WO2020248132A1

WO2020248132A1 - Control method and apparatus for movable platform, device, and storage medium

Info

Publication number: WO2020248132A1
Application number: PCT/CN2019/090754
Authority: WO
Inventors: 周长兴; 陈超彬; 龚鼎
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-06-11
Filing date: 2019-06-11
Publication date: 2020-12-17
Also published as: CN111712399A

Abstract

A control method and apparatus for a movable platform, a device, and a storage medium. A user instruction for controlling the movement of a movable platform is obtained (S501); a first control amount for controlling the movement of the movable platform at the current time point is determined according to the user instruction (S502); if the change amount of the first control amount with respect to a second control amount for controlling the movement of the movable platform at a historical time point is greater than a preset value, a target control amount for controlling the movement of the movable platform at the current time point is determined according to the first control amount and the second control amount (S503); and the movement of the movable platform is controlled according to the target control amount (S504). Therefore, the problem that omni wheels of the movable platform slip with respect to the ground resulting from a motor needing to reach a great rotational speed in a short time period when a user requires the movable platform to reach a great speed in the short time period is avoided, and the stability of the movement of the movable platform is improved.

Description

Control method, device, equipment and storage medium of movable platform

Technical field

The embodiment of the present invention relates to the field of kinematics control, and in particular to a control method, device, equipment and storage medium of a movable platform.

Background technique

In the prior art, mobile platforms, for example, mobile robots, drones, mobile vehicles, unmanned vehicles, etc., can be controlled by user equipment. Specifically, the user sends a control instruction to the movable platform through the user equipment, and the controller in the movable platform controls the movable platform to move according to the control instruction.

Specifically, the controller of the movable platform may determine the control quantity for controlling the movable platform according to the control instruction sent by the user equipment, and further, determine the target rotation speed of the omnidirectional wheel of the movable platform according to the control quantity , And control the rotation of the motor corresponding to the omnidirectional wheel according to the target rotation speed, so that the movable platform reaches the motion state required by the user.

However, if the user requires the movable platform to reach a higher speed in a short time, the motor needs to reach a higher speed in a short time, which may cause the omnidirectional wheels of the movable platform to slip relative to the ground. , Resulting in unstable movement of the movable platform.

Summary of the invention

The embodiment of the present invention provides a control method, device, equipment, and storage medium for a movable platform, so as to prevent the user from requiring the movable platform to reach a higher speed in a short time, because the motor needs to reach a higher speed in a short time. The omni-directional wheel of the movable platform slips relative to the ground caused by the rotation speed of the movable platform, so as to improve the stability of the movement of the movable platform.

The first aspect of the embodiments of the present invention is to provide a control method of a movable platform, the movable platform includes a power system, the power system is used to drive the movable platform to move, the power system includes at least one motor A controller, a plurality of motors, and a plurality of omnidirectional wheels corresponding to the motors one-to-one, the at least one motor controller is used to control the rotation of the plurality of motors, and the plurality of motors are respectively used to drive the corresponding omnidirectional wheels Wheel rotation, the method includes:

Acquiring a user instruction for controlling the movement of the movable platform;

According to the user instruction, determine the first control quantity used to control the movement of the movable platform at the current moment;

If the amount of change of the first control quantity with respect to the second control quantity used to control the movement of the movable platform at a historical moment is greater than a preset value, then determine according to the first control quantity and the second control quantity The target control quantity used to control the movement of the movable platform at the current moment;

The movement of the movable platform is controlled according to the target control amount.

The second aspect of the embodiments of the present invention is to provide a control device for a movable platform, the movable platform includes a power system, the power system is used to drive the movable platform to move, the power system includes at least one motor A controller, a plurality of motors, and a plurality of omnidirectional wheels corresponding to the motors one-to-one, the at least one motor controller is used to control the rotation of the plurality of motors, and the plurality of motors are respectively used to drive the corresponding omnidirectional wheels When the wheel rotates, the control device includes: a memory and a processor;

The memory is used to store program codes;

The processor calls the program code, and when the program code is executed, is used to perform the following operations:

The third aspect of the embodiments of the present invention is to provide a movable platform, including:

body;

The power system is installed on the body and used to drive the movable platform to move. The power system includes at least one motor controller, a plurality of motors, and a plurality of omnidirectional wheels corresponding to the motors one to one. The at least one motor controller is used to control the rotation of multiple motors, and the multiple motors are respectively used to drive the corresponding omni wheel to rotate;

And the control device described in the second aspect.

The fourth aspect of the embodiments of the present invention is to provide a computer-readable storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement the method described in the first aspect.

The control method, device, equipment, and storage medium of the movable platform provided in this embodiment obtain a user instruction for controlling the movement of the movable platform, and according to the user instruction, it is determined that the current moment is used to control the movable platform. The first control amount of platform movement, if the change amount of the first control amount with respect to the second control amount used to control the movement of the movable platform at a historical moment is greater than a preset value, then according to the first control amount and The second control quantity determines the target control quantity used to control the movement of the movable platform at the current moment, and controls the movement of the movable platform according to the target control quantity, so as to prevent the user from requesting the movable platform in a short time. When the mobile platform reaches a high speed, the omnidirectional wheel of the movable platform slips relative to the ground due to the need for the motor to reach a high speed in a short time, which improves the stability of the movement of the movable platform.

Description of the drawings

In order to explain the technical solutions in the embodiments of the present invention more clearly, the following will briefly introduce the drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor.

FIG. 1 is a schematic diagram of an application scenario provided by an embodiment of the present invention;

Figure 2 is a schematic structural diagram of a power system provided by an embodiment of the present invention;

Figure 3 is a schematic diagram of an omnidirectional wheel provided by an embodiment of the present invention;

Figure 4 is a schematic diagram of an omnidirectional wheel chassis provided by an embodiment of the present invention;

FIG. 5 is a flowchart of a method for controlling a movable platform according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a first preset manner or a second preset manner according to an embodiment of the present invention;

FIG. 7 is a flowchart of a method for controlling a movable platform according to another embodiment of the present invention;

FIG. 8 is a schematic diagram of a body coordinate system provided by an embodiment of the present invention;

Figure 9 is a schematic diagram of another body coordinate system provided by an embodiment of the present invention;

FIG. 10 is a flowchart of a method for controlling a movable platform according to another embodiment of the present invention;

11 is a flowchart of a method for controlling a movable platform according to another embodiment of the present invention;

FIG. 12 is a flowchart of a method for controlling a movable platform according to another embodiment of the present invention;

FIG. 13 is a flowchart of a method for controlling a movable platform according to another embodiment of the present invention;

14 is a flowchart of a method for controlling a movable platform according to another embodiment of the present invention;

Fig. 15 is a structural diagram of a control device provided by an embodiment of the present invention.

Reference signs:

11: mobile robot; 12: user terminal; 71: roller;

140: control equipment;

141: memory; 142: processor; 143: communication interface.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or a central component may also exist. When a component is considered to be "connected" to another component, it can be directly connected to another component or there may be a centered component at the same time.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

The embodiment of the present invention provides a method for controlling a movable platform. The movable platform includes a power system for driving the movable platform to move, and the power system includes at least one motor controller, multiple motors, and multiple omnidirectional ones corresponding to the motors one-to-one Wheel, the at least one motor controller is used to control the rotation of a plurality of the motors, and the plurality of motors are respectively used to drive the corresponding omni wheel to rotate.

The movable platform described in this embodiment may specifically be a movable robot, a movable car, an unmanned vehicle, and the like. The following is a schematic description using the mobile robot 11 shown in FIG. 1 as an example. As shown in FIG. 1, the mobile robot 11 can be controlled by a user terminal 12. For example, the user can send a control instruction to the mobile robot 11 through the user terminal 12, and the mobile robot 11 moves according to the control instruction. This embodiment does not limit the product form of the user terminal 12, and the user terminal 12 may specifically be a smart phone, a tablet computer, a notebook computer, etc.

The movable robot 11 includes a power system for driving the movable robot 11 to move, and the movement of the movable robot 11 includes at least one of translation and rotation of the movable robot 11. Specifically, the power system includes at least one motor controller, multiple motors, and multiple omni wheels corresponding to the motors one-to-one. As shown in FIG. 2, it is assumed that the power system includes one motor controller, 4 motors. And 4 omnidirectional wheels. Wherein, the motor controller is connected to the 4 motors respectively, the motor controller is used to control the rotation of the 4 motors, the 4 motors correspond to the 4 omnidirectional wheels one-to-one, and each motor is used to drive and the motor The connected omni wheel rotates. In other embodiments, the power system may further include multiple motor controllers, for example, one motor is connected to one motor controller. In addition, the number of motors and omnidirectional wheels is not limited to four, for example, it can be three, six, eight, etc.

In this embodiment, the omnidirectional wheel may specifically be a Mecanum wheel or a Swedish wheel. Figure 3 shows a schematic diagram of the Mecanum wheel. As shown in Figure 3, the Mecanum wheel includes a roller and a hub. , For mecanum wheels, the roller and the hub form an angle of 45 degrees. For the Swedish wheel, the roller and the hub form an angle of 90 degrees. Figure 4 shows the omnidirectional wheel chassis based on Mecanum wheels.

This embodiment uses the Mecanum wheel as an example to introduce a method for controlling a movable platform. In addition, when the omnidirectional wheel of the movable platform is a Swedish wheel, the method for controlling the movable platform is the same as in the Mecanum wheel scenario. The principle of the control method of the movable platform is similar.

Fig. 5 is a flowchart of a method for controlling a movable platform provided by an embodiment of the present invention. As shown in Figure 5, the method in this embodiment may include:

Step S501: Obtain a user instruction for controlling the movement of the movable platform.

The execution subject of the method in this embodiment may be a control device of a movable platform, and the movable platform may specifically be the movable robot 11 shown in FIG. 1. The control device of the mobile robot 11 may specifically be a chassis master control as shown in FIG. 2. As shown in FIG. 2, the chassis master can be in communication with the motor controller, and the chassis master can acquire user instructions for controlling the movement of the movable platform.

Optionally, the obtaining a user instruction for controlling the movable platform includes: receiving a user instruction for controlling the movement of the movable platform sent by a user terminal.

As shown in Figure 2, the chassis master can receive user instructions sent by the user terminal. The user terminal and the chassis master can communicate directly or through other communication equipment or network elements, such as other communication equipment. Or the network element forwards the user instruction sent by the user terminal to the main control of the chassis. The user instruction may be a user instruction generated by the user through the user terminal for controlling the movement of the movable robot 11.

Step S502: According to the user instruction, determine a first control amount for controlling the movement of the movable platform at the current moment.

For example, at the current time t1, the chassis master control receives the user instruction and converts the user instruction into a control quantity for controlling the movement of the mobile robot 11. Here, the control quantity converted by the user instruction at the current time is recorded as It is the first control quantity. Optionally, the first control variable of the movable platform includes at least one of the following: a first velocity of the movable platform, and a first angular velocity of the movable platform.

For example, the first control amount for controlling the movement of the movable robot 11 includes: at least one of the first speed of the movable robot 11 and the first angular speed of the movable robot 11. The first speed of the movable robot 11 can be understood as the user's desired speed of the chassis at the current moment, and the desired speed is the speed at which the user expects the chassis to move at the current moment. The first angular velocity of the mobile robot 11 can be understood as the desired angular velocity of the user to the chassis at the current moment, and the desired angular velocity is the angular velocity at which the user expects the chassis to rotate at the current moment. In some scenarios, the first control amount may only include the first speed. At this time, the chassis may only move in translation. In other scenarios, the first control amount may only include the first angular velocity, and at this time, the chassis may only rotate. In some other scenarios, the first control variable may include both the first speed and the first angular speed. At this time, the chassis may perform translation and rotation at the same time.

Step S503: If the amount of change of the first control amount with respect to the second control amount used to control the movement of the movable platform at the historical moment is greater than a preset value, then according to the first control amount and the second control amount Determine the target control amount used to control the movement of the movable platform at the current moment.

Assume that the chassis master control also receives a user instruction at the historical time t0, and converts the user instruction at the historical time into a second control quantity for controlling the movement of the movable robot 11. Optionally, the second control variable of the movable platform includes at least one of the following: a second speed of the movable platform, and a second angular speed of the movable platform. For example, the second control amount for controlling the movement of the movable robot 11 includes at least one of the second speed of the movable robot 11 and the second angular speed of the movable robot 11. The second speed of the mobile robot 11 can be understood as the user's desired speed of the chassis at a historical moment, and the second angular speed of the mobile robot 11 can be understood as the user's desired angular speed of the chassis at the historical moment.

After the chassis master control converts the user instruction at the current moment into the first control quantity for controlling the movement of the movable robot 11, the change amount of the first control quantity relative to the second control quantity is determined.

As a feasible method, the chassis master control may use the difference between the first control quantity and the second control quantity as the change quantity of the first control quantity relative to the second control quantity.

As another feasible method, the chassis master control can calculate the difference between the first control quantity and the second control quantity, and the time difference between the current time t1 and the historical time t0, and combine the first control quantity with The ratio of the difference between the second control quantities and the time difference is taken as the change quantity of the first control quantity with respect to the second control quantity.

Further, the chassis main control determines whether the amount of change of the first control amount relative to the second control amount is greater than a preset value, and if the amount of change is greater than the preset value, according to the first control amount and the second control amount, The target control amount for controlling the movement of the movable robot 11 at the current moment is determined.

The target control amount of the movable platform includes at least one of the following: a target velocity of the movable platform, and a target angular velocity of the movable platform.

Optionally, the determining the target control amount for controlling the movement of the movable platform at the current moment according to the first control amount and the second control amount includes: according to the first control amount and the The second control quantity determines the first acceleration and/or the first angular acceleration that the movable platform needs to achieve at the current moment; adjusts the first acceleration to obtain the second acceleration, and/or determines the first acceleration The acceleration is adjusted to obtain a second angular acceleration; according to the second acceleration and/or the second angular acceleration, a target control amount for controlling the movable platform at the current moment is determined.

For example, the first velocity of the movable robot 11 is denoted as V _t1 , and the first angular velocity of the movable robot 11 is denoted as ω _t1 . The second velocity of the movable robot 11 is denoted as V _t0 , and the second angular velocity of the movable robot 11 is denoted as ω _t0 . According to the first speed V _{t1 of} the mobile robot 11 and the second speed V _{t0 of the} mobile robot 11, the first acceleration that the mobile robot 11 needs to achieve at the current moment can be determined. Here, the first acceleration is denoted as Acc_ref, where,

Among them, Δt represents the time difference between the current time t1 and the historical time t0. And/or, according to the first angular velocity ω _{t1 of} the movable robot 11 and the second angular velocity ω _{t0 of the} movable robot 11, the first angular acceleration that the movable robot 11 needs to achieve at the current moment can be determined. The angular acceleration is recorded as Beta_ref, where

Further, the first acceleration Acc_ref is adjusted to obtain the second acceleration. Here, the second acceleration is recorded as Acc_ref_lim, and/or the first angular acceleration Beta_ref is adjusted to obtain the second angular acceleration. Here, the second acceleration is obtained. The angular acceleration is recorded as Beta_ref_lim. Further, according to the second acceleration Acc_ref_lim and/or the second angular acceleration Beta_ref_lim, the target control amount for controlling the movement of the movable robot 11 at the current moment is determined.

Optionally, the adjusting the first acceleration to obtain the second acceleration includes: adjusting the first acceleration according to a first preset manner to obtain the second acceleration. For example, Acc_ref_lim=slope1(Acc_ref), where slope1 represents the first preset mode.

Optionally, the adjusting the first angular acceleration to obtain the second angular acceleration includes: adjusting the first angular acceleration according to a second preset manner to obtain the second angular acceleration. For example, Beta_ref_lim=slope2(Beta_ref), where slope2 represents the second preset mode.

Optionally, the first preset manner or the second preset manner includes at least one of the following: a linear manner, an S-shaped manner, and a semi-S-shaped manner.

The linear mode may specifically be a linear mode as shown in FIG. 6. Hereinafter, a schematic description will be given by taking as an example the adjustment of the first acceleration Acc_ref to obtain Acc_ref_lim in a linear manner as shown in FIG. 6, in the linear manner, the abscissa represents time and the ordinate represents acceleration. Specifically, the f1 corresponding to the current time t1 is determined according to the current time t1, and further, the sizes of f1 and Acc_ref are compared. If f1 is less than or equal to Acc_ref, then Acc_ref_lim=f1. If f1 is greater than Acc_ref, then Acc_ref_lim=Acc_ref. In the same way, the process of adjusting the first acceleration Acc_ref to obtain Acc_ref_lim according to the S-shaped manner or the semi-S-shaped manner shown in FIG. 6 is similar to this, and will not be repeated here. Among them, in the semi-S-shaped mode, if the mobile robot 11 is increasing in speed, that is, when the first speed V _{t1 of} the mobile robot 11 is greater than the second speed V _{t0 of the} mobile robot 11, the semi-S-shaped mode is used Adjust the first acceleration Acc_ref to get Acc_ref_lim. If the mobile robot 11 is decelerating, that is, when the first speed V _{t1 of} the mobile robot 11 is less than the second speed V _{t0 of the} mobile robot 11, the upper half of the curve in the semi-S-shaped manner is used to compare the first acceleration Acc_ref Make adjustments to get Acc_ref_lim.

In addition, when the first angular acceleration Beta_ref is adjusted according to the linear method, the S-shaped method, or the semi-S-shaped method as shown in FIG. 6, the linear method, the S-shaped method, or the semi-S-shaped method as shown in FIG. The ordinate represents angular acceleration. The process of adjusting the first angular acceleration Beta_ref to obtain the second angular acceleration Beta_ref_lim according to the linear method, the S-shaped method, or the semi-S-shaped method as shown in FIG. The process of adjusting the first acceleration Acc_ref to obtain Acc_ref_lim in a semi-S-shaped manner is similar, and will not be repeated here.

As a possible implementation manner, the determining the target control quantity for controlling the movement of the movable platform at the current moment according to the second acceleration and/or the second angular acceleration includes: according to the second acceleration The acceleration and the second velocity determine the target velocity of the movable platform at the current moment; and/or determine the target angular velocity of the movable platform at the current moment according to the second angular acceleration and the second angular velocity.

For example, the chassis master control determines the second acceleration Acc_ref_lim of the mobile robot 11 and/or the second angular acceleration Beta_ref_lim of the mobile robot 11 according to the above method, and according to the second acceleration Acc_ref_lim and/or the second angular acceleration Beta_ref_lim, When determining the target control variable used to control the movement of the mobile robot 11 at the current moment, the target speed of the mobile robot 11 at the current moment t1 can be determined according to the second acceleration Acc_ref_lim and the second speed V _t0 . The target speed of the robot 11 is denoted as V. Specifically, V=Acc_ref_lim×Δt+V _t0 . And/or, according to the second angular acceleration Beta_ref_lim and the second angular velocity ω _t0 , determine the target angular velocity of the movable robot 11 at the current time t1, where the target angular velocity of the movable robot 11 is denoted as ω, ω=Beta_ref_lim×Δt +ω _t0 .

Step S504: Control the movement of the movable platform according to the target control amount.

Specifically, after the chassis master control determines the target velocity V of the movable robot 11 and the target angular velocity ω of the movable robot 11, it can be based on the target velocity V of the movable robot 11 and the target velocity of the movable robot 11 The angular velocity ω controls the movement of the movable robot 11.

In this embodiment, by acquiring a user instruction for controlling the movement of the movable platform, according to the user instruction, the first control quantity for controlling the movement of the movable platform at the current moment is determined, if the first control quantity is relatively If the change of the second control variable used to control the movement of the movable platform at the historical moment is greater than the preset value, then according to the first control variable and the second control variable, it is determined that the current moment is used to control the movable platform The target control amount of the movement of the mobile platform, and according to the target control amount, the movement of the movable platform is controlled, so as to prevent the user from requiring the movable platform to reach a higher speed in a short time, because the motor needs to be in a short time The problem of slipping of the omnidirectional wheels of the movable platform with respect to the ground caused by a large rotation speed improves the stability of the movement of the movable platform.

The embodiment of the present invention provides a method for controlling a movable platform. Fig. 7 is a flowchart of a method for controlling a movable platform according to another embodiment of the present invention. As shown in Fig. 7, on the basis of the above-mentioned embodiment, when the motor controller corresponding to the motor runs in the speed loop mode, the controlling the movement of the movable platform according to the target control amount includes:

Step S701: According to the target speed of the movable platform and the target angular speed of the movable platform, the target rotation speed of each of the plurality of omnidirectional wheels is determined.

As shown in Figure 8, the coordinate system formed by the X axis and the Y axis can be the body coordinate system of the mobile robot 11 or the world coordinate system. If the coordinate system is the body coordinate system, the coordinate origin of the body coordinate system It may be the geometric center of the mobile robot 11. If the coordinate system is a world coordinate system, the coordinate origin of the world coordinate system can be a certain pre-fixed point. It can be understood that the body coordinate system will change as the position of the movable robot 11 changes. The world coordinate system does not change with the change of the position of the movable robot 11. Here, the body coordinate system of the movable robot 11 is taken as an example for schematic description. As shown in FIG. 8, V represents the target speed of the mobile robot 11. The target speed V may have a component on the X axis of the body coordinate system and a component on the Y axis of the body coordinate system. Optionally, the component of the target velocity V on the X axis of the airframe coordinate system is denoted as V _x , and the component of the target velocity V on the Y axis of the airframe coordinate system is denoted as V _y , that is, V is The combined velocity of V _x and V _y . Substituting V _x , V _y , and the target angular velocity ω of the mobile robot 11 into the kinematic equation shown below, it can be determined that in order for the speed of the mobile robot 11 to reach the target speed V, and the The angular velocity of the mobile robot 11 reaches the target angular velocity ω, and the target rotational speed of each of the four motors of the chassis of the mobile robot 11 needs to be reached. Among them, the rotation speed of the motor is the same as the rotation speed of the omni wheel corresponding to the motor. Therefore, the target rotation speed of each of the four motors of the chassis of the movable robot 11 can be used as the target rotation speed of each of the four omnidirectional wheels of the movable robot 11. Specifically, the target rotation speed of the motor 1 can be denoted as ω ₁ , the target rotation speed of the motor 2 is denoted as ω ₂ , the target rotation speed of the motor 3 is denoted as ω ₃ , and the target rotation speed of the motor 4 can be denoted as ω ₄ .

Among them, r represents the radius of the omnidirectional wheel. α ₁ represents the angle between the roller and the hub of the omnidirectional wheel 1, α ₂ represents the angle between the roller and the hub of the omnidirectional wheel 2, α ₃ represents the angle between the roller and the hub of the omnidirectional wheel 3, and α ₄ represents the omnidirectional wheel. The angle between the roller of wheel 4 and the hub. Normally, α ₁ , α ₂ , α ₃ , and α ₄ are the same, and in some scenarios, they may be different. l ₁ represents the distance between the kinematic center of the chassis and the center of the omnidirectional wheel 1, l ₂ represents the distance between the kinematic center of the chassis and the center of the omni wheel 2, and l ₃ represents the distance between the kinematic center of the chassis and the center of the omnidirectional wheel 2. The distance between the center of the wheel 3, l ₄ represents the distance between the kinematic center of the chassis and the center of the omni wheel 4. Normally, l ₁ , l ₂ , l ₃ , and l ₄ are the same. In some scenarios, it may be different.

As shown in Figure 9, XOY is the body coordinate system of the mobile robot 11, x'o'y' is the coordinate system of any omnidirectional wheel of the

mobile robot

11, 71 represents any roller on the omnidirectional wheel, l _ix represents the coordinate origin of the coordinate system of the omnidirectional wheel o'the coordinate on the X axis of the body coordinate system, l _iy represents the coordinate origin of the omni wheel coordinate system o'on the Y axis of the body coordinate system coordinate. When the omnidirectional wheel is the omnidirectional wheel 1 as described above, α _i =α ₁ , when the omnidirectional wheel is the omnidirectional wheel 2 as described above, α _i =α ₂ , and so on.

As shown in Figure 9, the distance between the coordinate origin o'of the coordinate system of the omnidirectional wheel and the coordinate origin O of the body coordinate system may be the distance between the kinematic center of the chassis and the center of the omnidirectional wheel. When the omnidirectional wheel is the above-mentioned omnidirectional wheel 1, the distance between o'and O is l ₁ , and when the omnidirectional wheel is the above-mentioned omnidirectional wheel 2, the distance between o'and O The distance is l ₂ , l ₃ and l ₄ and so on.

As shown in Figure 9, the angle between the x'axis of the coordinate system of the omnidirectional wheel and the X axis of the body coordinate system is θ _i , when the omnidirectional wheel is the omnidirectional wheel 1 as described above, θ _i = Θ ₁ , when the omni-directional wheel is the above-mentioned omni-directional wheel 2, θ _i = θ ₂ , θ ₃ and θ ₄ and so on. Normally, θ ₁ , θ ₂ , θ ₃ , and θ ₄ are the same, and in some scenarios, they may be different.

In addition, as shown in Figure 9, the straight line passing through the coordinate origin o'of the coordinate system of the omnidirectional wheel and the coordinate origin O of the body coordinate system has an angle β _i relative to the X axis of the body coordinate system. When the omnidirectional wheel is the omnidirectional wheel 1 as described above, β _i = β ₁ , and when the omnidirectional wheel is the omnidirectional wheel 2 as described above, β _i = β ₂ , and β ₃ and β _{4 can be} deduced by analogy. Generally, β ₁ , β ₂ , β ₃ , and β ₄ are the same, and in some scenarios, they may be different.

Step S702: Control the movement of the movable platform according to the target rotation speed of each of the omnidirectional wheels.

For example, after the chassis master control determines the target speed of each of the four motors of the mobile robot 11, it further controls the rotation of the corresponding motor according to the target speed of each of the four motors to control the mobile robot 11 The robot 11 moves.

Optionally, the controlling the movement of the movable platform according to the target rotation speed of each omnidirectional wheel includes: sending the target rotation speed of each omnidirectional wheel to the motor control corresponding to the omnidirectional wheel The motor controller is used to drive the motor corresponding to the omni wheel to rotate according to the target speed.

In this embodiment, the motor controller may specifically be an electronic speed governor. As shown in Figure 2, after the chassis master control determines the target speed of each of the four motors of the mobile robot 11, it can send the target speed of each of the four motors to the motor controller, and the The motor controller controls the rotation of the corresponding motor according to the target speed of each motor, so that the four motors rotate to the corresponding target speeds respectively. In other embodiments, each motor may be connected to a motor controller. After the chassis master determines the target speed of each of the four motors of the mobile robot 11, each of the four motors can be The target speed is sent to the motor controller connected to the corresponding motor, and the motor controller corresponding to each motor controls the rotation of the corresponding motor.

In this embodiment, when the motor controller corresponding to the motor runs in the speed loop mode, according to the target speed of the movable platform and the target angular speed of the movable platform, each of the plurality of omnidirectional wheels is determined The target rotation speed of each of the omnidirectional wheels is controlled, and the movement of the movable platform is controlled according to the target rotation speed of each of the omnidirectional wheels, thereby realizing a method of controlling the movement of the movable platform according to the target control amount.

The embodiment of the present invention provides a method for controlling a movable platform. FIG. 10 is a flowchart of a method for controlling a movable platform according to another embodiment of the present invention. As shown in FIG. 10, on the basis of the foregoing embodiment, as another possible implementation manner, the determination of the current moment is used to control the may be based on the second acceleration and/or the second angular acceleration The target control amount of the movement of the mobile platform includes:

Step S901: Detect whether each of the plurality of omnidirectional wheels is slipping.

For example, the first speed of the mobile robot 11 can be understood as the user's desired speed of the chassis at the current moment, and the first angular speed of the mobile robot 11 can be understood as the user's desired angular speed of the chassis at the current moment. According to the above kinematic equation, if the first speed of the mobile robot 11 and the first angular speed of the mobile robot 11 are greater, in order to achieve the first speed and the first angular speed, each of the four omnidirectional wheels The first rotational speed of each omnidirectional wheel needs to be greater. If the user expects the 4 omnidirectional wheels to reach a larger rotation speed in a short time, it may cause at least one of the 4 omnidirectional wheels to slip. Therefore, in this embodiment, when the chassis master determines the target control value for controlling the movement of the movable robot 11 at the current moment according to the second acceleration Acc_ref_lim and/or the second angular acceleration Beta_ref_lim, the four omnidirectional wheels can be detected. Whether each omni-directional wheel in is slipping.

Optionally, the detecting whether each of the plurality of omnidirectional wheels is slipping includes: according to the first torque and the first torque of each of the plurality of omnidirectional wheels The actual torque of each of the omnidirectional wheels, determining whether each of the plurality of omnidirectional wheels is slipping; wherein, the first torque is determined according to the first control amount .

For example, when the chassis master detects whether each of the 4 omnidirectional wheels is slipping, it can be based on the first torque of each of the 4 omnidirectional wheels and each omnidirectional wheel Determine whether each of the 4 omnidirectional wheels is slipping. Wherein, the first torque of each omnidirectional wheel is determined according to the first control variable as described above. Here, the first torque of omnidirectional wheel 1 is recorded as Tref1, the actual torque of omnidirectional wheel 1 is recorded as Treal1, the first torque of omnidirectional wheel 2 is recorded as Tref2, and the first torque of omnidirectional wheel 2 is recorded as Tref2. The actual torque is recorded as Treal2, the first torque of the omnidirectional wheel 3 is recorded as Tref3, the actual torque of the omnidirectional wheel 3 is recorded as Treal3, and the first torque of the omnidirectional wheel 4 is recorded as Tref4. The actual torque of the wheel 4 is recorded as Treal4.

Optionally, according to the first torque of each of the plurality of omnidirectional wheels and the actual torque of each of the omnidirectional wheels, determine the Whether each of the omnidirectional wheels is slipping includes: determining the difference between the first torque and the actual torque of each of the omnidirectional wheels; if the difference is greater than the slip threshold, determining the total value corresponding to the difference Skid to the wheel.

For example, according to the first torque and actual torque of each omnidirectional wheel, when determining whether each of the 4 omnidirectional wheels is slipping, the first torque and actual rotation of each omnidirectional wheel can be determined. For example, the difference between the first torque of the omnidirectional wheel 1 and the actual torque of the omnidirectional wheel 1 can be expressed as |Tref1-Treal1|, the first torque of the omnidirectional wheel 2 and the omnidirectional wheel The difference between the actual torque of 2 can be expressed as |Tref2-Treal2|, the difference between the first torque of the omnidirectional wheel 3 and the actual torque of the omnidirectional wheel 3 can be expressed as |Tref3-Treal3|, the omnidirectional wheel The difference between the first torque of 4 and the actual torque of the omnidirectional wheel 4 can be expressed as |Tref4-Treal4|. Further, determine which difference or which of the four differences are greater than the slip threshold. If a certain difference or some of the differences are greater than the slip threshold, determine the difference or the difference that is greater than the slip threshold. Skid omnidirectional wheels. For example, the slip threshold is recorded as threshold, among the 4 differences |Tref3-Treal3|>threshold, |Tref4-Treal4|>threshold, it is determined that the omnidirectional wheel 3 and omnidirectional wheel 4 are slipping, and the other omnidirectional wheels do not slip. . In other embodiments, the slip threshold corresponding to different omnidirectional wheels may be different.

Step S902: If at least one of the plurality of omnidirectional wheels slips, determine the degree of slippage of the at least one slipped omnidirectional wheel.

When the chassis master determines that the omnidirectional wheel 3 and the omnidirectional wheel 4 are slipping, and the other omnidirectional wheels are not slipping, the degree of slippage of the omnidirectional wheel 3 and the omnidirectional wheel 4 can be further determined.

Optionally, the determining the degree of slip of at least one of the slipped omnidirectional wheels includes: passing the first torque of at least one of the slipped omnidirectional wheels and the actual value of the at least one of the slipped omnidirectional wheels The torque difference is smoothed to obtain the slip degree of at least one of the slipped omnidirectional wheels.

For example, when determining the degree of slippage of the omnidirectional wheel 3 and the omnidirectional wheel 4, you can obtain the degree of slippage of the omnidirectional wheel 3 by smoothing |Tref3-Treal3|, and by smoothing |Tref4-Treal4|, Obtain the slip degree of the omnidirectional wheel 4. Here, the slip degree of the omnidirectional wheel 3 is denoted as Slip3, and the slip degree of the omnidirectional wheel 4 is denoted as Slip4. Specifically, Slip3=filter(|Tref3-Treal3|), Slip4=filter(|Tref4-Treal4|). Among them, filter represents a smoothing function. In other embodiments, different omnidirectional wheels can correspond to different smoothing functions.

Step S903: Determine the third acceleration of the movable platform when the at least one slipping omnidirectional wheel is not slipping according to the second acceleration and the degree of slippage of the at least one slipping omnidirectional wheel.

After determining the slip of the omnidirectional wheel 3 and the omnidirectional wheel 4, as well as the degree of slippage of the omnidirectional wheel 3 and the omnidirectional wheel 4, according to the second acceleration Acc_ref_lim, the omnidirectional wheel 3 and the omnidirectional wheel 4 The degree of slip is to determine the third acceleration of the movable robot 11 when the omnidirectional wheel 3 and the omnidirectional wheel 4 are not slipping. Here, the third acceleration of the movable robot 11 is recorded as Acc_ref_slip.

Optionally, the third acceleration of the movable platform is determined when the at least one slipping omnidirectional wheel is not slipping according to the second acceleration and the degree of slippage of the at least one slipping omnidirectional wheel, The method includes: determining the third acceleration of the movable platform according to the second acceleration and the largest degree of slippage of at least one of the slipping omnidirectional wheels.

For example, according to the second acceleration Acc_ref_lim, the degree of slippage of the omnidirectional wheel 3 and the omnidirectional wheel 4 as described above, it is determined that when the omnidirectional wheel 3 and the omnidirectional wheel 4 are not slipping, the third acceleration of the movable robot 11 can be First determine the degree of slippage of the omnidirectional wheel 3 and the degree of slippage of the omnidirectional wheel 4, the largest degree of slippage. Here, the largest degree of slippage among the degree of slippage of at least one slipping omnidirectional wheel is recorded as Slip. For example, if Slip4 is greater than Slip3, then Slip=Slip4. Further, according to the second acceleration Acc_ref_lim and Slip described above, it is determined that the third acceleration of the movable robot 11 when the omnidirectional wheel 3 and the omnidirectional wheel 4 are not slipping. The functional relationship between Acc_ref_lim, Acc_ref_slip and Slip can be expressed as the following formula (1):

Acc_ref_slip=Acc_ref_lim-Kp*Slip (1)

Among them, Kp represents a parameter positively related to the sensitivity of the chassis control, and this parameter can be a set parameter or an adjustable parameter.

Step S904: Determine the third angular acceleration of the movable platform when the at least one slipping omnidirectional wheel is not slipping according to the second angular acceleration and the degree of slippage of at least one of the omnidirectional wheels.

After determining the slip of the omnidirectional wheel 3 and the omnidirectional wheel 4, and the degree of slippage of the omnidirectional wheel 3 and the omnidirectional wheel 4, the second angular acceleration Beta_ref_lim, the omnidirectional wheel 3 and the omnidirectional wheel 4 can be Determine the third angular acceleration of the movable robot 11 when the omnidirectional wheel 3 and the omnidirectional wheel 4 are not slipping. Here, the third angular acceleration of the movable robot 11 is recorded as Beta_ref_slip.

Optionally, the third angular acceleration of the movable platform is determined when the at least one slipping omnidirectional wheel is not slipping according to the second angular acceleration and the degree of slippage of the at least one slipping omnidirectional wheel , Including: determining, according to the second angular acceleration and the largest degree of slippage of the at least one slipping omnidirectional wheel, when at least one of the slipping omnidirectional wheels is not slipping, the first of the movable platform Triangle acceleration.

For example, according to the second angular acceleration Beta_ref_lim, the degree of slippage of the omnidirectional wheel 3 and the omnidirectional wheel 4 as described above, when the omnidirectional wheel 3 and the omnidirectional wheel 4 are not slipping, when the third angular acceleration of the movable robot 11 is determined, The largest slip degree Slip among the slip degree of the omnidirectional wheel 3 and the slip degree of the omnidirectional wheel 4 can be determined first, for example, Slip=Slip4. Further, the third angular acceleration of the movable robot 11 is determined based on the second angular acceleration Beta_ref_lim and Slip as described above when the omnidirectional wheel 3 and the omnidirectional wheel 4 are not slipping. The functional relationship between Beta_ref_lim, Beta_ref_slip and Slip can be expressed as the following formula (2):

Beta_ref_slip=Beta_ref_lim-Kp'*Slip (2)

Among them, Kp' represents a parameter positively related to the sensitivity of the chassis control, and the parameter can be a set parameter or an adjustable parameter. Kp' and Kp can be the same or different. In some embodiments, only step S903 may be included, or only step S904 may be included. It can be understood that there may be no sequence between some steps described in this embodiment, for example, step S903 and step S904.

Step S905: According to the third acceleration and/or the third angular acceleration, determine a target control variable for controlling the movement of the movable platform at the current moment.

For example, after the chassis master control determines the third acceleration Acc_ref_slip and/or the third angular acceleration Beta_ref_slip of the movable robot 11, the target control amount for controlling the movement of the movable robot 11 can be determined according to Acc_ref_slip and/or Beta_ref_slip.

Optionally, the determining the target control quantity for controlling the movement of the movable platform at the current moment according to the third acceleration and/or the third angular acceleration includes: according to the third acceleration and the second speed , Determine the target velocity of the movable platform at the current moment; and/or determine the target angular velocity of the movable platform at the current moment according to the third angular acceleration and the second angular velocity.

Specifically, the chassis master control can determine the target speed of the mobile robot 11 at the current time t1 according to the third acceleration Acc_ref_slip and the second speed V _t0 . Here, the target speed of the mobile robot 11 is denoted as V. Specifically, V=Acc_ref_slip×Δt+V _t0 . And/or, according to the third angular acceleration Beta_ref_slip and the second angular velocity ω _t0 , determine the target angular velocity of the movable robot 11 at the current time t1, where the target angular velocity of the movable robot 11 is denoted as ω, ω=Beta_ref_slip×Δt+ ω _t0 .

In this embodiment, the second acceleration is obtained by constraining the user's expected acceleration of the chassis at the current moment, and/or the second angular acceleration is obtained by constraining the user's expected angular acceleration of the chassis at the current moment, and further detects A plurality of omnidirectional wheels slipping, and according to the second acceleration and the degree of slippage of at least one of the slipping omnidirectional wheels, when at least one of the slipping omnidirectional wheels is not slipping, The third acceleration of the movable platform, and/or, according to the second angular acceleration and the degree of slip of at least one of the omnidirectional wheels, it is determined that when at least one of the slipping omnidirectional wheels does not slip, the movable The third angular acceleration of the platform, and then according to the third acceleration and/or the third angular acceleration, determine the target control quantity used to control the movement of the movable platform at the current moment, so that the target control quantity can not only avoid the movement of the movable platform The power system reaches a relatively large speed in a short time, and at the same time, it can prevent the movable platform from slipping, thereby improving the accuracy of determining the target control quantity.

The embodiment of the present invention provides a method for controlling a movable platform. FIG. 11 is a flowchart of a method for controlling a movable platform according to another embodiment of the present invention. As shown in FIG. 11, on the basis of the foregoing embodiment, according to the first torque of each of the plurality of omnidirectional wheels and the actual torque of each of the omnidirectional wheels, Before determining whether each of the plurality of omnidirectional wheels is slipping, the method further includes:

Step S1001: Obtain the current of the motor corresponding to each of the plurality of omnidirectional wheels.

For example, the chassis master control determines each of the 4 omnidirectional wheels based on the first torque of each of the 4 omnidirectional wheels and the actual torque of each omnidirectional wheel. Before skidding, the chassis master control can collect the current of the motor corresponding to each of the four omnidirectional wheels through the motor controller. Specifically, the motor controller can adjust the motor current of each omnidirectional wheel. The current is fed back to the main control of the chassis through communication. For example, the current of motor 1 is denoted as Iq1, the current of motor 2 is denoted as Iq2, the current of motor 3 is denoted as Iq3, and the current of motor 4 is denoted as Iq4.

Step S1002, according to the current of the motor corresponding to each omni wheel, determine the actual torque of each omni wheel.

Specifically, according to the current of the motor corresponding to each of the four omnidirectional wheels, the actual torque of each omnidirectional wheel is determined. For example, the actual torque Treal1 of the omnidirectional wheel 1=Kt*Iq1, where Kt is the torque coefficient, Kt is related to the electrical parameters of the motor, and the Kt can be measured in advance. In the same way, the actual torque Treal2 of the omnidirectional wheel 2=Kt*Iq2, the actual torque Treal3 of the omnidirectional wheel 3=Kt*Iq3, and the actual torque Treal4 of the omnidirectional wheel 4=Kt*Iq4.

In other embodiments, according to the target torque of each of the plurality of omnidirectional wheels and the actual torque of each of the omnidirectional wheels, the Before each of the omnidirectional wheels is slipping, the method further includes: determining the first acceleration of each of the plurality of omnidirectional wheels according to the first acceleration and the first angular acceleration One torque.

For example, the chassis master control determines each of the 4 omnidirectional wheels based on the first torque of each of the 4 omnidirectional wheels and the actual torque of each omnidirectional wheel. Before skidding, the first torque of each of the four omnidirectional wheels can be determined according to the first acceleration Acc_ref and the first angular acceleration Beta_ref.

Optionally, determining the first torque of each of the plurality of omnidirectional wheels according to the first acceleration and the first angular acceleration includes the following steps as shown in FIG. 12:

Step S1101, according to the first acceleration and the weight of the movable platform, determine the sum of the combined torque of the first diagonal wheel and the combined torque of the second diagonal wheel among the plurality of omnidirectional wheels.

As shown in Figure 2, assuming that the omnidirectional wheel 1 and the omnidirectional wheel 2 are located on the left side of the mobile robot 11, the omnidirectional wheel 3 and the omnidirectional wheel 4 are located on the right side of the mobile robot 11. Here, the omnidirectional wheel 1 and omnidirectional wheel 4 are recorded as the first diagonal wheel, and omnidirectional wheel 2 and omnidirectional wheel 3 are recorded as the second diagonal wheel. It can be understood that the relationship between the acceleration a of the mobile robot 11 and the total force F received by the mobile robot 11 is F=m*a, where m represents the weight of the mobile robot 11. Further, according to F=m*a, the relationship between the total torque, m, and a of the mobile robot 11 can be determined, that is, F*r=m*a*r, where F*r represents the mobile robot 11 The total torque of r represents the radius of the omnidirectional wheel. Therefore, when a in F*r=m*a*r is the first acceleration Acc_ref as described above, then F*r represents the sum of the first torque of each of the four omnidirectional wheels Here, Tref1+Tref4 can be recorded as the total torque Ta of the first diagonal wheel, and Tref2+Tref3 can be recorded as the total torque Tb of the second diagonal wheel. The sum of Ta and Tb can be expressed as Ta+Tb Is the following formula (3)

Ta+Tb=m*Acc_ref*r (3)

Step S1102, according to the first angular acceleration and the distance from the geometric center of the chassis of the movable platform to the omnidirectional wheel, determine the combined torque of the first diagonal wheel among the plurality of omnidirectional wheels The difference between the combined torque and the second diagonal wheel.

In this embodiment, the geometric center of the chassis of the mobile robot 11 may specifically be the kinematic center of the chassis or the center of mass of the chassis as described above. The geometric center of the chassis of the mobile robot 11 can be divided into four omnidirectional wheels. The distances of the four omnidirectional wheels are the same, that is, l ₁ , l ₂ , l ₃ , and l _{4 are the} same as described above. In this embodiment, the geometric center of the chassis of the mobile robot 11 is set to each of the four omnidirectional wheels. The distance of the omni wheel is recorded as L. According to the first angular acceleration Beta_ref and L as described above, the difference between the resultant torque Ta of the first diagonal wheel and the resultant torque Tb of the second diagonal wheel can be determined. The difference Ta-Tb between Ta and Tb can be expressed as the following formula (4):

Ta-Tb=J*Beta_ref/L (4)

Among them, J represents the moment of inertia, and J can be measured in advance.

It can be understood that there may be no sequence between some of the steps described in this embodiment, for example, step S1101 and step S1102.

Step S1103, according to the sum of the combined torque of the first diagonal wheel and the combined torque of the second diagonal wheel, and the combined torque of the first diagonal wheel and the second diagonal The difference between the combined torque of the wheels determines the combined torque of the first diagonal wheel and the combined torque of the second diagonal wheel.

According to the above formula (3) and formula (4), the resultant torque Ta of the first diagonal wheel and the resultant torque Tb of the second diagonal wheel can be determined.

Step S1104, according to the combined torque of the first diagonal wheel and the combined torque of the second diagonal wheel, determine each of the plurality of omnidirectional wheels of the movable platform The first torque of the wheel.

Further, according to the combined torque Ta of the first diagonal wheel and the combined torque Tb of the second diagonal wheel, the first torque of each of the four omnidirectional wheels can be determined.

Optionally, said determining each of the plurality of omnidirectional wheels of the movable platform according to the combined torque of the first diagonal wheel and the combined torque of the second diagonal wheel The first torque of the omnidirectional wheel includes: determining, according to the first speed and the first angular velocity, the first rotational speed that each of the plurality of omnidirectional wheels needs to reach; The combined torque of the first diagonal wheel and the first rotational speed of each of the omnidirectional wheels included in the first diagonal wheel determine each of the omnidirectional wheels included in the first diagonal wheel The first torque; according to the combined torque of the second diagonal wheel and the first rotational speed of each of the omnidirectional wheels included in the second diagonal wheel, it is determined that the second diagonal wheel includes The first torque of each of the omnidirectional wheels.

As described above, the first speed of the mobile robot 11 is V _t1 , the first angular speed of the mobile robot 11 is ω _t1 , and the first speed may have a component on the X axis of the body coordinate system as described above , There is a component on the Y axis of the airframe coordinate system, the first velocity V _t1 on the X axis of the airframe coordinate system, the first velocity V _t1 on the Y axis of the airframe coordinate system, and The first angular velocity ω _{t1 is} substituted into the kinematic equations described above, and it can be determined that the velocity of the movable robot 11 reaches the first velocity V _t1 and the angular velocity of the movable robot 11 reaches the first angular velocity ω _t1 , The first rotational speed that each of the four motors of the chassis of the movable robot 11 needs to reach. Specifically, the first rotation speed of the motor 1 may be denoted as ω ₁ ′, the first rotation speed of the motor 2 may be denoted as ω ₂ ′, the first rotation speed of the motor 3 may be denoted as ω ₃ ′, and the first rotation of the motor 4 The shorthand is ω ₄ ′.

It can be understood that the speed of the motor is positively related to the torque of the motor. According to the ratio of the first rotation speed ω ₁ ′ of the motor ₁ and the first rotation speed ω ₄ ′ of the motor 4, and the combined torque Ta of the first diagonal wheel, namely Tref1+Tref4, Tref1 and Tref4 can be determined, for example, Ta= 4. The ratio of ω ₁ ′ and ω ₄ ′ is 1:3, then Tref1=1 and Tref4=3.

Similarly, according to the ratio of the first rotation speed ω ₂ ′ of the motor ₂ and the first rotation speed ω ₃ ′ of the motor 3, and the resultant torque Tb of the second diagonal wheel, that is, Tref2+Tref3, Tref2 and Tref3 can be determined.

In this embodiment, by determining each of the plurality of omnidirectional wheels according to the first torque of each of the plurality of omnidirectional wheels and the actual torque of each of the omnidirectional wheels Before each of the omnidirectional wheels is slipping, determine the actual torque of each omnidirectional wheel or determine the first torque of each omnidirectional wheel, which improves the Detection accuracy.

The embodiment of the present invention provides a method for controlling a movable platform. FIG. 13 is a flowchart of a method for controlling a movable platform according to another embodiment of the present invention. As shown in FIG. 13, on the basis of the foregoing embodiment, the determining the target control amount for controlling the movement of the movable platform at the current moment according to the first control amount and the second control amount may include :

Step S1201, detecting whether each of the plurality of omnidirectional wheels is slipping.

The implementation manner and principle of step S1201 are consistent with the implementation manner and principle of step S901 described above, and will not be repeated here.

Step S1202, if at least one of the plurality of omnidirectional wheels slips, determine the degree of slippage of at least one of the slipped omnidirectional wheels.

The implementation manner and principle of step S1202 are consistent with the implementation manner and principle of step S902 described above, and will not be repeated here.

Step S1203: According to the first control quantity and the second control quantity, determine the first acceleration and/or the first angular acceleration that the movable platform needs to achieve at the current moment.

As described above, the first control amount includes at least one of the first velocity V _{t1 of} the movable robot 11 and the first angular velocity ω _t1 of the movable robot 11. The second control amount includes at least one of the second velocity V _{t0 of} the movable robot 11 and the second angular velocity ω _t0 of the movable robot 11. According to the first speed V _{t1 of} the mobile robot 11 and the second speed V _{t0 of the} mobile robot 11, the first acceleration Acc_ref that the mobile robot 11 needs to achieve at the current moment can be determined, and/or, according to the mobile robot 11 The first angular velocity ω _{t1 of} the mobile robot 11 and the second angular velocity ω _{t0 of the} mobile robot 11 can determine the first angular acceleration Beta_ref that the mobile robot 11 needs to achieve at the current moment.

It can be understood that there may be no sequence between some steps described in this embodiment, for example, step S1201, step S1202, and step S1203. For example, in other embodiments, step S1203 may be performed first, and then step S1201 and step S1202 are performed.

Step S1204: Determine a target control amount for controlling the movement of the movable platform at the current moment according to the degree of slip of at least one of the slipping omnidirectional wheels, the first acceleration and/or the first angular acceleration.

As described above, suppose that the chassis master determines that the omnidirectional wheel 3 and the omnidirectional wheel 4 of the 4 omnidirectional wheels are slipping, and that the degree of slippage of the omnidirectional wheel 3 is Slip3 and the degree of slippage of the omnidirectional wheel 4 is Slip4.

In this embodiment, the chassis master control can determine the control of the movement of the movable robot 11 according to the slip degree Slip3 of the omnidirectional wheel 3, the slip degree Slip4 of the omnidirectional wheel 4, the first acceleration Acc_ref and/or the first angular acceleration Beta_ref. Target control amount.

Optionally, the target control for controlling the movement of the movable platform at the current moment is determined according to the degree of slip of at least one of the slipping omnidirectional wheels, the first acceleration and/or the first angular acceleration The quantity includes: determining the fourth acceleration of the movable platform when at least one of the slipping omnidirectional wheels is not slipping according to the first acceleration and the degree of slippage of at least one of the slipping omnidirectional wheels; and/ Or according to the first angular acceleration and the degree of slip of at least one of the slipping omnidirectional wheels, the fourth angular acceleration of the movable platform is determined when at least one of the slipping omnidirectional wheels is not slipping; according to the The fourth acceleration and/or the fourth angular acceleration determine the target control variable used to control the movement of the movable platform at the current moment.

For example, after determining the slip of the omnidirectional wheel 3 and the omnidirectional wheel 4, and the degree of slippage of the omnidirectional wheel 3 and the omnidirectional wheel 4, the first acceleration Acc_ref, the omnidirectional wheel 3 and the omnidirectional wheel The slip degree of 4 determines the fourth acceleration of the mobile robot 11 when the omnidirectional wheel 3 and the omnidirectional wheel 4 do not slip. Here, the fourth acceleration of the mobile robot 11 is recorded as Acc_ref_slip'. And/or, according to the aforementioned first angular acceleration Beta_ref, the degree of slippage of the omnidirectional wheel 3 and the omnidirectional wheel 4, it is determined that when the omnidirectional wheel 3 and the omnidirectional wheel 4 are not slipping, the fourth corner of the movable robot 11 Acceleration, here, the fourth angular acceleration of the mobile robot 11 is recorded as Beta_ref_slip'. Further, the target control amount for controlling the movement of the movable robot 11 is determined according to Acc_ref_slip' and/or Beta_ref_slip'.

Optionally, the fourth acceleration of the movable platform is determined when the at least one slipping omnidirectional wheel is not slipping according to the first acceleration and the degree of slippage of the at least one slipping omnidirectional wheel, The method includes: determining the fourth acceleration of the movable platform according to the first acceleration and the largest degree of slippage among the degree of slippage of at least one of the slipping omnidirectional wheels.

For example, according to the aforementioned first acceleration Acc_ref, the degree of slippage of the omnidirectional wheel 3 and the omnidirectional wheel 4, it is determined that when the omnidirectional wheel 3 and the omnidirectional wheel 4 are not slipping, the fourth acceleration Acc_ref_slip' of the movable robot 11 is , First determine the slip degree of the omnidirectional wheel 3 and the slip degree of the omnidirectional wheel 4, the largest slip degree Slip. Further, when it is determined that the omnidirectional wheel 3 and the omnidirectional wheel 4 are not slipping according to the above-mentioned first acceleration Acc_ref and Slip, the fourth acceleration Acc_ref_slip′ of the mobile robot 11 is shown in the following formula (5):

Acc_ref_slip′=Acc_ref-Kp*Slip (5)

Optionally, when it is determined that the at least one slipping omnidirectional wheel is not slipping according to the first angular acceleration and the degree of slippage of the at least one slipping omnidirectional wheel, the fourth corner of the movable platform The acceleration includes: determining the fourth angular acceleration of the movable platform according to the first angular acceleration and the largest degree of slippage among the degree of slippage of at least one of the slipping omnidirectional wheels.

For example, the fourth angular acceleration Beta_ref_slip of the movable robot 11 is determined when the omnidirectional wheel 3 and the omnidirectional wheel 4 are not slipping according to the first angular acceleration Beta_ref, the degree of slippage of the omnidirectional wheel 3 and the omnidirectional wheel 4 as described above ′, first determine the degree of slippage of the omnidirectional wheel 3 and the degree of slippage of the omnidirectional wheel 4, which is the largest one, Slip, and further, determine the omnidirectional wheel 3 and the omnidirectional wheel according to the first angular acceleration Beta_ref and Slip as described above. When the wheel 4 is not slipping, the fourth angular acceleration Beta_ref_slip′ of the mobile robot 11 is shown in the following formula (6):

Beta_ref_slip'=Beta_ref-Kp'*Slip (6)

Optionally, the determining the target control quantity for controlling the movement of the movable platform at the current moment according to the fourth acceleration and/or the fourth angular acceleration includes: according to the fourth acceleration and the The second velocity determines the target velocity of the movable platform at the current moment; and/or determines the target angular velocity of the movable platform at the current moment according to the fourth angular acceleration and the second angular velocity.

Specifically, the chassis master control can determine the target speed of the mobile robot 11 at the current time t1 according to the fourth acceleration Acc_ref_slip′ and the second speed V _t0 , where the target speed of the mobile robot 11 is denoted as V. Specifically, V=Acc_ref_slip′×Δt+V _t0 . And/or, according to the fourth angular acceleration Beta_ref_slip' and the second angular velocity ω _t0 , determine the target angular velocity of the movable robot 11 at the current time t1, here the target angular velocity of the movable robot 11 is denoted as ω, ω=Beta_ref_slip' ×Δt+ω _t0 .

In this embodiment, by detecting the slipping omnidirectional wheels among the plurality of omnidirectional wheels, and determining at least one slipping omnidirectional wheel according to the first acceleration and the degree of slippage of at least one of the slipping omnidirectional wheels When not slipping, the fourth acceleration of the movable platform, and/or, according to the first angular acceleration and the degree of slippage of at least one of the omnidirectional wheels, determine when at least one of the omnidirectional wheels is not slipping , The fourth angular acceleration of the movable platform, according to the fourth acceleration and/or the fourth angular acceleration, determine the target control amount used to control the movement of the movable platform at the current moment, so that the target control amount can prevent The movable platform slips, thereby improving the accuracy of determining the target control amount.

The embodiment of the present invention provides a method for controlling a movable platform. FIG. 14 is a flowchart of a method for controlling a movable platform according to another embodiment of the present invention. As shown in FIG. 14, on the basis of the foregoing embodiment, when the motor controller corresponding to the motor operates in the torque loop mode, the control of the movement of the movable platform according to the target control amount includes :

Step S1301, according to the target speed of the movable platform and the target angular speed of the movable platform, determine the target torque of each of the plurality of omnidirectional wheels.

For example, according to the target speed V of the movable robot 11 and the target angular speed ω of the movable robot 11, the target torque of each of the four omnidirectional wheels is determined. For example, denote the target torque of the omnidirectional wheel 1 as Ttarget1, the target torque of the omnidirectional wheel 2 as Ttarget2, the target torque of the omnidirectional wheel 3 as Ttarget3, and the target torque of the omnidirectional wheel 4 Denoted as Ttarget4.

Optionally, the determining the target torque of each of the plurality of omnidirectional wheels according to the target speed of the movable platform and the target angular velocity of the movable platform includes: Determining the target acceleration corresponding to the target speed and the weight of the movable platform, determining the sum of the target combined torque of the first diagonal wheel and the target combined torque of the second diagonal wheel among the plurality of omnidirectional wheels; According to the target angular acceleration corresponding to the target angular velocity and the distance from the geometric center of the chassis of the movable platform to the omnidirectional wheel, the target co-rotation of the first diagonal wheel among the plurality of omnidirectional wheels is determined The difference between the moment and the target total torque of the second diagonal wheel; according to the sum of the target total torque of the first diagonal wheel and the target total torque of the second diagonal wheel, and The difference between the target combined torque of the first diagonal wheel and the target combined torque of the second diagonal wheel determines the target combined torque of the first diagonal wheel and the second diagonal wheel The target combined torque; according to the target combined torque of the first diagonal wheel and the target combined torque of the second diagonal wheel, determine each of the plurality of omnidirectional wheels The target torque.

For example, the omnidirectional wheel 1 and the omnidirectional wheel 4 are the first diagonal wheels, and the omnidirectional wheel 2 and the omnidirectional wheel 3 are the second diagonal wheels. When a in F*r=m*a*r is the target acceleration Acc_ref_target corresponding to the target speed V as described above, F*r represents the sum of the target torque of each of the four omnidirectional wheels , Here, the target acceleration corresponding to the target speed V is recorded as Acc_ref_target,

Here, Ttarget1+Ttarget4 can be recorded as the target total torque Ta' of the first diagonal wheel, and Ttarget2+Ttarget3 can be recorded as the sum of the target total torque Tb', Ta' and Tb' of the second diagonal wheel Ta′+Tb′ can be expressed as the following formula (7)

Ta′+Tb′=m*Acc_ref_target*r (7)

In addition, the target angular acceleration corresponding to the target angular velocity ω of the mobile robot 11 is recorded as

Further, the difference between the target total torque Ta' of the first diagonal wheel and the target total torque Tb' of the second diagonal wheel can be determined according to Beta_ref_target and L. The difference Ta'-Tb' between Ta' and Tb' can be expressed as the following formula (8):

Ta′-Tb′=J*Beta_ref_target/L (8)

According to the above formula (7) and formula (8), the target resultant torque Ta' of the first diagonal wheel and the target resultant torque Tb' of the second diagonal wheel can be determined. Further, according to the target total torque Ta' of the first diagonal wheel and the target total torque Tb' of the second diagonal wheel, the target torque of each of the four omnidirectional wheels can be determined.

Optionally, said determining each of the plurality of omnidirectional wheels according to the target combined torque of the first diagonal wheel and the target combined torque of the second diagonal wheel The target torque includes: determining, according to the target speed and the target angular velocity, the target speed that each of the plurality of omnidirectional wheels needs to reach; and according to the target of the first diagonal wheel Determine the target torque of each of the omnidirectional wheels included in the first diagonal wheel and the target rotational speed of each of the omnidirectional wheels included in the first diagonal wheel; The target combined torque of the second diagonal wheel and the target rotational speed of each of the omnidirectional wheels included in the second diagonal wheel are determined to determine the Target torque.

Specifically, when determining the target torque of each of the four omnidirectional wheels according to the target combined torque Ta' of the first diagonal wheel and the target combined torque Tb' of the second diagonal wheel, according to The target speed V of the mobile robot 11 and the target angular speed ω of the mobile robot 11 determine the target speed that each of the four motors of the chassis of the mobile robot 11 needs to reach. Repeat. Further, according to the ratio of the target rotation speed ω _{1 of the} motor ₁ and the target rotation speed ω ₄ of the motor 4, and the target total torque Ta′ of the first diagonal wheel, that is, Ttarget1+Ttarget4, Ttarget1 and Ttarget4 can be determined. And according to the ratio of the target rotation speed ω _{2 of the} motor ₂ and the target rotation speed ω ₃ of the motor 3, and the target total torque Tb′ of the second diagonal wheel, namely Ttarget2+Ttarget3, Ttarget2 and Ttarget3 can be determined.

Step S1302, according to the target torque of each omni wheel, control the movement of the movable platform.

After the main control of the chassis determines the target torque of each of the 4 omnidirectional wheels, it controls the movement of the movable robot according to the target torque of each omnidirectional wheel.

Optionally, the controlling the movement of the movable platform according to the target torque of each omnidirectional wheel includes: sending the target torque of each omnidirectional wheel to the corresponding omnidirectional wheel A motor controller, which is used to drive the motor corresponding to the omni wheel to rotate according to the target torque.

For example, as shown in Figure 2, the chassis main control sends the target torque of each of the four motors to the motor controller, and the motor controller drives the omnidirectional wheel according to the target torque of each omnidirectional wheel. The motor corresponding to the direction wheel rotates so that the 4 motors rotate to the corresponding target torques respectively. In other embodiments, each motor may be connected to a motor controller, and after the chassis master control determines the target torque of each of the four omnidirectional wheels of the mobile robot 11, the four The target torque of each omnidirectional wheel in the omnidirectional wheel is sent to the motor controller connected to the motor of the omnidirectional wheel, and the motor controller corresponding to each motor controls the rotation of the corresponding motor.

In this embodiment, when the motor controller corresponding to the motor is operating in the torque loop mode, each of the plurality of omnidirectional wheels is determined according to the target speed of the movable platform and the target angular speed of the movable platform The target torque of the omnidirectional wheel is used to control the movement of the movable platform according to the target torque of each omnidirectional wheel, which increases the flexibility of controlling the movement of the movable platform.

The embodiment of the present invention provides a control device of a movable platform. The movable platform includes a power system for driving the movable platform to move, and the power system includes at least one motor controller, multiple motors, and multiple omnidirectional ones corresponding to the motors one-to-one Wheel, the at least one motor controller is used to control the rotation of a plurality of the motors, and the plurality of motors are respectively used to drive the corresponding omni wheel to rotate. FIG. 15 is a structural diagram of a control device provided by an embodiment of the present invention. As shown in FIG. 15, the control device 140 includes a memory 141 and a processor 142. Wherein, the memory is used to store program code; the processor 142 calls the program code, and when the program code is executed, it is used to perform the following operations: obtain user instructions for controlling the movement of the movable platform; The user instruction determines the first control quantity used to control the movement of the movable platform at the current moment; if the first control quantity changes relative to the second control quantity used to control the movement of the movable platform at the historical moment Is greater than the preset value, then according to the first control quantity and the second control quantity, determine the target control quantity for controlling the movement of the movable platform at the current moment; according to the target control quantity, control the movable Platform movement.

Optionally, the first control quantity of the movable platform includes at least one of the following: a first speed of the movable platform, a first angular velocity of the movable platform; and a second control quantity of the movable platform It includes at least one of the following: the second speed of the movable platform, the second angular velocity of the movable platform; the target control variable of the movable platform includes at least one of the following: the target speed of the movable platform, The target angular velocity of the movable platform.

Optionally, when the processor 142 determines the target control value for controlling the movement of the movable platform at the current moment according to the first control value and the second control value, it is specifically configured to: according to the first control value The first acceleration and/or the first angular acceleration that the movable platform needs to achieve at the current moment are determined; the first acceleration is adjusted to obtain the second acceleration, and/or the The first angular acceleration is adjusted to obtain a second angular acceleration; according to the second acceleration and/or the second angular acceleration, a target control amount for controlling the movable platform at the current moment is determined.

Optionally, when the processor 142 adjusts the first acceleration to obtain the second acceleration, it is specifically configured to: adjust the first acceleration according to a first preset manner to obtain the second acceleration.

Optionally, when the processor 142 adjusts the first angular acceleration to obtain the second angular acceleration, it is specifically configured to: adjust the first angular acceleration according to a second preset manner to obtain the second angular acceleration.

Optionally, when the processor 142 determines the target control value for controlling the movement of the movable platform at the current moment according to the second acceleration and/or the second angular acceleration, it is specifically configured to: according to the second acceleration The acceleration and the second velocity determine the target velocity of the movable platform at the current moment; and/or determine the target angular velocity of the movable platform at the current moment according to the second angular acceleration and the second angular velocity.

Optionally, when the processor 142 determines the target control variable for controlling the movement of the movable platform at the current moment according to the second acceleration and/or the second angular acceleration, it is specifically configured to: detect a plurality of the Whether each of the omnidirectional wheels is slipping; if at least one of the omnidirectional wheels among the plurality of omnidirectional wheels is slipping, determine the degree of slippage of at least one of the omnidirectional wheels; The second acceleration and the degree of slippage of at least one of the slipping omnidirectional wheels determine the third acceleration of the movable platform when at least one of the slipping omnidirectional wheels is not slipping, and/or, according to the second The angular acceleration and the slip degree of at least one of the omnidirectional wheels determine the third angular acceleration of the movable platform when at least one of the omnidirectional wheels does not slip; according to the third acceleration and/or the third angular acceleration , Determine the target control quantity used to control the movement of the movable platform at the current moment.

Optionally, when the processor 142 determines the target control variable for controlling the movement of the movable platform at the current moment according to the third acceleration and/or the third angular acceleration, it is specifically configured to: The second velocity determines the target velocity of the movable platform at the current moment; and/or determines the target angular velocity of the movable platform at the current moment according to the third angular acceleration and the second angular velocity.

Optionally, the processor 142 determines the third acceleration of the movable platform when the at least one slipping omnidirectional wheel is not slipping according to the second acceleration and the degree of slippage of the at least one slipping omnidirectional wheel When, it is specifically used to determine the third acceleration of the movable platform according to the second acceleration and the largest degree of slippage among the degree of slippage of at least one of the slipping omnidirectional wheels.

Optionally, the processor 142 determines, according to the second angular acceleration and the degree of slip of at least one of the slipping omnidirectional wheels, that when at least one of the slipping omnidirectional wheels does not slip, the third angle of the movable platform During acceleration, it is specifically used to: determine that at least one of the slipping omnidirectional wheels is not slipping according to the second angular acceleration and the maximum degree of slippage of at least one of the slipping omnidirectional wheels. The third angular acceleration of the mobile platform.

Optionally, when the processor 142 determines the target control value for controlling the movement of the movable platform at the current moment according to the first control value and the second control value, it is specifically configured to: Whether each of the omnidirectional wheels in the omnidirectional wheels is slipping; if at least one of the omnidirectional wheels among the plurality of omnidirectional wheels is slipping, determine the degree of slippage of at least one of the omnidirectional wheels; The first control quantity and the second control quantity determine the first acceleration and/or the first angular acceleration that the movable platform needs to achieve at the current moment; according to the degree of slippage and the result of at least one of the slipping omnidirectional wheels The first acceleration and/or the first angular acceleration determine a target control variable used to control the movement of the movable platform at the current moment.

Optionally, the processor 142 determines a target for controlling the movement of the movable platform at the current moment according to the degree of slippage of at least one of the slipping omnidirectional wheels, the first acceleration and/or the first angular acceleration When controlling the amount, it is specifically used to: according to the first acceleration and the degree of slippage of at least one of the slipping omnidirectional wheels, it is determined that when at least one of the slipping omnidirectional wheels is not slipping, the fourth of the movable platform Acceleration; and/or determining the fourth angular acceleration of the movable platform when at least one of the slipping omnidirectional wheels is not slipping according to the first angular acceleration and the degree of slippage of at least one of the slipping omnidirectional wheels ; According to the fourth acceleration and/or the fourth angular acceleration, determine the target control amount used to control the movement of the movable platform at the current moment.

Optionally, when the processor 142 determines the target control value for controlling the movement of the movable platform at the current moment according to the fourth acceleration and/or the fourth angular acceleration, it is specifically configured to: The acceleration and the second velocity determine the target velocity of the movable platform at the current moment; and/or determine the target angular velocity of the movable platform at the current moment according to the fourth angular acceleration and the second angular velocity.

Optionally, the processor 142 determines the fourth acceleration of the movable platform when the at least one slipping omnidirectional wheel is not slipping according to the first acceleration and the degree of slippage of the at least one slipping omnidirectional wheel When, it is specifically used to determine the fourth acceleration of the movable platform according to the first acceleration and the largest degree of slippage among the degree of slippage of at least one of the slipping omnidirectional wheels.

Optionally, the processor 142 determines, according to the first angular acceleration and the degree of slippage of at least one of the slipping omnidirectional wheels, that when at least one of the slipping omnidirectional wheels does not slip, the fourth of the movable platform In the case of angular acceleration, it is specifically used to determine the fourth angular acceleration of the movable platform according to the first angular acceleration and the largest degree of slippage of the at least one slipping omnidirectional wheel.

Optionally, when the processor 142 detects whether each of the plurality of omnidirectional wheels is slipping, it is specifically configured to: according to the first position of each of the plurality of omnidirectional wheels A torque and the actual torque of each of the omnidirectional wheels are used to determine whether each of the plurality of omnidirectional wheels is slipping; wherein, the first torque is based on the first The control amount is determined.

Optionally, the processor 142 determines among the plurality of omnidirectional wheels according to the first torque of each of the plurality of omnidirectional wheels and the actual torque of each of the omnidirectional wheels When each of the omnidirectional wheels is slipping, it is specifically used to: determine the difference between the first torque and the actual torque of each omnidirectional wheel; if the difference is greater than the slip threshold, determine the difference The value corresponds to the omni wheel slip.

Optionally, when the processor 142 determines the degree of slip of at least one of the slipping omnidirectional wheels, it is specifically configured to: pass the first torque of at least one of the slipping omnidirectional wheels and at least one of the slipping omnidirectional wheels. Smoothing is performed on the difference between the actual torques of the direction wheels to obtain the slip degree of at least one of the slipping omnidirectional wheels.

Optionally, the processor 142 determines among the plurality of omnidirectional wheels according to the first torque of each of the plurality of omnidirectional wheels and the actual torque of each of the omnidirectional wheels Before each of the omnidirectional wheels is slipping, it is also used to: obtain the current of the motor corresponding to each of the omnidirectional wheels among the plurality of omnidirectional wheels; The current determines the actual torque of each of the omnidirectional wheels.

Optionally, the processor 142 determines among the plurality of omnidirectional wheels according to the first torque of each of the plurality of omnidirectional wheels and the actual torque of each of the omnidirectional wheels Before each of the omnidirectional wheels slips, it is also used to: determine the first rotation of each of the plurality of omnidirectional wheels according to the first acceleration and the first angular acceleration Moment.

Optionally, when the processor 142 determines the first torque of each of the plurality of omnidirectional wheels according to the first acceleration and the first angular acceleration, it is specifically configured to: The first acceleration and the weight of the movable platform determine the sum of the combined torque of the first diagonal wheel and the combined torque of the second diagonal wheel among the plurality of omnidirectional wheels; according to the first The angular acceleration and the distance from the geometric center of the chassis of the movable platform to the omnidirectional wheel determine the combined torque of the first diagonal wheel and the second diagonal wheel among the plurality of omnidirectional wheels According to the sum of the total torque of the first diagonal wheel and the total torque of the second diagonal wheel, and the total torque of the first diagonal wheel and the total torque The difference between the combined torque of the second diagonal wheel, the combined torque of the first diagonal wheel and the combined torque of the second diagonal wheel; according to the combined torque of the first diagonal wheel The torque and the resultant torque of the second diagonal wheel determine the first torque of each of the plurality of omnidirectional wheels of the movable platform.

Optionally, the processor 142 determines each of the plurality of omnidirectional wheels of the movable platform according to the combined torque of the first diagonal wheel and the combined torque of the second diagonal wheel. The first torque of the omnidirectional wheel is specifically used to determine the first torque that each of the omnidirectional wheels needs to reach according to the first speed and the first angular velocity. Rotation speed; according to the combined torque of the first diagonal wheel and the first rotation speed of each of the omnidirectional wheels included in the first diagonal wheel, determine each of the first diagonal wheels included The first torque of the omnidirectional wheel; determine the second torque according to the combined torque of the second diagonal wheel and the first rotational speed of each of the omnidirectional wheels included in the second diagonal wheel The diagonal wheel includes the first torque of each of the omnidirectional wheels.

Optionally, when the motor controller corresponding to the motor is operating in the speed loop mode, the processor 142 controls the movement of the movable platform according to the target control amount, and is specifically configured to: according to the movable platform The target speed of the movable platform and the target angular speed of the movable platform are determined to determine the target speed of each of the plurality of omnidirectional wheels; according to the target speed of each of the omnidirectional wheels, the movable Platform movement.

Optionally, when the processor 142 controls the movement of the movable platform according to the target rotation speed of each omnidirectional wheel, it is specifically configured to: send the target rotation speed of each omnidirectional wheel to the omnidirectional wheel The corresponding motor controller is configured to drive the motor corresponding to the omni wheel to rotate according to the target speed.

Optionally, when the motor controller corresponding to the motor is operating in the torque loop mode, the processor 142 controls the movement of the movable platform according to the target control amount, which is specifically configured to: The target speed of the platform and the target angular speed of the movable platform determine the target torque of each of the plurality of omnidirectional wheels; according to the target torque of each of the omnidirectional wheels, the The movement of the movable platform.

Optionally, when the processor 142 determines the target torque of each of the plurality of omnidirectional wheels according to the target speed of the movable platform and the target angular velocity of the movable platform, it specifically uses Yu: Determine the target combined torque of the first diagonal wheel and the target combined torque of the second diagonal wheel among the plurality of omnidirectional wheels according to the target acceleration corresponding to the target speed and the weight of the movable platform According to the target angular acceleration corresponding to the target angular velocity and the distance from the geometric center of the chassis of the movable platform to the omnidirectional wheel, determine the first diagonal wheel of the plurality of omnidirectional wheels The difference between the target combined torque and the target combined torque of the second diagonal wheel; according to the sum of the target combined torque of the first diagonal wheel and the target combined torque of the second diagonal wheel Value, and the difference between the target combined torque of the first diagonal wheel and the target combined torque of the second diagonal wheel to determine the target combined torque of the first diagonal wheel and the first The target combined torque of the two diagonal wheels; according to the target combined torque of the first diagonal wheel and the target combined torque of the second diagonal wheel, determine each of the multiple omnidirectional wheels The target torque of the omnidirectional wheel.

Optionally, the processor 142 determines each of the plurality of omnidirectional wheels according to the target combined torque of the first diagonal wheel and the target combined torque of the second diagonal wheel. The target torque of the wheel is specifically used to: determine the target rotational speed that each of the multiple omnidirectional wheels needs to reach according to the target speed and the target angular velocity; according to the first pair The target combined torque of the corner wheels and the target rotational speed of each of the omnidirectional wheels included in the first diagonal wheel, determine the target torque of each of the omnidirectional wheels included in the first diagonal wheel According to the target torque of the second diagonal wheel and the target speed of each of the omnidirectional wheels included in the second diagonal wheel, determine each of the second diagonal wheels included The target torque of the omnidirectional wheel.

Optionally, when the processor 142 controls the movement of the movable platform according to the target torque of each omnidirectional wheel, it is specifically configured to: send the target torque of each omnidirectional wheel to the omnidirectional wheel. A motor controller corresponding to the direction wheel, the motor controller being used for driving the motor corresponding to the omnidirectional wheel to rotate according to the target torque.

Optionally, the control device further includes: a communication interface 143; when the processor 142 obtains a user instruction for controlling the movable platform, it is specifically configured to: receive through the communication interface 143 a user terminal for controlling the User instructions for movement of the movable platform.

The specific principles and implementation manners of the control device provided in the embodiment of the present invention are similar to those in the foregoing embodiment, and are not repeated here.

In addition, this embodiment also provides a movable platform. The movable platform includes: a fuselage, a power system, and the control device described in the foregoing embodiment. Wherein, a power system is installed on the body for driving the movable platform to move, and the power system includes at least one motor controller, multiple motors, and multiple omnidirectional wheels corresponding to the motors one-to-one The at least one motor controller is used to control the rotation of a plurality of the motors, and the plurality of motors are respectively used to drive the rotation of the corresponding omni wheel; the control device can execute the technical solutions of the above method embodiments, and the implementation principles and The technical effects are similar, so I won't repeat them here.

Optionally, the movable platform includes at least one of the following: a movable robot, a movable car, and an unmanned vehicle.

In addition, this embodiment also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the control method of the movable platform described in the foregoing embodiment.

In the several embodiments provided by the present invention, it should be understood that the disclosed device and method may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components can be combined or It can be integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware, or may be implemented in the form of hardware plus software functional units.

The above-mentioned integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The above-mentioned software functional unit is stored in a storage medium and includes several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor execute the method described in the various embodiments of the present invention. Part of the steps. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

Those skilled in the art can clearly understand that, for the convenience and conciseness of the description, only the division of the above-mentioned functional modules is used as an example. In practical applications, the above-mentioned functions can be allocated by different functional modules as required, namely, the device The internal structure is divided into different functional modules to complete all or part of the functions described above. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not repeated here.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: It is still possible to modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention range.

Claims

A method for controlling a movable platform. The movable platform includes a power system for driving the movable platform to move. The power system includes at least one motor controller, multiple motors, and The motors correspond to a plurality of omnidirectional wheels one to one, the at least one motor controller is used to control the rotation of the plurality of motors, and the plurality of motors are respectively used to drive the corresponding omnidirectional wheels to rotate. The method is characterized in that include:

Acquiring a user instruction for controlling the movement of the movable platform;

According to the user instruction, determine the first control quantity used to control the movement of the movable platform at the current moment;

If the amount of change of the first control quantity with respect to the second control quantity used to control the movement of the movable platform at a historical moment is greater than a preset value, then determine according to the first control quantity and the second control quantity The target control quantity used to control the movement of the movable platform at the current moment;

The movement of the movable platform is controlled according to the target control amount.
The method according to claim 1, wherein the first control value of the movable platform includes at least one of the following:

The first velocity of the movable platform, the first angular velocity of the movable platform;

The second control quantity of the movable platform includes at least one of the following:

The second velocity of the movable platform, the second angular velocity of the movable platform;

The target control amount of the movable platform includes at least one of the following:

The target velocity of the movable platform and the target angular velocity of the movable platform.
The method according to claim 2, wherein the determining a target control value for controlling the movement of the movable platform at the current moment according to the first control value and the second control value comprises:

Determine the first acceleration and/or the first angular acceleration that the movable platform needs to achieve at the current moment according to the first control quantity and the second control quantity;

Adjusting the first acceleration to obtain a second acceleration, and/or adjusting the first angular acceleration to obtain a second angular acceleration;

According to the second acceleration and/or the second angular acceleration, a target control amount for controlling the movable platform at the current moment is determined.
The method according to claim 3, wherein the adjusting the first acceleration to obtain the second acceleration comprises:

The first acceleration is adjusted according to the first preset manner to obtain the second acceleration.
The method according to claim 4, wherein the adjusting the first angular acceleration to obtain the second angular acceleration comprises:

The first angular acceleration is adjusted according to the second preset manner to obtain the second angular acceleration.
The method according to claim 5, wherein the first preset manner or the second preset manner includes at least one of the following:

Linear method, S-shaped method, semi-S-shaped method.
The method according to any one of claims 3-6, characterized in that, according to the second acceleration and/or the second angular acceleration, the target for controlling the movement of the movable platform at the current moment is determined Control amount, including:

Determine the target speed of the movable platform at the current moment according to the second acceleration and the second speed; and/or

According to the second angular acceleration and the second angular velocity, the target angular velocity of the movable platform at the current moment is determined.
The method according to claim 3, wherein the determining a target control variable for controlling the movement of the movable platform at the current moment according to the second acceleration and/or the second angular acceleration comprises:

Detecting whether each of the plurality of omnidirectional wheels is slipping;

If at least one of the plurality of omnidirectional wheels slips, determining the degree of slippage of at least one slipping omnidirectional wheel;

According to the second acceleration and the degree of slippage of at least one of the slipping omnidirectional wheels, the third acceleration of the movable platform is determined when at least one of the slipping omnidirectional wheels is not slipping, and/or according to the The second angular acceleration and the degree of slippage of at least one of the omnidirectional wheels to determine the third angular acceleration of the movable platform when at least one of the omnidirectional wheels is not slipping;

According to the third acceleration and/or the third angular acceleration, a target control quantity for controlling the movement of the movable platform at the current moment is determined.
The method according to claim 8, wherein the determining a target control quantity for controlling the movement of the movable platform at the current moment according to the third acceleration and/or the third angular acceleration comprises:

Determine the target speed of the movable platform at the current moment according to the third acceleration and the second speed; and/or

According to the third angular acceleration and the second angular velocity, the target angular velocity of the movable platform at the current moment is determined.
The method according to claim 8 or 9, characterized in that, according to the second acceleration and the degree of slippage of at least one of the slipping omnidirectional wheels, it is determined when at least one of the slipping omnidirectional wheels is not slipping , The third acceleration of the movable platform includes:

The third acceleration of the movable platform is determined according to the second acceleration and the largest degree of slippage among the degree of slippage of at least one of the slipping omnidirectional wheels.
The method according to claim 8 or 9, wherein the determining that at least one of the slipping omnidirectional wheels does not slip according to the second angular acceleration and the degree of slippage of at least one of the slipping omnidirectional wheels When, the third angular acceleration of the movable platform includes:

Determine the third angular acceleration of the movable platform when the at least one slipping omnidirectional wheel is not slipping according to the second angular acceleration and the maximum slipping degree of the at least one slipping omnidirectional wheel.
The method according to claim 2, wherein the determining a target control value for controlling the movement of the movable platform at the current moment according to the first control value and the second control value comprises:

Detecting whether each of the plurality of omnidirectional wheels is slipping;

If at least one of the plurality of omnidirectional wheels slips, determining the degree of slippage of at least one of the slipping omnidirectional wheels;

Determine the first acceleration and/or the first angular acceleration that the movable platform needs to achieve at the current moment according to the first control quantity and the second control quantity;

According to the degree of slip of at least one of the slipping omnidirectional wheels, the first acceleration and/or the first angular acceleration, a target control amount for controlling the movement of the movable platform at the current moment is determined.
The method according to claim 12, characterized in that, according to the degree of slip of at least one of the slipped omnidirectional wheels, the first acceleration and/or the first angular acceleration, determining the current moment for control The target control amount of movement of the movable platform includes:

According to the first acceleration and the degree of slip of at least one of the slipping omnidirectional wheels, determine the fourth acceleration of the movable platform when at least one of the slipping omnidirectional wheels is not slipping; and/or

Determine the fourth angular acceleration of the movable platform when at least one of the slipping omnidirectional wheels is not slipping according to the first angular acceleration and the degree of slippage of at least one of the slipping omnidirectional wheels;

According to the fourth acceleration and/or the fourth angular acceleration, a target control amount for controlling the movement of the movable platform at the current moment is determined.
The method according to claim 13, wherein the determining a target control quantity for controlling the movement of the movable platform at the current moment according to the fourth acceleration and/or the fourth angular acceleration comprises:

Determine the target speed of the movable platform at the current moment according to the fourth acceleration and the second speed; and/or

According to the fourth angular acceleration and the second angular velocity, the target angular velocity of the movable platform at the current moment is determined.
The method according to claim 13 or 14, characterized in that, according to the first acceleration and the degree of slippage of at least one of the slipping omnidirectional wheels, it is determined when at least one of the slipping omnidirectional wheels is not slipping. , The fourth acceleration of the movable platform includes:

The fourth acceleration of the movable platform is determined according to the first acceleration and the largest degree of slippage among the degree of slippage of at least one of the slipping omnidirectional wheels.
The method according to claim 13 or 14, wherein the determining that at least one of the slipping omnidirectional wheels does not slip according to the first angular acceleration and the degree of slippage of at least one of the slipping omnidirectional wheels When, the fourth angular acceleration of the movable platform includes:

The fourth angular acceleration of the movable platform is determined according to the first angular acceleration and the largest degree of slip of the at least one of the slipping omnidirectional wheels.
The method according to claim 8 or 12, wherein the detecting whether each of the plurality of omnidirectional wheels is slipping comprises:

According to the first torque of each of the plurality of omnidirectional wheels and the actual torque of each of the omnidirectional wheels, each of the plurality of omnidirectional wheels is determined Whether the wheel is slipping;

Wherein, the first torque is determined according to the first control amount.
The method according to claim 17, characterized in that said determining according to the first torque of each of the plurality of omnidirectional wheels and the actual torque of each of the omnidirectional wheels Whether each of the plurality of omnidirectional wheels is slipping, including:

Determining the difference between the first torque and the actual torque of each of the omnidirectional wheels;

If the difference is greater than the slip threshold, it is determined that the omnidirectional wheel corresponding to the difference is slipping.
The method according to claim 18, wherein the determining the degree of slip of at least one of the slipped omnidirectional wheels comprises:

By smoothing the difference between the first torque of the at least one slipping omnidirectional wheel and the actual torque of the at least one slipping omnidirectional wheel, the degree of slippage of the at least one slipping omnidirectional wheel is obtained .
The method according to claim 17, characterized in that said determining according to the first torque of each of the plurality of omnidirectional wheels and the actual torque of each of the omnidirectional wheels Before each of the plurality of omnidirectional wheels is slipping, the method further includes:

Acquiring a current of a motor corresponding to each of the plurality of omnidirectional wheels;

According to the current of the motor corresponding to each omnidirectional wheel, the actual torque of each omnidirectional wheel is determined.
17. The method according to claim 17, wherein said determining the amount of torque based on the target torque of each of the plurality of omnidirectional wheels and the actual torque of each of the omnidirectional wheels Before each of the omnidirectional wheels is skidding, the method further includes:

According to the first acceleration and the first angular acceleration, the first torque of each of the plurality of omnidirectional wheels is determined.
22. The method of claim 21, wherein the first torque of each of the plurality of omnidirectional wheels is determined according to the first acceleration and the first angular acceleration ,include:

Determine the sum of the combined torque of the first diagonal wheel and the combined torque of the second diagonal wheel among the plurality of omnidirectional wheels according to the first acceleration and the weight of the movable platform;

According to the first angular acceleration and the distance from the geometric center of the chassis of the movable platform to the omnidirectional wheel, the combined torque of the first diagonal wheel among the plurality of omnidirectional wheels and the The difference of the total torque of the second diagonal wheel;

According to the sum of the combined torque of the first diagonal wheel and the combined torque of the second diagonal wheel, and the combined torque of the first diagonal wheel and the second diagonal wheel The difference between the torques determines the combined torque of the first diagonal wheel and the combined torque of the second diagonal wheel;

According to the combined torque of the first diagonal wheel and the combined torque of the second diagonal wheel, determine the first omnidirectional wheel of each of the plurality of omnidirectional wheels of the movable platform One torque.
The method according to claim 22, wherein said determining the plurality of movable platforms according to the combined torque of the first diagonal wheel and the combined torque of the second diagonal wheel The first torque of each of the omnidirectional wheels includes:

Determining, according to the first speed and the first angular speed, the first rotational speed that each of the plurality of omnidirectional wheels needs to reach;

According to the combined torque of the first diagonal wheel and the first rotational speed of each of the omnidirectional wheels included in the first diagonal wheel, determine each of the omnidirectional wheels included in the first diagonal wheel. The first torque of the steering wheel;

According to the combined torque of the second diagonal wheel and the first rotational speed of each of the omnidirectional wheels included in the second diagonal wheel, determine each of the omnidirectional wheels included in the second diagonal wheel. The first torque of the wheel.
The method according to claim 7, 9 or 14, wherein when the motor controller corresponding to the motor operates in a speed loop mode, the movement of the movable platform is controlled according to the target control amount ,include:

Determining the target rotational speed of each of the plurality of omnidirectional wheels according to the target speed of the movable platform and the target angular velocity of the movable platform;

The movement of the movable platform is controlled according to the target rotation speed of each of the omnidirectional wheels.
The method according to claim 24, wherein the controlling the movement of the movable platform according to the target rotational speed of each of the omnidirectional wheels comprises:

The target rotational speed of each omnidirectional wheel is sent to a motor controller corresponding to the omnidirectional wheel, and the motor controller is configured to drive the motor corresponding to the omnidirectional wheel to rotate according to the target rotational speed.
The method according to claim 7, 9 or 14, wherein when the motor controller corresponding to the motor operates in a torque loop mode, the movable platform is controlled according to the target control amount Sports, including:

Determining the target torque of each of the plurality of omnidirectional wheels according to the target speed of the movable platform and the target angular velocity of the movable platform;

The movement of the movable platform is controlled according to the target torque of each of the omnidirectional wheels.
The method according to claim 26, characterized in that, according to the target velocity of the movable platform and the target angular velocity of the movable platform, each of the plurality of omnidirectional wheels is determined The target torque includes:

According to the target acceleration corresponding to the target speed and the weight of the movable platform, the sum of the target combined torque of the first diagonal wheel and the target combined torque of the second diagonal wheel among the plurality of omnidirectional wheels is determined value;

According to the target angular acceleration corresponding to the target angular velocity and the distance from the geometric center of the chassis of the movable platform to the omnidirectional wheel, the target co-rotation of the first diagonal wheel among the plurality of omnidirectional wheels is determined The difference between the moment and the target total torque of the second diagonal wheel;

According to the sum of the target combined torque of the first diagonal wheel and the target combined torque of the second diagonal wheel, and the target combined torque of the first diagonal wheel and the second diagonal The difference between the target total torque of the wheels, determining the target total torque of the first diagonal wheel and the target total torque of the second diagonal wheel;

According to the target combined torque of the first diagonal wheel and the target combined torque of the second diagonal wheel, the target torque of each of the plurality of omnidirectional wheels is determined.
The method according to claim 27, wherein said determining a plurality of said omnidirectional torques according to the target total torque of the first diagonal wheel and the target total torque of the second diagonal wheel The target torque of each of the omnidirectional wheels in the wheel includes:

Determining, according to the target speed and the target angular speed, a target rotational speed that each of the plurality of omnidirectional wheels needs to reach;

According to the target combined torque of the first diagonal wheel and the target rotational speed of each of the omnidirectional wheels included in the first diagonal wheel, each of the omnidirectional wheels included in the first diagonal wheel is determined The target torque of the wheel;

According to the target combined torque of the second diagonal wheel and the target rotational speed of each of the omnidirectional wheels included in the second diagonal wheel, determine each of the omnidirectional wheels included in the second diagonal wheel. The target torque of the steering wheel.
The method of claim 26, wherein the controlling the movement of the movable platform according to the target torque of each of the omnidirectional wheels comprises:

The target torque of each omnidirectional wheel is sent to a motor controller corresponding to the omnidirectional wheel, and the motor controller is configured to drive the motor corresponding to the omnidirectional wheel to rotate according to the target torque.
The method according to claim 1, wherein the obtaining a user instruction for controlling the movable platform comprises:

Receive a user instruction for controlling the movement of the movable platform sent by the user terminal.
A control device for a movable platform. The movable platform includes a power system for driving the movable platform to move. The power system includes at least one motor controller, multiple motors, and The motors correspond to multiple omnidirectional wheels one-to-one, the at least one motor controller is used to control the rotation of the multiple motors, and the multiple motors are respectively used to drive the corresponding omnidirectional wheels to rotate, wherein the control The equipment includes: memory and processor;

The memory is used to store program codes;

The processor calls the program code, and when the program code is executed, is used to perform the following operations:

Acquiring a user instruction for controlling the movement of the movable platform;

According to the user instruction, determine the first control quantity used to control the movement of the movable platform at the current moment;

If the amount of change of the first control quantity with respect to the second control quantity used to control the movement of the movable platform at a historical moment is greater than a preset value, then determine according to the first control quantity and the second control quantity The target control quantity used to control the movement of the movable platform at the current moment;

The movement of the movable platform is controlled according to the target control amount.
The control device according to claim 31, wherein the first control quantity of the movable platform includes at least one of the following:

The first velocity of the movable platform, the first angular velocity of the movable platform;

The second control quantity of the movable platform includes at least one of the following:

The second velocity of the movable platform, the second angular velocity of the movable platform;

The target control amount of the movable platform includes at least one of the following:

The target velocity of the movable platform and the target angular velocity of the movable platform.
The control device according to claim 32, wherein the processor determines the target control amount for controlling the movement of the movable platform at the current moment according to the first control amount and the second control amount. , Specifically used for:

Determine the first acceleration and/or the first angular acceleration that the movable platform needs to achieve at the current moment according to the first control quantity and the second control quantity;

Adjusting the first acceleration to obtain a second acceleration, and/or adjusting the first angular acceleration to obtain a second angular acceleration;

According to the second acceleration and/or the second angular acceleration, a target control amount for controlling the movable platform at the current moment is determined.
The control device according to claim 33, wherein when the processor adjusts the first acceleration to obtain the second acceleration, it is specifically configured to:

The first acceleration is adjusted according to the first preset manner to obtain the second acceleration.
The control device according to claim 34, wherein when the processor adjusts the first angular acceleration to obtain the second angular acceleration, it is specifically configured to:

The first angular acceleration is adjusted according to the second preset manner to obtain the second angular acceleration.
The control device according to claim 35, wherein the first preset mode or the second preset mode comprises at least one of the following:

Linear method, S-shaped method, semi-S-shaped method.
The control device according to any one of claims 33-36, wherein the processor determines that the current moment is used to control the movable platform according to the second acceleration and/or the second angular acceleration When the target control amount of exercise, it is specifically used for:

Determine the target speed of the movable platform at the current moment according to the second acceleration and the second speed; and/or

According to the second angular acceleration and the second angular velocity, the target angular velocity of the movable platform at the current moment is determined.
The control device according to claim 33, wherein the processor determines a target control variable for controlling the movement of the movable platform at the current moment according to the second acceleration and/or the second angular acceleration When, specifically used for:

Detecting whether each of the plurality of omnidirectional wheels is slipping;

If at least one of the plurality of omnidirectional wheels slips, determining the degree of slippage of at least one slipping omnidirectional wheel;

According to the second acceleration and the degree of slippage of at least one of the slipping omnidirectional wheels, the third acceleration of the movable platform is determined when at least one of the slipping omnidirectional wheels is not slipping, and/or according to the The second angular acceleration and the degree of slippage of at least one of the omnidirectional wheels to determine the third angular acceleration of the movable platform when at least one of the omnidirectional wheels is not slipping;

According to the third acceleration and/or the third angular acceleration, a target control quantity for controlling the movement of the movable platform at the current moment is determined.
The control device according to claim 38, wherein the processor determines the target control amount for controlling the movement of the movable platform at the current moment according to the third acceleration and/or the third angular acceleration, specifically Used for:

Determine the target speed of the movable platform at the current moment according to the third acceleration and the second speed; and/or

According to the third angular acceleration and the second angular velocity, the target angular velocity of the movable platform at the current moment is determined.
The control device according to claim 38 or 39, wherein the processor determines the at least one slipping omnidirectional wheel according to the second acceleration and the degree of slippage of the at least one slipping omnidirectional wheel When not slipping, the third acceleration of the movable platform is specifically used for:

The third acceleration of the movable platform is determined according to the second acceleration and the largest degree of slippage among the degree of slippage of at least one of the slipping omnidirectional wheels.
The control device according to claim 38 or 39, wherein the processor determines at least one omnidirectional slip of the at least one slip according to the second angular acceleration and the degree of slip of at least one omnidirectional slip of the slip When the wheels are not slipping, the third angular acceleration of the movable platform is specifically used for:

Determine the third angular acceleration of the movable platform when the at least one slipping omnidirectional wheel is not slipping according to the second angular acceleration and the maximum slipping degree of the at least one slipping omnidirectional wheel.
The control device according to claim 32, wherein the processor determines the target control amount for controlling the movement of the movable platform at the current moment according to the first control amount and the second control amount. , Specifically used for:

Detecting whether each of the plurality of omnidirectional wheels is slipping;

If at least one of the plurality of omnidirectional wheels slips, determining the degree of slippage of at least one of the slipping omnidirectional wheels;

Determine the first acceleration and/or the first angular acceleration that the movable platform needs to achieve at the current moment according to the first control quantity and the second control quantity;

According to the degree of slip of at least one of the slipping omnidirectional wheels, the first acceleration and/or the first angular acceleration, a target control amount for controlling the movement of the movable platform at the current moment is determined.
The control device according to claim 42, wherein the processor determines the current moment according to the degree of slip of at least one of the slipping omnidirectional wheels, the first acceleration and/or the first angular acceleration When used to control the target control amount of the movable platform movement, it is specifically used for:

According to the first acceleration and the degree of slip of at least one of the slipping omnidirectional wheels, determine the fourth acceleration of the movable platform when at least one of the slipping omnidirectional wheels is not slipping; and/or

Determine the fourth angular acceleration of the movable platform when at least one of the slipping omnidirectional wheels is not slipping according to the first angular acceleration and the degree of slippage of at least one of the slipping omnidirectional wheels;

According to the fourth acceleration and/or the fourth angular acceleration, a target control amount for controlling the movement of the movable platform at the current moment is determined.
The control device according to claim 43, wherein the processor determines a target control variable for controlling the movement of the movable platform at the current moment according to the fourth acceleration and/or the fourth angular acceleration When, specifically used for:

Determine the target speed of the movable platform at the current moment according to the fourth acceleration and the second speed; and/or

According to the fourth angular acceleration and the second angular velocity, the target angular velocity of the movable platform at the current moment is determined.
The control device according to claim 43 or 44, wherein the processor determines the at least one slipping omnidirectional wheel according to the first acceleration and the degree of slippage of the at least one slipping omnidirectional wheel When not slipping, the fourth acceleration of the movable platform is specifically used for:

The fourth acceleration of the movable platform is determined according to the first acceleration and the largest degree of slippage among the degree of slippage of at least one of the slipping omnidirectional wheels.
The control device according to claim 43 or 44, wherein the processor determines at least one omnidirectional slip according to the first angular acceleration and the degree of slip of at least one omnidirectional wheel that slips. When the wheels are not slipping, the fourth angular acceleration of the movable platform is specifically used for:

The fourth angular acceleration of the movable platform is determined according to the first angular acceleration and the largest degree of slip of the at least one of the slipping omnidirectional wheels.
The control device according to claim 38 or 42, wherein when the processor detects whether each of the plurality of omnidirectional wheels is slipping, it is specifically configured to:

According to the first torque of each of the plurality of omnidirectional wheels and the actual torque of each of the omnidirectional wheels, each of the plurality of omnidirectional wheels is determined Whether the wheel is slipping;

Wherein, the first torque is determined according to the first control amount.
The control device according to claim 47, wherein the processor is based on the first torque of each of the omnidirectional wheels and the actual rotation of each of the omnidirectional wheels. Moment, when determining whether each of the plurality of omnidirectional wheels is slipping, it is specifically used for:

Determining the difference between the first torque and the actual torque of each of the omnidirectional wheels;

If the difference is greater than the slip threshold, it is determined that the omnidirectional wheel corresponding to the difference is slipping.
The control device according to claim 48, wherein when the processor determines the degree of slip of at least one of the slipped omnidirectional wheels, it is specifically configured to:

By smoothing the difference between the first torque of the at least one slipping omnidirectional wheel and the actual torque of the at least one slipping omnidirectional wheel, the degree of slippage of the at least one slipping omnidirectional wheel is obtained .
The control device according to claim 47, wherein the processor is based on the first torque of each of the omnidirectional wheels and the actual rotation of each of the omnidirectional wheels. Moment, before determining whether each of the multiple omnidirectional wheels is slipping, is also used to:

Acquiring a current of a motor corresponding to each of the plurality of omnidirectional wheels;

According to the current of the motor corresponding to each omnidirectional wheel, the actual torque of each omnidirectional wheel is determined.
The control device according to claim 47, wherein the processor is based on the first torque of each of the omnidirectional wheels and the actual rotation of each of the omnidirectional wheels. Moment, before determining whether each of the multiple omnidirectional wheels is slipping, is also used to:

According to the first acceleration and the first angular acceleration, the first torque of each of the plurality of omnidirectional wheels is determined.
The control device according to claim 48, wherein the processor determines the first acceleration of each of the plurality of omnidirectional wheels according to the first acceleration and the first angular acceleration. At one torque, it is specifically used for:

Determine the sum of the combined torque of the first diagonal wheel and the combined torque of the second diagonal wheel among the plurality of omnidirectional wheels according to the first acceleration and the weight of the movable platform;

According to the first angular acceleration and the distance from the geometric center of the chassis of the movable platform to the omnidirectional wheel, the combined torque of the first diagonal wheel among the plurality of omnidirectional wheels and the The difference of the total torque of the second diagonal wheel;

According to the sum of the combined torque of the first diagonal wheel and the combined torque of the second diagonal wheel, and the combined torque of the first diagonal wheel and the second diagonal wheel The difference between the torques determines the combined torque of the first diagonal wheel and the combined torque of the second diagonal wheel;

According to the combined torque of the first diagonal wheel and the combined torque of the second diagonal wheel, determine the first omnidirectional wheel of each of the plurality of omnidirectional wheels of the movable platform One torque.
The control device according to claim 52, wherein the processor determines the movable platform according to the combined torque of the first diagonal wheel and the combined torque of the second diagonal wheel The first torque of each of the plurality of omnidirectional wheels is specifically used for:

Determining, according to the first speed and the first angular speed, the first rotational speed that each of the plurality of omnidirectional wheels needs to reach;

According to the combined torque of the first diagonal wheel and the first rotational speed of each of the omnidirectional wheels included in the first diagonal wheel, determine each of the omnidirectional wheels included in the first diagonal wheel. The first torque of the steering wheel;

According to the combined torque of the second diagonal wheel and the first rotational speed of each of the omnidirectional wheels included in the second diagonal wheel, determine each of the omnidirectional wheels included in the second diagonal wheel. The first torque of the wheel.
The control device according to claim 37, 39, or 44, wherein when the motor controller corresponding to the motor runs in a speed loop mode, the processor controls the controllable When the mobile platform is in motion, it is specifically used for:

Determining the target rotational speed of each of the plurality of omnidirectional wheels according to the target speed of the movable platform and the target angular velocity of the movable platform;

The movement of the movable platform is controlled according to the target rotation speed of each of the omnidirectional wheels.
The control device according to claim 54, wherein the processor is specifically configured to: when controlling the movement of the movable platform according to the target rotational speed of each of the omnidirectional wheels:

The target rotational speed of each omnidirectional wheel is sent to a motor controller corresponding to the omnidirectional wheel, and the motor controller is configured to drive the motor corresponding to the omnidirectional wheel to rotate according to the target rotational speed.
The control device according to claim 37, 39 or 44, wherein when the motor controller corresponding to the motor is operating in a torque loop mode, the processor controls the When the movable platform is in motion, it is specifically used for:

Determining the target torque of each of the plurality of omnidirectional wheels according to the target speed of the movable platform and the target angular velocity of the movable platform;

The movement of the movable platform is controlled according to the target torque of each of the omnidirectional wheels.
The control device according to claim 56, wherein the processor determines each of the plurality of omnidirectional wheels according to the target speed of the movable platform and the target angular speed of the movable platform. When the target torque of the omnidirectional wheel, it is specifically used for:

According to the target acceleration corresponding to the target speed and the weight of the movable platform, the sum of the target combined torque of the first diagonal wheel and the target combined torque of the second diagonal wheel among the plurality of omnidirectional wheels is determined value;

According to the target angular acceleration corresponding to the target angular velocity and the distance from the geometric center of the chassis of the movable platform to the omnidirectional wheel, the target co-rotation of the first diagonal wheel among the plurality of omnidirectional wheels is determined The difference between the moment and the target total torque of the second diagonal wheel;

According to the sum of the target combined torque of the first diagonal wheel and the target combined torque of the second diagonal wheel, and the target combined torque of the first diagonal wheel and the second diagonal The difference between the target total torque of the wheels, determining the target total torque of the first diagonal wheel and the target total torque of the second diagonal wheel;

According to the target combined torque of the first diagonal wheel and the target combined torque of the second diagonal wheel, the target torque of each of the plurality of omnidirectional wheels is determined.
The control device according to claim 57, wherein the processor determines a plurality of total torques based on the target total torque of the first diagonal wheel and the target total torque of the second diagonal wheel. When the target torque of each of the omnidirectional wheels is stated, it is specifically used for:

Determining, according to the target speed and the target angular speed, a target rotational speed that each of the plurality of omnidirectional wheels needs to reach;

According to the target combined torque of the first diagonal wheel and the target rotational speed of each of the omnidirectional wheels included in the first diagonal wheel, each of the omnidirectional wheels included in the first diagonal wheel is determined The target torque of the wheel;

According to the target combined torque of the second diagonal wheel and the target rotational speed of each of the omnidirectional wheels included in the second diagonal wheel, determine each of the omnidirectional wheels included in the second diagonal wheel. The target torque of the steering wheel.
The control device according to claim 56, wherein the processor is specifically configured to: when controlling the movement of the movable platform according to the target torque of each of the omnidirectional wheels:

The target torque of each omnidirectional wheel is sent to a motor controller corresponding to the omnidirectional wheel, and the motor controller is configured to drive the motor corresponding to the omnidirectional wheel to rotate according to the target torque.
The control device according to claim 31, wherein the control device further comprises: a communication interface;

When the processor obtains a user instruction for controlling the movable platform, it is specifically used for:

A user instruction sent by a user terminal for controlling the movement of the movable platform is received through the communication interface.
A movable platform, characterized in that it comprises:

body;

The power system is installed on the body and used to drive the movable platform to move. The power system includes at least one motor controller, a plurality of motors, and a plurality of omnidirectional wheels corresponding to the motors one to one. The at least one motor controller is used to control the rotation of multiple motors, and the multiple motors are respectively used to drive the corresponding omni wheel to rotate;

And the control device of any one of claims 31-60.
The movable platform according to claim 61, wherein the movable platform comprises at least one of the following:

Movable robots, movable cars, unmanned vehicles.
A computer-readable storage medium, characterized in that a computer program is stored thereon, and the computer program is executed by a processor to implement the method according to any one of claims 1-30.