得第一控制指令；其中，所述第一控制指令经过所述第一速度环单元作用于所述第一电机，用以调节所述第一电机的转速。
可选地，所述第二伺服驱动系统包括：第二位置环单元、第二速度环单元和第二电机；所述轨迹调整模块，还用于将所述第二位置环单元输出的位置指令与所述右主动轮位置调整指令进行相加或相减，获得第二控制指令；其中，所述第二控制指令经过所述第二速度环单元作用于所述第二电机，用以调节所述第二电机的转速。
可选地，运行距离获取模块，用于通过第一编码器采集所述左主动轮的第一脉冲信息， 根据所述第一脉冲信息计算出所述左主动轮实际运行距离；通过第二编码器采集所述右主动轮的第二脉冲信息，根据所述第二脉冲信息计算出所述右主动轮实际运行距离。
根据本公开的又一方面，提供一种搬运机器人，包括：如上所述的控制搬运机器人运行的装置。
根据本公开的再一方面，提供一种控制搬运机器人运行的装置，包括：存储器；以及耦接至所述存储器的处理器，所述处理器被配置为基于存储在所述存储器中的指令，执行如上所述的控制搬运机器人运行的方法。
本公开还提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机指令，所述指令被处理器执行时实现如上所述的控制搬运机器人运行的方法。
本公开的控制搬运机器人运行的方法、装置及搬运机器人，基于左主动轮和右主动轮的跟随误差生成左主动轮位置调整指令、右主动轮位置调整指令，并同时控制两台独立电机的运行，从而将电机的独立控制变成耦合控制。该耦合控制方式，解决了各电机之间存在着响应延时不一致、参数不匹配以及负载扰动等问题,减小了各个电机的动态特性对于搬运机器人运行的影响，提高了搬运机器人的运动轨迹精度，并且提高了搬运机器人运行的稳定性。
附图说明
为了更清楚地说明本公开实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为根据本公开的搬运机器人的主动轮的布置示意图；
图2为根据本公开的控制搬运机器人运行的方法的一些实施例的流程示意图；
图3为根据本公开的控制搬运机器人运行的方法的一些实施例中的伺服驱动系统框架示意图；
图4为根据本公开的控制搬运机器人运行的方法的一些实施例中的轨迹误差示意图；
图5为根据本公开的控制搬运机器人运行的装置的一些实施例的模块示意图；
图6为根据本公开的控制搬运机器人运行的装置的另一些实施例的模块示意图。
具体实施方式
下面参照附图对本公开进行更全面的描述，其中说明本公开的示例性实施例。下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。下面结合各个图和实施例对本公开的技术方案进行多方面的描述。
下文中的“第一”、“第二”的描述用来区别不同的对象，并不用来表示大小或者时序等含义。
图1为根据本公开的搬运机器人的主动轮的布置示意图。
如图1所示，搬运机器人的底盘分布一对主动轮01、02，主动轮01、02由各自的电机驱动，两个电机同向同速旋转可实现机器人的直线前进和后退，两个电机反向同速旋转可实现机器人的原地转向。
图2为根据本公开的控制搬运机器人运行的方法的一些实施例的流程示意图。如图2所示：该实施例的方法包括步骤101-104。
在步骤101，获取搬运机器人的左主动轮实际运行距离和右主动轮实际运行距离。
可以采用多种方式获取左、右主动轮实际运行距离。例如，通过第一编码器采集左主动轮的第一脉冲信息，根据第一脉冲信息计算出左主动轮实际运行距离。通过第二编码器采集右主动轮的第二脉冲信息，根据第二脉冲信息计算出右主动轮实际运行距离。例如，第一编码器转一圈产生的脉冲为Cnt，第一编码器在左主动轮运行到当前距离时采集的脉冲数量(第一脉冲信息)为DeltaCnt，齿轮箱加速比为GearRatio，左主动轮的直径为D，则左主动轮实际运行距离SL＝DeltaCnt/(Cnt*GearRatio)*π*D。右主动轮实际运行距离的计算方法与左主动轮实际运行距离的计算方法相同。
在步骤102，根据左主动轮实际运行距离、右主动轮实际运行距离以及预定运行轨迹确定搬运机器人在当前点的左主动轮跟随误差、右主动轮跟随误差。
左主动轮跟随误差、右主动轮跟随误差是指左主动轮、右主动轮运行到当前点时，左主动轮、右主动轮在预定运行轨迹上的理论位置与左主动轮、右主动轮的实际位置分别在横坐标和纵坐标上的差值。
预定运行轨迹中的任一位置点对应左主动轮预定运行距离和右主动轮预定运行距离。
在步骤103，根据左主动轮跟随误差和右主动轮跟随误差生成左主动轮位置调整指令和右主动轮位置调整指令。
在步骤104，将左主动轮位置调整指令和右主动轮位置调整指令分别发送给驱动左主 动轮运行的第一伺服驱动系统和驱动右主动轮运行的第二伺服驱动系统，用以减少搬运机器人的实际运行轨迹与预定运行轨迹的偏差。
实际运行轨迹中的任一位置点对应左主动轮实际运行距离和右主动轮实际运行距离。
伺服驱动系统简称为伺服，由外到内分为位置环、速度环和电流环等。例如第一伺服驱动系统包括：第一位置环单元、第一速度环单元和第一电机。第一电机的输出轴通过传动系统与左主动轮连接。第二伺服驱动系统包括：第二位置环单元、第二速度环单元和第二电机。第二电机的输出轴通过传动系统与右主动轮连接。
第一位置环单元和第二位置环单元可以都为比例(P)控制，第一速度环单元和第二速度环单元可以都为比例积分(PI)控制。PI控制根据给定值与实际输出值构成控制偏差，将偏差的比例(P)和积分(I)通过线性组合构成控制量。
图3中的伺服驱动系统结构框图表示第一伺服驱动系统与第二伺服驱动系统。第一伺服驱动系统与第二伺服驱动系统相同，速度环为PI控制，位置环单元为P控制。第一伺服驱动系统与第二伺服驱动系统的位置环的比例增益参数分别为K PL和K PR。K L和K R分别为左轮和右轮伺服驱动系统的集成增益。R L为通过位置指令模块输入的左主动轮沿预定运行轨迹运行的理论距离，即左轮预定运行距离，R R为通过位置指令模块输入的右主动轮沿预定运行轨迹运行的理论距离，即右轮预定运行距离。
在一些实施例中，运行预定轨迹为搬运机器人的前进、后退或者原地转向的运行轨迹，将左主动轮和右主动轮的运行距离分别设置为直角坐标系的横坐标和纵坐标；将运行预定轨迹设置为在直角坐标系中与横坐标夹角呈45度的直线；将左主动轮跟随误差确定为左主动轮实际运行距离与左主动轮预定运行距离的差值，将右主动轮跟随误差确定为右主动轮实际运行距离与右主动轮预定运行距离的差值。
如图4所示，将两个主动轮的运行轨迹放在直角坐标系中，坐标轴R代表右主动轮的运行距离，坐标轴L代表左主动轮的运行距离，搬运机器人的前进、后退或者原地转向的运行轨迹为直角坐标系中的一条直线，α＝45°，则搬运机器人的运行实际位置在每一控制周期内都会对应坐标系内的一个点(如图4中的P点)，在上述同一控制周期内在该45度直线上也会对应有一个搬运机器人的运行理论位置点(如图4中的A点)。
例如，搬运机器人前进、后退或者原地转向时两主动轮的速度大小相同，可以计算出搬运机器人在任意时刻的左轮预定运行距离和右轮预定运行距离，左轮预定运行距离和右轮预定运行距离相同。在同一时刻，通过第一编码器和第二编码器可以获取左主动轮实际运行距离和右主动轮实际运行距离，左主动轮实际运行距离和右主动轮实际运行距离为在 此控制周期内左、右主动轮的实际运行距离。左主动轮跟随误差为左主动轮实际运行距离与左主动轮预定运行距离的差值，右主动轮跟随误差为右主动轮实际运行距离与右主动轮预定运行距离的差值。
假设搬运机器人在运行中当前的期望位置在A点，搬运机器人的当前实际位置在P点，P点距离直线运行轨迹的偏差为ε，E L为左主动轮在当前位置时的跟随误差，E R为右主动轮在当前位置时的跟随误差。
从图4中的几何关系可以得出轨迹偏离误差与跟随误差的关系：
ε＝-E LC L+E RC R   (1－1)；
上述公式中，C L＝sinα，C R＝cosα，当α为45度时，
Figure PCTCN2018083277-appb-000001
在一些实施例中，基于左主动轮跟随误差、右主动轮跟随误差确定搬运机器人的实际运行轨迹与运行预定轨迹之间的偏离误差。如图3所示，交叉耦合控制器可以选取PI控制，相对于P控制更加便于削减稳态误差。通过读取电机码盘(即，编码器)反馈来进行实时的计算，获取左主动轮实际运行距离和右主动轮实际运行距离。计算左主动轮实际运行距离、右主动轮实际运行距离分别与位置指令模块输入的左主动轮预定运行距离、右主动轮预定运行距离的差值，获取左主动轮跟随误差和右主动轮跟随误差。
将左主动轮跟随误差和右主动轮跟随误差带入式(1-1)获取偏离误差ε，对偏离误差ε进行比例积分运算，获取位置调整输出量。比例运算中涉及的比例信息和积分运算中涉及的上下限可以根据电机特性和搬运机器人的结构通过测试确定。基于预设的调整规则和位置调整输出量生成左主动轮位置调整指令和右主动轮位置调整指令。调整规则可以有多种，例如，设置左主动轮调整系数C L和右主动轮调整系数C R，将位置调整输出量分别乘以左主动轮调整系数C L和右主动轮调整系数C R，经过转换后获得左主动轮位置调整指令和右主动轮位置调整指令。
第一伺服驱动系统包括：第一位置环单元、第一速度环单元和第一电机。将第一位置环单元输出的位置指令与左主动轮位置调整指令进行相加或相减，获得第一控制指令，第一控制指令经过第一速度环单元作用于第一电机，调节第一电机的转速。
第二伺服驱动系统包括：第二位置环单元、第二速度环单元和第二电机。将第二位置环单元输出的位置指令与右主动轮位置调整指令进行相加或相减，获得第二控制指令，第二控制指令经过第二速度环单元作用于第二电机，调节第二电机的转速，实现了对两台电机的交叉耦合控制。
上述实施例中提供的控制搬运机器人运行的方法、装置及搬运机器人，基于左主动轮和右主动轮的跟随误差生成左主动轮位置调整指令、右主动轮位置调整指令，并同时控制两台独立电机的运行，从而将电机的独立控制变成耦合控制。该耦合控制方式，解决了各电机之间存在着响应延时不一致、参数不匹配以及负载扰动等问题,减小了各个电机的动态特性对于搬运机器人运行的影响，提高了搬运机器人的运动轨迹精度，并且提高了搬运机器人运行的稳定性。
在一些实施例中，如图5所示，本公开提供一种控制搬运机器人运行的装置50，包括：运行距离获取模块51、跟随误差确定模块52、位置调整指令生成模块53和轨迹调整模块54。运行距离获取模块51获取搬运机器人的左主动轮实际运行距离和右主动轮实际运行距离。跟随误差确定模块52根据左主动轮实际运行距离、右主动轮实际运行距离以及预定运行轨迹确定搬运机器人在当前点的左主动轮跟随误差、右主动轮跟随误差。
位置调整指令生成模块53根据左主动轮跟随误差和右主动轮跟随误差生成左主动轮位置调整指令和右主动轮位置调整指令。轨迹调整模块54将左主动轮位置调整指令和右主动轮位置调整指令分别发送给驱动左主动轮运行的第一伺服驱动系统和驱动右主动轮运行的第二伺服驱动系统，用以减少搬运机器人的实际运行轨迹与预定运行轨迹的偏差。
运行距离获取模块51通过第一编码器采集左主动轮的第一脉冲信息，根据第一脉冲信息计算出左主动轮实际运行距离，通过第二编码器采集右主动轮的第二脉冲信息，根据第二脉冲信息计算出右主动轮实际运行距离。
在一些实施例中，运行预定轨迹为搬运机器人的前进、后退或者原地转向的运行轨迹。跟随误差确定模块52将左主动轮和右主动轮的运行距离分别设置为直角坐标系的横坐标和纵坐标。跟随误差确定模块52将运行预定轨迹设置为在直角坐标系中与横坐标夹角呈45度的直线。跟随误差确定模块52将左主动轮跟随误差确定为左主动轮实际运行距离与左主动轮预定运行距离的差值，将右主动轮跟随误差确定为右主动轮实际运行距离与右主动轮预定运行距离的差值。
位置调整指令生成模块53基于左主动轮跟随误差、右主动轮跟随误差确定搬运机器人的实际运行轨迹与运行预定轨迹之间的偏离误差。位置调整指令生成模块53对偏离误差进行比例积分运算，获取位置调整输出量，基于位置调整输出量生成左主动轮位置调整指令和右主动轮位置调整指令。
位置调整指令生成模块53在生成左主动轮位置调整指令和右主动轮位置调整指令时，具体用于：将位置调整输出量与左主动轮调整系数的乘积转换成左主动轮位置调整指令； 将位置调整输出量与右主动轮调整系数的乘积转换成右主动轮位置调整指令。
第一伺服驱动系统包括：第一位置环单元、第一速度环单元和第一电机。轨迹调整模块54将第一位置环单元输出的位置指令与左主动轮位置调整指令进行相加或相减，获得第一控制指令，第一控制指令经过第一速度环单元作用于第一电机，用以调节第一电机的转速。
第二伺服驱动系统包括：第二位置环单元、第二速度环单元和第二电机。轨迹调整模块54将第二位置环单元输出的位置指令与右主动轮位置调整指令进行相加或相减，获得第二控制指令，第二控制指令经过第二速度环单元作用于第二电机，用以调节第二电机的转速。
在一些实施例中，本公开提供一种搬运机器人，包括如上任意实施例中的控制搬运机器人运行的装置。
在一些实施例中，本公开提供的搬运机器人还包括：用于采集左主动轮的第一脉冲信息的第一编码器，和，用于采集右主动轮的第二脉冲信息的第二编码器，以便控制搬运机器人运行的装置根据第一脉冲信息计算出左主动轮运行距离，并根据第二脉冲信息计算出右主动轮运行距离。
图6为根据本公开的控制搬运机器人运行的装置的另一些实施例的模块示意图。如图6所示，该装置可包括存储器61、处理器62、通信接口63以及总线64。存储器61用于存储指令，处理器62耦合到存储器61，处理器62被配置为基于存储器61存储的指令执行实现上述的控制搬运机器人运行的方法。
存储器61可以为高速RAM存储器、非易失性存储器(non-volatile memory)等，存储器61也可以是存储器阵列。存储器61还可能被分块，并且块可按一定的规则组合成虚拟卷。处理器62可以为中央处理器CPU，或专用集成电路ASIC(Application Specific Integrated Circuit)，或者是被配置成实施本公开的控制搬运机器人运行的方法的一个或多个集成电路。
在一些实施例中，本公开提供一种计算机可读存储介质，计算机可读存储介质存储有计算机指令，指令被处理器执行时实现如上任一些实施例中的控制搬运机器人运行的方法。
上述实施例中提供的控制搬运机器人运行的方法、装置及搬运机器人，基于左主动轮和右主动轮的跟随误差生成左主动轮位置调整指令、右主动轮位置调整指令，并同时控制两台独立电机的运行，从而将电机的独立控制变成耦合控制。该耦合控制方式，解决了各电机之间存在着响应延时不一致、参数不匹配以及负载扰动等问题,减小了各个电机的动 态特性对于搬运机器人运行的影响，提高了搬运机器人的运动轨迹精度，并且提高了搬运机器人运行的稳定性，能够保证物流运送的安全性；并且，通过采用交叉耦合控制方式控制无人仓搬运机器人的运动，能够简化掉搬运机器人的纠偏位置传感器。
可能以许多方式来实现本公开的方法和系统。例如，可通过软件、硬件、固件或者软件、硬件、固件的任何组合来实现本公开的方法和系统。用于方法的步骤的上述顺序仅是为了进行说明，本公开的方法的步骤不限于以上具体描述的顺序，除非以其它方式特别说明。此外，在一些实施例中，还可将本公开实施为记录在记录介质中的程序，这些程序包括用于实现根据本公开的方法的机器可读指令。因而，本公开还覆盖存储用于执行根据本公开的方法的程序的记录介质。
本公开的描述是为了示例和描述起见而给出的，而并不是无遗漏的或者将本公开限于所公开的形式。很多修改和变化对于本领域的普通技术人员而言是显然的。选择和描述实施例是为了更好说明本公开的原理和实际应用，并且使本领域的普通技术人员能够理解本公开从而设计适于特定用途的带有各种修改的各种实施例。

Claims (16)

  1. 一种控制搬运机器人运行的方法，包括：
    获取搬运机器人的左主动轮实际运行距离和右主动轮实际运行距离；
    根据所述左主动轮实际运行距离、所述右主动轮实际运行距离以及预定运行轨迹确定搬运机器人在当前点的左主动轮跟随误差、右主动轮跟随误差；
    根据所述左主动轮跟随误差和所述右主动轮跟随误差生成左主动轮位置调整指令和右主动轮位置调整指令；
    将所述左主动轮位置调整指令和所述右主动轮位置调整指令分别发送给驱动左主动轮运行的第一伺服驱动系统和驱动右主动轮运行的第二伺服驱动系统，用以减少搬运机器人的实际运行轨迹与所述预定运行轨迹的偏差，所述实际运行轨迹中的任一位置点对应左主动轮实际运行距离和右主动轮实际运行距离。
  2. 如权利要求1所述的方法，其中，所述确定搬运机器人在当前点的左主动轮跟随误差、右主动轮跟随误差包括：
    将所述左主动轮和所述右主动轮的运行距离分别设置为直角坐标系的横坐标和纵坐标；
    将所述预定运行轨迹设置为在所述直角坐标系中与横坐标夹角呈45度的直线，所述预定运行轨迹中的任一位置点对应左主动轮预定运行距离和右主动轮预定运行距离；
    将所述左主动轮跟随误差确定为所述左主动轮实际运行距离与所述左主动轮预定运行距离的差值，将所述右主动轮跟随误差确定为所述右主动轮实际运行距离与所述右主动轮预定运行距离的差值。
  3. 如权利要求1或2所述的方法，其中，所述生成左主动轮位置调整指令和右主动轮位置调整指令包括：
    基于所述左主动轮跟随误差、所述右主动轮跟随误差确定搬运机器人的所述实际运行轨迹与所述运行预定轨迹之间的偏离误差；
    对所述偏离误差进行比例积分运算，获取位置调整输出量；
    基于所述位置调整输出量生成所述左主动轮位置调整指令和所述右主动轮位置调整指令。
  4. 如权利要求3所述的方法，其中，所述基于所述位置调整输出量生成所述左主动轮位置调整指令和所述右主动轮位置调整指令包括：
    将所述位置调整输出量与左主动轮调整系数的乘积转换成所述左主动轮位置调整指令；
    将所述位置调整输出量与右主动轮调整系数的乘积转换成所述右主动轮位置调整指令。
  5. 如权利要求1所述的方法，其中，
    所述第一伺服驱动系统包括：第一位置环单元、第一速度环单元和第一电机；
    将所述第一位置环单元输出的位置指令与所述左主动轮位置调整指令进行相加或相减，获得第一控制指令；
    其中，所述第一控制指令经过所述第一速度环单元作用于所述第一电机，用以调节所述第一电机的转速；
    所述第二伺服驱动系统包括：第二位置环单元、第二速度环单元和第二电机；
    将所述第二位置环单元输出的位置指令与所述右主动轮位置调整指令进行相加或相减，获得第二控制指令；
    其中，所述第二控制指令经过所述第二速度环单元作用于所述第二电机，用以调节所述第二电机的转速。
  6. 如权利要求1所述的方法，其中，所述获取搬运机器人的左主动轮实际运行距离和右主动轮实际运行距离包括：
    通过第一编码器采集所述左主动轮的第一脉冲信息，根据所述第一脉冲信息计算出所述左主动轮实际运行距离；
    通过第二编码器采集所述右主动轮的第二脉冲信息，根据所述第二脉冲信息计算出所述右主动轮实际运行距离。
  7. 一种控制搬运机器人运行的装置，包括：
    运行距离获取模块，用于获取搬运机器人的左主动轮实际运行距离和右主动轮实际运行距离；
    跟随误差确定模块，用于根据所述左主动轮实际运行距离、所述右主动轮实际运行距 离以及预定运行轨迹确定搬运机器人在当前点的左主动轮跟随误差、右主动轮跟随误差；
    位置调整指令生成模块，用于根据所述左主动轮跟随误差和所述右主动轮跟随误差生成左主动轮位置调整指令和右主动轮位置调整指令；
    轨迹调整模块，用于将所述左主动轮位置调整指令和所述右主动轮位置调整指令分别发送给驱动左主动轮运行的第一伺服驱动系统和驱动右主动轮运行的第二伺服驱动系统，用以减少搬运机器人的实际运行轨迹与所述预定运行轨迹的偏差，所述实际运行轨迹中的任一位置点对应左主动轮实际运行距离和右主动轮实际运行距离。
  8. 如权利要求7所述的装置，其中，所述跟随误差确定模块，用于将所述左主动轮和所述右主动轮的运行距离分别设置为直角坐标系的横坐标和纵坐标；将所述预定运行轨迹设置为在所述直角坐标系中与横坐标夹角呈45度的直线，所述预定运行轨迹中的任一位置点对应左主动轮预定运行距离和右主动轮预定运行距离；将所述左主动轮跟随误差确定为所述左主动轮实际运行距离与所述左主动轮预定运行距离的差值，将所述右主动轮跟随误差确定为所述右主动轮实际运行距离与所述右主动轮预定运行距离的差值。
  9. 如权利要求7或8所述的装置，其中，
    所述位置调整指令生成模块，用于基于所述左主动轮跟随误差、所述右主动轮跟随误差确定搬运机器人的实际运行轨迹与所述运行预定轨迹之间的偏离误差；对所述偏离误差进行比例积分运算，获取位置调整输出量；基于所述位置调整输出量生成所述左主动轮位置调整指令和所述右主动轮位置调整指令。
  10. 如权利要求9所述的装置，其中，所述位置调整指令生成模块在生成所述左主动轮位置调整指令和所述右主动轮位置调整指令时，具体用于：
    将所述位置调整输出量与左主动轮调整系数的乘积转换成所述左主动轮位置调整指令；
    将所述位置调整输出量与右主动轮调整系数的乘积转换成所述右主动轮位置调整指令。
  11. 如权利要求7所述的装置，其中，
    所述第一伺服驱动系统包括：第一位置环单元、第一速度环单元和第一电机；
    所述轨迹调整模块，用于将所述第一位置环单元输出的位置指令与所述左主动轮位置调整指令进行相加或相减，获得第一控制指令；其中，所述第一控制指令经过所述第一速度环单元作用于所述第一电机，用以调节所述第一电机的转速；
    所述第二伺服驱动系统包括：第二位置环单元、第二速度环单元和第二电机；
    所述轨迹调整模块，还用于将所述第二位置环单元输出的位置指令与所述右主动轮位置调整指令进行相加或相减，获得第二控制指令；其中，所述第二控制指令经过所述第二速度环单元作用于所述第二电机，用以调节所述第二电机的转速。
  12. 如权利要求7所述的装置，其中，
    所述运行距离获取模块，用于通过第一编码器采集所述左主动轮的第一脉冲信息，根据所述第一脉冲信息计算出所述左主动轮实际运行距离；通过第二编码器采集所述右主动轮的第二脉冲信息，根据所述第二脉冲信息计算出所述右主动轮实际运行距离。
  13. 一种控制搬运机器人运行的装置，包括：
    存储器；以及
    耦接至所述存储器的处理器，所述处理器被配置为基于存储在所述存储器中的指令，执行如权利要求1至6中任一项所述的控制搬运机器人运行的方法。
  14. 一种搬运机器人，包括：
    如权利要求7至13中任一项所述的控制搬运机器人运行的装置。
  15. 如权利要求14所述的搬运机器人，还包括：
    用于采集左主动轮的第一脉冲信息的第一编码器，和，用于采集右主动轮的第二脉冲信息的第二编码器，以便所述的控制搬运机器人运行的装置根据第一脉冲信息计算出左主动轮实际运行距离，并根据第二脉冲信息计算出右主动轮实际运行距离。
  16. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机指令，所述指令被处理器执行时实现如权利要求1至6中任一项所述的控制搬运机器人运行的控制方法。
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