WO2021022473A1 - Procédé de commande, dispositif de commande, plateforme mobile et support de stockage - Google Patents

Procédé de commande, dispositif de commande, plateforme mobile et support de stockage Download PDF

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Publication number
WO2021022473A1
WO2021022473A1 PCT/CN2019/099415 CN2019099415W WO2021022473A1 WO 2021022473 A1 WO2021022473 A1 WO 2021022473A1 CN 2019099415 W CN2019099415 W CN 2019099415W WO 2021022473 A1 WO2021022473 A1 WO 2021022473A1
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WO
WIPO (PCT)
Prior art keywords
movable platform
acceleration
speed
motors
control device
Prior art date
Application number
PCT/CN2019/099415
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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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Publication date
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 PCT/CN2019/099415 priority Critical patent/WO2021022473A1/fr
Priority to CN201980032927.4A priority patent/CN112154388A/zh
Publication of WO2021022473A1 publication Critical patent/WO2021022473A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/076—Slope angle of the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle

Definitions

  • 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.
  • 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.
  • the movable platform can move forward, laterally, obliquely, rotate and their combinations.
  • 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.
  • 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.
  • the present application provides a control method, control device, removable platform, and computer-readable storage medium.
  • 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:
  • 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.
  • a control device for a 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:
  • 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.
  • 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;
  • control device according to any one of the second aspect.
  • 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 initial acceleration of the movable platform 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.
  • 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.
  • 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.
  • first information may also be referred to as second information, and similarly, the second information may also be referred to as first information.
  • 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).
  • 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.
  • Figure 2A and Figure 2B shows the structure of a Swedish wheel, the roller and the hub of the Swedish wheel in Figure 2A form a 90° included angle;
  • 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
  • Fig. 2C it can be seen that the rollers of the mecanum wheel and the hub form an angle of 45°.
  • 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.
  • 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.
  • the number of motor controllers, motors and omnidirectional wheels are all 3, 4, 5 or more.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the manner of driving the movable platform to move includes but is not limited to the following manners:
  • the movable platform can be driven under the operation of the user.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the control device 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.
  • 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).
  • 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.
  • step S102 and step S103 can be executed simultaneously.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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, ⁇ i represents the offset angle between the hub and the roller, ⁇ 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:
  • r represents the radius of the omnidirectional wheel
  • 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.
  • the control device of the movable platform currently obtains a stationary command, and performs the following control based on the stationary command:
  • the target position is (x1, y1, theta1)
  • 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 determine
  • the present application also provides embodiments of a control device, a movable platform, and a computer-readable storage medium.
  • FIG. 6 is a structural block diagram of a control device of a movable platform according to an exemplary embodiment of this application.
  • 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
  • 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.
  • 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 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 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.
  • 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.
  • a plug-in hard disk equipped on 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
  • the various embodiments described herein can be implemented using a computer-readable medium such as computer software, hardware, or any combination thereof.
  • a computer-readable medium such as computer software, hardware, or any combination thereof.
  • ASIC application-specific integrated circuits
  • DSP digital signal processors
  • DSPD digital signal processing devices
  • PLD programmable logic devices
  • FPGA field programmable gate arrays
  • a processor a controller, a microcontroller, a microprocessor, and an electronic unit designed to perform the functions described herein are implemented.
  • 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.
  • the determination of the initial acceleration includes:
  • the compensation acceleration is the product of the gravitational acceleration and the value of the sine function of the slope.
  • the moving speed is a result of integrating the sum of the initial acceleration and the compensation acceleration.
  • 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.
  • 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 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 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.
  • 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.
  • the movable platform 30 may be a wheeled robot.
  • 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.
  • the number of motor controllers, motors, and omnidirectional wheels can be specifically set according to actual needs.
  • 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.
  • 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.
  • 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.

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  • Motorcycle And Bicycle Frame (AREA)

Abstract

L'invention concerne un procédé de commande, un dispositif de commande, une plateforme mobile et un support de stockage lisible par ordinateur. Le procédé comprend les étapes consistant à : acquérir une instruction de position debout pour commander une plateforme mobile à se tenir debout sur une rampe (S101) ; en fonction de l'écart de la position actuelle de la plateforme mobile par rapport à une position cible indiquée par l'instruction de position debout, déterminer une accélération initiale pour la plateforme mobile (S102) ; sur la base de la pente de la rampe, déterminer une accélération de compensation pour la plateforme mobile (S103) ; en fonction de l'accélération initiale et de l'accélération de compensation, déterminer la vitesse de déplacement de la plateforme mobile (S104) ; et sur la base de la vitesse de déplacement, déterminer une vitesse de rotation cible d'une pluralité de roues omnidirectionnelles, de telle sorte qu'un dispositif de commande de moteur électrique commande une pluralité de moteurs électriques pour atteindre la vitesse de rotation cible (S105). Par conséquent, la plateforme mobile peut rester dans un état debout sur la rampe.
PCT/CN2019/099415 2019-08-06 2019-08-06 Procédé de commande, dispositif de commande, plateforme mobile et support de stockage WO2021022473A1 (fr)

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CN201980032927.4A CN112154388A (zh) 2019-08-06 2019-08-06 控制方法、控制设备、可移动平台以及存储介质

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