WO2020248132A1 - Procédé et appareil de commande pour plateforme mobile, dispositif et support d'informations - Google Patents

Procédé et appareil de commande pour plateforme mobile, dispositif et support d'informations Download PDF

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Publication number
WO2020248132A1
WO2020248132A1 PCT/CN2019/090754 CN2019090754W WO2020248132A1 WO 2020248132 A1 WO2020248132 A1 WO 2020248132A1 CN 2019090754 W CN2019090754 W CN 2019090754W WO 2020248132 A1 WO2020248132 A1 WO 2020248132A1
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WO
WIPO (PCT)
Prior art keywords
movable platform
target
omnidirectional
acceleration
wheel
Prior art date
Application number
PCT/CN2019/090754
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English (en)
Chinese (zh)
Inventor
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201980012189.7A priority Critical patent/CN111712399A/zh
Priority to PCT/CN2019/090754 priority patent/WO2020248132A1/fr
Publication of WO2020248132A1 publication Critical patent/WO2020248132A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/42—Electrical machine applications with use of more than one motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • 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.
  • mobile platforms for example, mobile robots, drones, mobile vehicles, unmanned vehicles, etc.
  • 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.
  • 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.
  • 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.
  • 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:
  • 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 movement of the movable platform is controlled according to the target control amount.
  • the third aspect of the embodiments of the present invention is to provide a movable platform, including:
  • 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;
  • 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 obtained 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.
  • 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.
  • 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.
  • FIG. 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.
  • FIG. 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.
  • 141 memory; 142: processor; 143: communication interface.
  • a component 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.
  • 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.
  • the mobile robot 11 can be controlled by a user terminal 12.
  • 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.
  • the power system includes at least one motor controller, multiple motors, and multiple omni wheels corresponding to the motors one-to-one.
  • the power system includes one motor controller, 4 motors. And 4 omnidirectional wheels.
  • 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.
  • the power system may further include multiple motor controllers, for example, one motor is connected to one motor controller.
  • the number of motors and omnidirectional wheels is not limited to four, for example, it can be three, six, eight, etc.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the control quantity converted by the user instruction at the current time is recorded as It is the first control quantity.
  • 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.
  • 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.
  • the first control amount may only include the first speed. At this time, the chassis may only move in translation.
  • the first control amount may only include the first angular velocity, and at this time, the chassis may only rotate.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first velocity of the movable robot 11 is denoted as V t1
  • the first angular velocity of the movable robot 11 is denoted as ⁇ t1
  • the second velocity of the movable robot 11 is denoted as V t0
  • the second angular velocity of the movable robot 11 is denoted as ⁇ t0
  • the first acceleration that the mobile robot 11 needs to achieve at the current moment can be determined.
  • the first acceleration is denoted as Acc_ref, where, Among them, ⁇ t represents the time difference between the current time t1 and the historical time t0.
  • 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
  • the first acceleration Acc_ref is adjusted to obtain the second acceleration.
  • the second acceleration is recorded as Acc_ref_lim
  • the first angular acceleration Beta_ref is adjusted to obtain the second angular acceleration.
  • the second acceleration is obtained.
  • the angular acceleration is recorded as Beta_ref_lim.
  • the target control amount for controlling the movement of the movable robot 11 at the current moment is determined.
  • 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.
  • Beta_ref_lim slope2(Beta_ref), where slope2 represents the second preset mode.
  • 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.
  • the abscissa represents time and the ordinate represents acceleration.
  • 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.
  • 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.
  • 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.
  • 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 acceleration Acc_ref to obtain Acc_ref_lim in a semi-S-shaped manner is similar, and will not be repeated here.
  • 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.
  • 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,
  • 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 .
  • Step S504 Control the movement of the movable platform according to the target control amount.
  • the chassis master control determines the target velocity V of the movable robot 11 and the target angular velocity ⁇ 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 ⁇ controls the movement of the movable robot 11.
  • 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.
  • 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.
  • 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.
  • 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.
  • the component of the target velocity V on the X axis of the airframe coordinate system is denoted as V x
  • V y the component of the target velocity V on the Y axis of the airframe coordinate system
  • the target rotation speed of the motor 1 can be denoted as ⁇ 1
  • the target rotation speed of the motor 2 is denoted as ⁇ 2
  • the target rotation speed of the motor 3 is denoted as ⁇ 3
  • the target rotation speed of the motor 4 can be denoted as ⁇ 4 .
  • r represents the radius of the omnidirectional wheel.
  • ⁇ 1 represents the angle between the roller and the hub of the omnidirectional wheel 1
  • ⁇ 2 represents the angle between the roller and the hub of the omnidirectional wheel 2
  • ⁇ 3 represents the angle between the roller and the hub of the omnidirectional wheel 3
  • ⁇ 4 represents the omnidirectional wheel.
  • 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
  • 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.
  • l 1 , l 2 , l 3 , and l 4 are the same. In some scenarios, it may be different.
  • 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.
  • 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.
  • the distance between o'and O is l 1
  • the distance between o'and O is l 2 , l 3 and l 4 and so on.
  • ⁇ 1 , ⁇ 2 , ⁇ 3 , and ⁇ 4 are the same, and in some scenarios, they may be different.
  • 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 ⁇ i relative to the X axis of the body coordinate system.
  • ⁇ i ⁇ 1
  • ⁇ i ⁇ 2
  • ⁇ 3 and ⁇ 4 can be deduced by analogy.
  • ⁇ 1 , ⁇ 2 , ⁇ 3 , and ⁇ 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 10 is a flowchart of a method for controlling a movable platform according to another embodiment of the present invention.
  • 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.
  • the first speed of the mobile robot 11 can be understood as the user's desired speed of the chassis at the current moment
  • 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.
  • 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.
  • 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.
  • 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 .
  • the chassis master when it 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.
  • the first torque of each omnidirectional wheel is determined according to the first control variable as described above.
  • 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
  • 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.
  • 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.
  • the first torque and actual rotation 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.
  • the difference between the first torque of the omnidirectional wheel 1 and the actual torque of the omnidirectional wheel 1 can be expressed as
  • the difference between the first torque of the omnidirectional wheel 3 and the actual torque of the omnidirectional wheel 3 can be expressed as
  • the slip threshold is recorded as threshold, among the 4 differences
  • 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.
  • 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.
  • 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.
  • the slip degree of the omnidirectional wheel 3 is denoted as Slip3
  • the slip degree of the omnidirectional wheel 4 is denoted as Slip4.
  • Slip3 filter(
  • Slip4 filter(
  • filter represents a smoothing function.
  • 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.
  • the omnidirectional wheel 3 and the omnidirectional wheel 4 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.
  • the third acceleration of the movable robot 11 is recorded as Acc_ref_slip.
  • 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.
  • 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.
  • 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.
  • 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.
  • the third angular acceleration of the movable robot 11 is recorded as Beta_ref_slip.
  • 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.
  • 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)
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • the target speed of the mobile robot 11 is denoted as V.
  • V Acc_ref_slip ⁇ t+V t0 .
  • the chassis master control determines the target velocity V of the movable robot 11 and the target angular velocity ⁇ 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 ⁇ controls the movement of the movable robot 11.
  • the second acceleration is obtained by constraining the user's expected acceleration of the chassis at the current moment
  • 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
  • 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.
  • 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.
  • the chassis master control can collect the current of the motor corresponding to each of the four omnidirectional wheels through the motor controller.
  • 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.
  • 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
  • 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.
  • the actual torque of each omnidirectional wheel is determined.
  • the actual torque Treal2 of the omnidirectional wheel 2 Kt*Iq2
  • the actual torque Treal3 of the omnidirectional wheel 3 Kt*Iq3
  • the actual torque Treal4 of the omnidirectional wheel 4 Kt*Iq4.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the omnidirectional wheel 1 and omnidirectional wheel 4 are recorded as the first diagonal wheel
  • omnidirectional wheel 2 and omnidirectional wheel 3 are recorded as the second diagonal wheel.
  • F*r m*a*r
  • F*r represents the mobile robot 11
  • Tref1+Tref4 can be recorded as the total torque Ta of the first diagonal wheel
  • 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)
  • 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.
  • 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.
  • 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.
  • 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)
  • J represents the moment of inertia, and J can be measured in advance.
  • 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.
  • 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.
  • the first torque of each of the four omnidirectional wheels can be determined.
  • 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.
  • the first speed of the mobile robot 11 is V t1
  • the first angular speed of the mobile robot 11 is ⁇ t1
  • the first speed may have a component on the X axis of the body coordinate system as described above
  • the first angular velocity ⁇ 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 ⁇ t1 ,
  • the first rotation speed of the motor 1 may be denoted as ⁇ 1 ′
  • the first rotation speed of the motor 2 may be denoted as ⁇ 2 ′
  • the first rotation speed of the motor 3 may be denoted as ⁇ 3 ′
  • the first rotation of the motor 4 The shorthand is ⁇ 4 ′.
  • the speed of the motor is positively related to the torque of the motor.
  • each of the plurality of omnidirectional wheels 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.
  • FIG. 13 is a flowchart of a method for controlling a movable platform according to another embodiment of the present invention.
  • 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.
  • step S1201 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.
  • step S1202 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.
  • the first control amount includes at least one of the first velocity V t1 of the movable robot 11 and the first angular velocity ⁇ 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 ⁇ t0 of the movable 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 ⁇ t1 of the mobile robot 11 and the second angular velocity ⁇ 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first acceleration Acc_ref, the omnidirectional wheel 3 and the omnidirectional wheel 4 and the omnidirectional wheel 4 determines the fourth acceleration of the mobile robot 11 when the omnidirectional wheel 3 and the omnidirectional wheel 4 do not slip.
  • the fourth acceleration of the mobile robot 11 is recorded as Acc_ref_slip'.
  • Beta_ref the degree of slippage of the omnidirectional wheel 3 and the omnidirectional wheel 4
  • 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'.
  • 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'.
  • 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.
  • 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)
  • 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.
  • 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.
  • 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)
  • 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.
  • the chassis master control determines the target velocity V of the movable robot 11 and the target angular velocity ⁇ 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 ⁇ controls the movement of the movable robot 11.
  • 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.
  • FIG. 14 is a flowchart of a method for controlling a movable platform according to another embodiment of the present invention.
  • 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.
  • the target torque of each of the four omnidirectional wheels is determined.
  • Ttarget1 the target torque of the omnidirectional wheel 1
  • Ttarget2 the target torque of the omnidirectional wheel 2
  • Ttarget3 the target torque of the omnidirectional wheel 3
  • Ttarget4 the target torque of the omnidirectional wheel 4
  • 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
  • the omnidirectional wheel 1 and the omnidirectional wheel 4 are the first diagonal wheels
  • the omnidirectional wheel 2 and the omnidirectional wheel 3 are the second diagonal wheels.
  • F*r represents the sum of the target torque of each of the four omnidirectional wheels
  • the target acceleration corresponding to the target speed V is recorded as Acc_ref_target
  • Ttarget1+Ttarget4 can be recorded as the target total torque Ta' of the first diagonal wheel
  • 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)
  • the target angular acceleration corresponding to the target angular velocity ⁇ 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)
  • 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.
  • 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 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.
  • the target speed V of the mobile robot 11 and the target angular speed ⁇ 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.
  • Ttarget1+Ttarget4 the target total torque Ta′ of the first diagonal wheel
  • Ttarget1 and Ttarget4 can be determined.
  • the ratio of the target rotation speed ⁇ 2 of the motor 2 and the target rotation speed ⁇ 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.
  • the chassis 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the processor 142 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.
  • the processor 142 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • control device provided in the embodiment of the present invention are similar to those in the foregoing embodiment, and are not repeated here.
  • 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.
  • 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.
  • 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.
  • the movable platform includes at least one of the following: a movable robot, a movable car, and an unmanned vehicle.
  • 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.
  • the disclosed device and method may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • 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.
  • 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.
  • 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 .

Abstract

Procédé et appareil de commande pour une plateforme mobile, dispositif et support d'informations. Une instruction d'utilisateur pour commander le déplacement d'une plateforme mobile est obtenue (S501) ; une première quantité de commande pour commander le déplacement de la plateforme mobile au moment actuel est déterminée en fonction de l'instruction d'utilisateur (S502) ; si la quantité de changement de la première quantité de commande par rapport à une seconde quantité de commande pour commander le déplacement de la plateforme mobile à un moment historique est supérieure à une valeur prédéfinie, une quantité de commande cible pour commander le déplacement de la plateforme mobile au moment actuel est déterminée en fonction de la première quantité de commande et de la seconde quantité de commande (S503) ; et le déplacement de la plateforme mobile est commandé en fonction de la quantité de commande cible (S504). Par conséquent, le problème selon lequel des roues omnidirectionnelles de la plateforme mobile glissent par rapport au sol à la suite d'un moteur devant atteindre une grande vitesse de rotation dans une courte période de temps lorsqu'un utilisateur demande à la plateforme mobile d'atteindre une grande vitesse dans la courte période de temps est évité, et la stabilité du déplacement de la plateforme mobile est améliorée.
PCT/CN2019/090754 2019-06-11 2019-06-11 Procédé et appareil de commande pour plateforme mobile, dispositif et support d'informations WO2020248132A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201980012189.7A CN111712399A (zh) 2019-06-11 2019-06-11 可移动平台的控制方法、装置、设备及存储介质
PCT/CN2019/090754 WO2020248132A1 (fr) 2019-06-11 2019-06-11 Procédé et appareil de commande pour plateforme mobile, dispositif et support d'informations

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PCT/CN2019/090754 WO2020248132A1 (fr) 2019-06-11 2019-06-11 Procédé et appareil de commande pour plateforme mobile, dispositif et support d'informations

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CN113075929A (zh) * 2021-03-25 2021-07-06 深圳市伽利略机器人有限公司 滚刷式全向行走的机器人及其行走控制方法

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US5373439A (en) * 1992-09-18 1994-12-13 Samsung Electronics Co., Ltd. Method for controlling the traveling path of a robot during acceleration and deceleration
EP1875888A2 (fr) * 2006-07-05 2008-01-09 Kanto Auto Works, Ltd. Véhicule motorisé à direction différentielle
CN104483968A (zh) * 2014-12-02 2015-04-01 冯炳和 一种基于pid的四轮全向足球机器人运动控制方法
CN106568440A (zh) * 2016-11-03 2017-04-19 珠海市微半导体有限公司 基于加速度传感器的机器人行为检测系统及方法
CN107416443A (zh) * 2017-05-25 2017-12-01 四川理工学院 一种智能移动平台
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US5373439A (en) * 1992-09-18 1994-12-13 Samsung Electronics Co., Ltd. Method for controlling the traveling path of a robot during acceleration and deceleration
EP1875888A2 (fr) * 2006-07-05 2008-01-09 Kanto Auto Works, Ltd. Véhicule motorisé à direction différentielle
CN104483968A (zh) * 2014-12-02 2015-04-01 冯炳和 一种基于pid的四轮全向足球机器人运动控制方法
CN106568440A (zh) * 2016-11-03 2017-04-19 珠海市微半导体有限公司 基于加速度传感器的机器人行为检测系统及方法
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