WO2021022473A1

WO2021022473A1 - Control method, control device, mobile platform, and storage medium

Info

Publication number: WO2021022473A1
Application number: PCT/CN2019/099415
Authority: WO
Inventors: 周长兴; 陈超彬; 龚鼎
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-08-06
Filing date: 2019-08-06
Publication date: 2021-02-11
Also published as: CN112154388A

Abstract

A control method, a control device, a mobile platform, and a computer-readable storage medium. The method comprises: acquiring a standing instruction for controlling a mobile platform to stand on a ramp (S101); according to the deviation of the current position of the mobile platform from a target position indicated by the standing instruction, determining an initial acceleration for the mobile platform (S102); on the basis of the slope of the ramp, determining a compensation acceleration for the mobile platform (S103); according to the initial acceleration and the compensation acceleration, determining the moving speed of the mobile platform (S104); and on the basis of the moving speed, determining a target rotation speed of a plurality of omnidirectional wheels, such that an electric motor controller controls a plurality of electric motors to reach the target rotation speed (S105). Therefore, the mobile platform can remain in a standing state on the ramp.

Description

Control method, control equipment, movable platform and storage medium

Technical field

This application relates to the field of omnidirectional wheels, and in particular to a control method, control device, movable platform and computer-readable storage medium.

Background technique

The omnidirectional wheel can realize full freedom of movement on the plane. Multiple omnidirectional wheels (such as Mecanum wheel, Swedish wheel, etc.) can form the omnidirectional chassis of the movable platform. Through the control of the omnidirectional chassis, The movable platform can move forward, laterally, obliquely, rotate and their combinations. In the related art, the control method for the omnidirectional wheels in the movable platform is usually: according to the target speed that the movable platform needs to achieve, the target speed of each omnidirectional wheel is calculated, and then the motor controller controls the motor corresponding to the omnidirectional wheel. Reach the target speed, thereby driving the rotation of the omnidirectional wheel.

However, in the process of implementing the present invention, the inventor found that if the movable platform is traveling on a ramp, because the ramp has a certain slope relative to the horizontal plane, it is difficult for the above control method to keep the movable platform on the ramp at 0 or 0 The relative position is stationary.

Summary of the invention

In view of this, the present application provides a control method, control device, removable platform, and computer-readable storage medium.

First of all, the first aspect of the present application provides a method for controlling a movable platform. The movable platform includes a power system. The power system includes at least one motor controller, multiple motors, and one-to-one correspondence with the motors. The at least one motor controller is used to control the rotation of the multiple motors, and the multiple motors are respectively used to drive the corresponding omnidirectional wheels to rotate, including:

Acquiring a stationary instruction for controlling the movable platform on the ramp;

Determine the initial acceleration of the movable platform according to the deviation between the target position pointed to by the stationary instruction and the current position of the movable platform; and determine the compensated acceleration of the movable platform based on the slope of the ramp;

Determining the moving speed of the movable platform according to the initial acceleration and the compensated acceleration;

The target rotation speeds of a plurality of the omnidirectional wheels are determined based on the moving speed, so that the motor controller controls the plurality of motors to reach the target rotation speed.

According to a second aspect of the embodiments of the present application, there is provided a control device for a movable platform, the movable platform includes a power system, the power system includes at least one motor controller, a plurality of motors and one-to-one with the motor Corresponding to multiple omnidirectional wheels, the at least one motor controller is used to control the rotation of the multiple motors, and the multiple motors are respectively used to drive the corresponding omnidirectional wheels to rotate, and 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:

According to a third aspect of the embodiments of the present application, a movable platform is provided, including:

body;

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

And the control device according to any one of the second aspect.

According to the fourth aspect of the embodiments of the present application, there is also provided a computer-readable storage medium having computer instructions stored thereon, which implement the steps in any of the methods in the first aspect when the instructions are executed by a processor.

The technical solutions provided by the embodiments of the present application may include the following beneficial effects:

After obtaining the stationary instruction for controlling the movable platform on the ramp, determine the initial acceleration of the movable platform according to the deviation between the target position pointed to by the stationary instruction and the current position of the movable platform, and, based on The slope of the ramp determines the compensation acceleration of the movable platform, and then determines the moving speed of the movable platform according to the initial acceleration and the compensated acceleration, and finally determines a plurality of the omnidirectionals based on the moving speed The target rotation speed of the wheel is controlled by the motor controller to achieve the target rotation speed by the motors, so that the movable platform remains stationary on the slope; this embodiment obtains the compensation acceleration and sets the compensation Acceleration is used as one of the determinants of the final target rotation speed, so as to offset the influence of the slope of the ramp on the movable platform, so that the movable platform can remain stationary on the ramp.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application.

Description of the drawings

Fig. 1 is a schematic diagram of an omnidirectional chassis composed of 4 omnidirectional wheels according to an exemplary embodiment of the present application;

Fig. 2A is a side view of a Swedish wheel structure according to an exemplary embodiment of the application;

Fig. 2B is a top view of a Swedish wheel structure according to an exemplary embodiment of the application;

Fig. 2C is a side view of a mecanum wheel structure according to an exemplary embodiment of the application;

Fig. 2D is a top view of a mecanum wheel structure according to an exemplary embodiment of the application;

Fig. 2E is a physical diagram of a mecanum wheel structure according to an exemplary embodiment of the application;

Fig. 3 is a schematic diagram showing a movable platform on a ramp according to an exemplary embodiment of this application;

Fig. 4 is a flowchart of an embodiment of a method for controlling a movable platform according to an exemplary embodiment of this application;

Fig. 5 is an example diagram showing the position of one of the omnidirectional wheels of the movable platform according to an exemplary embodiment of the present application;

Fig. 6 is a structural diagram of a control device according to an exemplary embodiment of the application;

Fig. 7 is a structural diagram of a movable platform according to an exemplary embodiment of the application.

detailed description

Here, exemplary embodiments will be described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present application. On the contrary, they are only examples of devices and methods consistent with some aspects of the application as detailed in the appended claims.

The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit the application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and/or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

It should be understood that although the terms first, second, third, etc. may be used in this application to describe various information, the information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as second information, and similarly, the second information may also be referred to as first information. Depending on the context, the word "if" as used herein can be interpreted as "when" or "when" or "in response to determination".

The omnidirectional wheel can realize the movement of three degrees of freedom on the plane (x, y, theta). As shown in Figure 1, multiple omnidirectional wheels can form the omnidirectional chassis of the movable platform. Different omnidirectional wheels have different compositions. Types of omnidirectional wheel chassis, for example, the common omnidirectional wheels on the market are Mecanum wheels and Swedish wheels. Please refer to Figure 2A and Figure 2B, which shows the structure of a Swedish wheel, the roller and the hub of the Swedish wheel in Figure 2A form a 90° included angle; please refer to Figure 2C, Figure 2D and Figure 2E, Figure 2C and Figure 2D shows the structure of the mecanum wheel, Fig. 2E shows the physical diagram of the mecanum wheel, and in Fig. 2C, it can be seen that the rollers of the mecanum wheel and the hub form an angle of 45°.

Through the control of each omnidirectional wheel in the omnidirectional chassis, the movable platform can be moved forward, laterally, obliquely, rotating and their combinations. The movable platform includes a power system, 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, and the at least one motor controller is used to control a plurality of the motors Rotation, a plurality of the motors are respectively used to drive the corresponding omnidirectional wheels to rotate; wherein, the specific number of the motor controller, the motors, and the omnidirectional wheels can be specifically set according to the actual situation. There are no restrictions. In a specific example, the movable platform may be a wheeled robot, the wheeled robot includes 2 motor controllers, 2 motors and 2 omnidirectional wheels, the motor controller, the motor and the omnidirectional wheel The wheels correspond one to one, and the motor controller controls the rotation of the motor, and then the motor drives the omnidirectional wheel to rotate. Of course, in other embodiments, the number of motor controllers, motors and omnidirectional wheels are all 3, 4, 5 or more.

Among them, the working loop of the motor usually has three working modes, namely current loop, speed loop and position loop. Its main function is to make the error less and less, make the control precision higher, more accurate and faster, and realize automatic control. ; The current loop is a current feedback system. Because the current and torque of the motor are proportional to each other, the motor controller can control the torque of the motor in the working mode of the current loop; the speed loop is a speed feedback system. In the working mode, the motor controller can control the speed of the motor; the position loop is a position feedback system. In the working mode of the position loop, the motor controller can control the motor position.

In the related art, the control method for the omnidirectional chassis in the movable platform is usually: according to the target speed that the movable platform wants to achieve, calculate the target speed of each omnidirectional wheel that constitutes the omnidirectional chassis, and then let each omnidirectional chassis The motor corresponding to the wheel works in the speed loop mode, that is, the motor controller controls the motor corresponding to the omnidirectional wheel to reach the target speed, thereby driving the rotation of the omnidirectional wheel.

However, in the process of implementing the present invention, the inventor found that if the movable platform is traveling on a ramp, please refer to Figure 3. Because the ramp has a tilt relative to the horizontal plane, there is a component g* of the gravity acceleration g on the ramp. sin(tilt) If the movable platform is still on the ramp and still uses the target speed obtained by the above control method to control the movable platform, because the movable platform is also affected by the acceleration g*sin(tilt), it can be The mobile platform can only keep fluctuating up and down at 0 speed, but it is difficult to keep the mobile platform at 0 speed or relatively stationary on the ramp.

In response to the above problem, the embodiment of the present application provides a method for controlling a movable platform, so that the movable platform can maintain a speed of 0 or a relative position on a ramp. Please refer to FIG. 4, which is based on an example of this application. The embodiment shows a flowchart of an embodiment of a method for controlling a movable platform. The control method may be executed by a control device, and the control method includes:

Step S101: Obtain a stationary instruction for controlling the movable platform on the ramp.

Step S102: Determine the initial acceleration of the movable platform according to the deviation between the target position pointed to by the stationary instruction and the current position of the movable platform.

Step S103: Determine the compensation acceleration of the movable platform based on the slope of the ramp.

Step S104: Determine the moving speed of the movable platform according to the initial acceleration and the compensated acceleration.

Step S105: Determine the target rotation speed of the plurality of omnidirectional wheels based on the moving speed, so that the motor controller controls the plurality of motors to reach the target rotation speed.

Wherein, the manner of driving the movable platform to move includes but is not limited to the following manners:

In the first possible implementation manner, the movable platform can be driven under the operation of the user. As an example, the user can operate on a remote control device associated with the movable platform, and the remote control device is based on the user’s The operation generates a corresponding driving instruction and sends it to the movable platform to drive the movable platform to move.

In the second possible implementation manner, a control program may be preset on the movable platform, and the movable platform may run the preset control program, and execute movement modes such as moving, stationary, and rotating.

In a third possible implementation manner, the mobile platform can perform intelligent learning based on principles established by artificial intelligence technology, and automatically determine the current exercise mode it should perform based on the results of intelligent learning to perform corresponding exercises.

In an embodiment, if the movable platform is driving on a ramp and needs to stop on the ramp based on its actual situation, the control device on the movable platform may obtain the control device for controlling the The stationary command of the movable platform on the ramp is used to perform stationary control of the movable platform based on the stationary command; wherein the stationary command can also be obtained in other ways, and the embodiment of the present application does not impose any limitation on this.

After acquiring the stationary instruction, the control device may determine the initial acceleration of the movable platform according to the deviation between the target position pointed to by the stationary instruction and the current position of the movable platform.

Among them, the embodiment of the present application does not impose any restrictions on the source of the target position, which can be specifically set according to actual conditions. In one example, the corresponding relationship between the stationary instruction and the target position may be pre-stored on the movable platform , And then the control device obtains the target position based on the obtained stationary instruction and the corresponding relationship; in another example, the stationary instruction may also include the target position information, so that the control device is acquiring At the same time as the stationary instruction, the target position pointed to by the stationary instruction can be acquired.

In addition, the current position of the movable platform can be determined based on the acceleration and angular velocity of the movable platform measured by the IMU module. The IMU module (Inertial Measurement Unit, inertial measurement unit) measures the three-axis attitude angle (or angular velocity) of the object and Acceleration device, generally, an IMU contains three single-axis accelerometers and three single-axis gyroscopes, which can measure three acceleration directions and three angular velocity directions in space. In one example, the control device obtains The rotation angle of the omnidirectional wheel measured by the motor sensor, and then the displacement of the omnidirectional wheel is obtained based on the rotation angle of the omnidirectional wheel and the radius of the omnidirectional wheel, and the displacement of each omnidirectional wheel is compared with the movable measurement measured by the IMU module The acceleration and angular velocity of the platform are fused and calculated to obtain the current position of the movable platform.

In an implementation manner, the control device may determine the initial acceleration of the movable platform through a position controller and a speed controller, and the control device determines one of the two based on the acquired target position and the current position of the movable platform. And send it to the position controller. The position controller uses the deviation between the target position and the current position to determine the initial speed of the movable platform, and then the control device is based on the initial The speed and the acquired current speed of the movable platform determine the deviation between the two, and send the deviation data to the speed controller. The speed controller determines the deviation between the initial speed and the current speed. The initial acceleration; wherein, the current speed can be determined based on the acceleration and angular velocity of the movable platform measured by the IMU module.

And, after acquiring the stationary instruction, the control device also determines the compensation acceleration of the movable platform based on the slope of the ramp, wherein the slope of the ramp may be based on the current The posture data is determined, and the current posture data of the movable platform can be determined according to the acceleration and angular velocity of the movable platform measured by the IMU module.

In one implementation, the compensation acceleration is the product of the gravitational acceleration and the sine function value of the slope. Please refer to FIG. 3, that is, the value of the compensation acceleration is g*sin(tilt). In addition, the compensation The direction of acceleration is determined according to the specific movement mode (uphill, downhill) of the movable platform, and the direction of the compensation acceleration is opposite to the direction of the gravitational acceleration on the slope; it can be seen that the embodiment of the application obtains The compensation acceleration, and using the compensation acceleration as one of the determining factors of the target rotation speed of the omnidirectional wheel, can offset the influence of the gravitational acceleration on the slope, so that the movable platform remains stationary on the slope.

It should be noted that the embodiment of the present application does not impose any restrictions on the order of execution of step S102 and step S103. Specific settings can be made according to actual conditions. If the control device has sufficient operating resources, steps S102 and S103 can be executed simultaneously. In step S103, if the operating resources of the control device are limited, step S102 may be executed first and then step S103, or step S103 may be executed first and then step S102 may be executed.

Then, after determining the initial acceleration and the compensation acceleration of the movable platform, the control device determines the movement speed of the movable platform according to the initial acceleration and the compensation acceleration, and the movement speed is The result of integration of the sum of acceleration and the compensation acceleration.

Finally, the control device determines the target rotational speeds of the multiple omnidirectional wheels based on the moving speed, so that the motor controller controls the multiple motors to reach the target rotational speed. In this embodiment, gravity is taken into consideration. The effect of acceleration on the slope, the size of the target speed is adjusted based on the component of the gravitational acceleration on the slope, so that the movable platform can remain relatively stationary on the slope based on the target speed, and avoid gravitational acceleration on the slope The influence of the component causes the movable platform to fluctuate up and down at zero speed.

In an embodiment, the target rotation speed is determined based on the moving speed and a designated mixing control matrix, and the mixing control matrix represents the conversion relationship between the target rotation speed and the moving speed. In an example, the target The rotation speed is the result of the negative ratio of the product of the moving speed and the designated mixing control matrix to the radius of the omnidirectional wheel.

As an example, take the movable platform including 4 omnidirectional wheels as an example: please refer to Figure 5, which shows the position of one of the omnidirectional wheels of the movable platform (the rectangle in the figure), where xoy represents The Cartesian coordinate system with the center of motion as the origin, x'o'y' represents the Cartesian coordinate system with the hub center as the origin, α _i represents the offset angle between the hub and the roller, β _i represents the angle between the straight line OO' and the X axis , Assuming that the acquired moving speed of the movable platform is (v _x , v _y , w), the target rotation speeds of the four omnidirectional wheels are respectively w ₁ , w ₂ , w ₃ , and w ₄ , then the control The target rotational speeds of the 4 omnidirectional wheels that the device can determine based on the moving speed and the designated mixing control matrix are:

Among them, r represents the radius of the omnidirectional wheel, and l ₁ , l ₂ , l ₃ and l ₄ represent the distance from the center of each omnidirectional wheel to the center of rotation of the movable platform.

As an example, suppose that the movable platform is on a slope with a tilt, and the control device of the movable platform currently obtains a stationary command, and performs the following control based on the stationary command: Set the acquired current position of the movable platform with coordinates Expressed as (x0, y0, theta0), the target position is (x1, y1, theta1), at the current time T1, the control device obtains the deviation between the current position and the target position (x1-x0, y1 -y0,theta1-theta0), and send the deviation to a position controller, which determines the initial speed (Vx0, Vy0, W0) of the movable platform based on the deviation, where W0 represents movable The rotation speed of the platform, and then the controller obtains the current speed (Vx, Vy, W) of the movable platform, determines the deviation between the initial speed of the movable platform and the current speed, and sends the deviation to the speed controller, The speed controller determines the initial acceleration according to the deviation between the initial speed and the current speed. In addition, the control device obtains the acceleration g*sin(tilt) based on the slope tilt of the ramp and the acceleration of gravity, and the movable platform is set with The angle of the ramp is beta, and the compensation acceleration of the movable platform in each degree of freedom is obtained as (g*sin(tilt)*cos(beta),g*sin(tilt)*sin(beta),0) , Wherein the direction of rotation does not need compensation, the controller integrates the initial acceleration and the sum of the compensated acceleration to obtain the moving speed of the movable platform, and determine based on the moving speed and a designated mixing control matrix The target rotation speed of each omnidirectional wheel is controlled by the motor controller to achieve the target rotation speed by the multiple motors. The above process is the control process for the movable platform to remain stationary on the ramp at time T1. Before the mobile platform receives the movement instruction, the movable platform remains stationary on the ramp based on the similar manner described above.

Corresponding to the embodiments of the method of the present application, the present application also provides embodiments of a control device, a movable platform, and a computer-readable storage medium.

Please refer to FIG. 6, which is a structural block diagram of a control device of a movable platform according to an exemplary embodiment of this application. Wherein, the movable platform includes a power system, 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, and the at least one motor controller is used to control the One of the motors rotates, and a plurality of the motors are respectively used to drive the corresponding omni wheel to rotate.

In the embodiment shown in FIG. 6, the control device 20 includes: a memory 21 and a processor 22;

The memory 21 is used to store program code 23;

The processor 22 calls the program code 23, and when the program code 23 is executed, is used to perform the following operations:

The processor 22 executes the program code 23 included in the memory 21, and the processor 22 may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processors). Processor, DSP), Application Specific Integrated Circuit (ASIC), ready-made programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.

The memory 21 stores the program code of the control method. The memory 21 may include at least one type of storage medium. The storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.) ), random access memory (RAM), static random access memory (SRAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), programmable read only memory (PROM), magnetic memory, magnetic disk , CD, etc. Also, the control device 20 may cooperate with a network storage device that performs the storage function of the memory through a network connection. The memory 21 may be an internal storage unit of the control device 20, such as a hard disk or a memory of the control device 20. The memory 21 may also be an external storage device of the control device 20, for example, a plug-in hard disk equipped on the control device 20, a smart memory card (Smart Media Card, SMC), a Secure Digital (SD) card, and a flash memory card (Flash). Card) and so on. Further, the memory 21 may also include both an internal storage unit of the control device 20 and an external storage device. The memory 21 is used to store computer program codes 23 and other programs and data required to control the device 20. The memory 21 can also be used to temporarily store data that has been output or will be output.

The various embodiments described herein can be implemented using a computer-readable medium such as computer software, hardware, or any combination thereof. For hardware implementation, the implementation described here can be achieved by using application-specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays ( FPGA), a processor, a controller, a microcontroller, a microprocessor, and an electronic unit designed to perform the functions described herein are implemented. For software implementation, implementations such as procedures or functions may be implemented with a separate software module that allows execution of at least one function or operation. The software codes can be implemented by software applications (or programs) written in any suitable programming language, and the software codes can be stored in a memory and executed by the controller.

The control device 20 may include, but is not limited to, a memory 21 and a processor 22. Those skilled in the art can understand that FIG. 6 is only an example of the control device 20, and does not constitute a limitation on the control device 20. It may include more or less components than shown, or a combination of certain components, or different components. For example, the device may also include input and output devices, network access devices, and so on.

As an example, the determination of the initial acceleration includes:

Using the deviation between the target position and the current position to determine the initial speed of the movable platform;

Determine the initial acceleration according to the deviation between the initial speed and the current speed.

As an example, the compensation acceleration is the product of the gravitational acceleration and the value of the sine function of the slope.

As an example, the moving speed is a result of integrating the sum of the initial acceleration and the compensation acceleration.

As an example, the slope of the ramp is determined based on the current attitude data of the movable platform; the current attitude data of the movable platform is determined based on the acceleration and angular velocity of the movable platform measured by the IMU module.

As an example, the current position and the current speed are determined based on the acceleration and angular velocity of the movable platform measured by the IMU module.

As an example, the target rotation speed is determined based on the moving speed and a designated mixing control matrix; the mixing control matrix represents a conversion relationship between the target rotation speed and the moving speed.

As an example, the target rotation speed is a result of a negative ratio of the product of the moving speed and the designated mixing control matrix to the radius of the omnidirectional wheel.

For the implementation process of the functions and roles of each unit in the above-mentioned device, refer to the implementation process of the corresponding steps in the above-mentioned method for details, which will not be repeated here.

Correspondingly, as shown in FIG. 7, an embodiment of the present application further provides a movable platform 30, and the movable platform includes a body 31.

The power system 32 is installed on the body 31 and used to drive the movable platform 30 to move. The power system 32 includes at least one motor controller 321, a plurality of motors 322, and one-to-one correspondence with the motors 322. A plurality of omnidirectional wheels 323, the at least one motor controller 321 is used to control the rotation of the plurality of motors 322, and the plurality of motors 322 are respectively used to drive the corresponding omnidirectional wheels 323 to rotate.

And the aforementioned control device 20 installed in the body 31.

As an example, the movable platform 30 may be a wheeled robot.

It should be noted that, in FIG. 7, the power system includes three motor controllers 321, three motors 322, and three omnidirectional wheels 323, and the motor controllers, motors, and omnidirectional wheels correspond to each other as an example. In practical applications, the number of motor controllers, motors, and omnidirectional wheels can be specifically set according to actual needs. For example, in other embodiments, it can also be 4 motor controllers, 4 motors, and 4 omnidirectional wheels. Round, the embodiment of this application does not impose any restriction on this.

In an exemplary embodiment, there is also provided a non-transitory computer-readable storage medium including instructions, such as a memory including instructions, which may be executed by a processor of a device to complete the foregoing method. For example, the non-transitory computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

A non-transitory computer-readable storage medium. When the instructions in the storage medium are executed by the processor of the terminal, the terminal can execute the above method.

After considering the specification and practicing the invention disclosed herein, those skilled in the art will easily think of other embodiments of the present application. This application is intended to cover any variations, uses, or adaptive changes of this application. These variations, uses, or adaptive changes follow the general principles of this application and include common knowledge or customary technical means in the technical field not disclosed in this application. . The description and embodiments are only regarded as exemplary, and the true scope and spirit of the application are pointed out by the following claims.

It should be understood that the present application is not limited to the precise structure that has been described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the application is only limited by the appended claims.

The above are only the preferred embodiments of this application and are not intended to limit this application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included in the protection of this application. Within range.

Claims

A method for controlling a movable platform. The movable platform includes a power system. 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. One motor controller is used to control the rotation of a plurality of said motors, and the plurality of said motors are respectively used to drive the corresponding omnidirectional wheel to rotate, and is characterized in that it includes:

Acquiring a stationary instruction for controlling the movable platform on the ramp;

Determine the initial acceleration of the movable platform according to the deviation between the target position pointed to by the stationary instruction and the current position of the movable platform; and determine the compensated acceleration of the movable platform based on the slope of the ramp;

Determining the moving speed of the movable platform according to the initial acceleration and the compensated acceleration;

The target rotation speeds of a plurality of the omnidirectional wheels are determined based on the moving speed, so that the motor controller controls the plurality of motors to reach the target rotation speed.
The method according to claim 1, wherein the determining the initial acceleration of the movable platform according to the deviation between the target position pointed to by the stationary instruction and the current position of the movable platform comprises:

Using the deviation between the target position and the current position to determine the initial speed of the movable platform;

Determine the initial acceleration according to the deviation between the initial speed and the current speed.
The method according to claim 1, wherein the compensation acceleration is a product of a gravitational acceleration and a sine function value of the slope.
The method according to claim 1, wherein the moving speed is a result of integrating the sum of the initial acceleration and the compensation acceleration.
The method according to any one of claims 1 to 4, wherein the slope of the ramp is determined based on the current attitude data of the movable platform; the current attitude data of the movable platform is measured according to the IMU module The acceleration and angular velocity of the movable platform are determined.
The method according to claim 2, wherein the current position and the current speed are determined based on the acceleration and angular velocity of the movable platform measured by the IMU module.
The method according to claim 1, wherein the target rotation speed is determined based on the moving speed and a designated mixing control matrix; the mixing control matrix represents a conversion relationship between the target rotation speed and the moving speed.
8. The method according to claim 7, wherein the target rotation speed is a result of a negative ratio of the product of the moving speed and the designated mixing control matrix to the radius of the omnidirectional wheel.
A control device for a movable platform. The movable platform includes a power system. 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. 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, wherein 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:

Acquiring a stationary instruction for controlling the movable platform on the ramp;

Determine the initial acceleration of the movable platform according to the deviation between the target position pointed by the stationary instruction and the current position of the movable platform; and determine the compensated acceleration of the movable platform based on the slope of the ramp;

Determining the moving speed of the movable platform according to the initial acceleration and the compensated acceleration;

The target rotation speeds of the plurality of omnidirectional wheels are determined based on the moving speed, so that the motor controller controls the plurality of motors to reach the target rotation speed.
The control device according to claim 9, wherein the determination of the initial acceleration comprises:

Using the deviation between the target position and the current position to determine the initial speed of the movable platform;

The initial acceleration is determined according to the deviation between the initial speed and the current speed.
The control device according to claim 9, wherein the compensation acceleration is the product of the gravitational acceleration and the value of the sine function of the slope.
The control device according to claim 9, wherein the moving speed is a result of integrating the sum of the initial acceleration and the compensation acceleration.
The control device according to any one of claims 9 to 12, wherein the slope of the ramp is determined based on the current attitude data of the movable platform; the current attitude data of the movable platform is determined according to the IMU module Determined by the measured acceleration and angular velocity of the movable platform.
The control device according to claim 9, wherein the current position and the current speed are determined based on the acceleration and angular velocity of the movable platform measured by the IMU module.
8. The control device according to claim 9, wherein the target rotation speed is determined based on the moving speed and a designated mixing control matrix; the mixing control matrix represents a conversion relationship between the target rotation speed and the moving speed.
The control device according to claim 15, wherein the target rotation speed is the result of a negative ratio of the product of the moving speed and the designated mixing matrix to the radius of the omnidirectional wheel.
A movable platform, characterized in that it comprises:

body;

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

And the control device according to any one of claims 9 to 16.
The movable device according to claim 17, wherein the movable platform is a wheeled robot.
A computer-readable storage medium, characterized in that computer instructions are stored thereon, and when the instructions are executed by a processor, the method according to any one of claims 1 to 8 is realized.