CN106933229B - Control method and device for wheeled mobile robot - Google Patents
Control method and device for wheeled mobile robot Download PDFInfo
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
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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
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- 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
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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Abstract
The application discloses a control method and a control device for a wheeled mobile robot. The wheeled mobile robot comprises a driving wheel, a speed measuring device arranged on the driving wheel and a driving device for providing driving torque for the driving wheel, and a specific embodiment of the method comprises the following steps: determining the angular acceleration rate of the driving wheel according to the output value of the speed measuring device; in response to determining that the rate of change of angular acceleration is greater than a preset threshold, it is determined that a slip phenomenon occurs in the drive wheels. This embodiment improves the efficiency of determining whether the wheel of the wheeled mobile robot slips.
Description
Technical Field
The present application relates to the field of robot control, and in particular, to a method and an apparatus for controlling a wheeled mobile robot.
Background
With social development and technological progress, robots are more and more widely applied in current production and life. The mobile robot is a robot developed earlier, and the mobile mechanism mainly comprises a wheel type, a crawler type, a leg type, a composite type and the like. The wheel type mobile robot has the advantages of light dead weight, large bearing capacity, simple mechanism, relatively convenient driving and control, high walking speed, flexibility and the like, and is widely applied to the fields of industry, agriculture, space exploration and the like. The operation of the wheeled mobile robot needs to be adapted to various ground surfaces with different flatness and roughness, so that the slippage becomes a problem to be solved. The wheel type mobile robot generally comprises a driving wheel and a driven wheel, and at present, whether a slip phenomenon occurs is mainly judged by comparing the speeds of the driving wheel and the driven wheel of the wheel type mobile robot or the speeds of a robot main body and a driving wheel.
However, to obtain the speed of the driven wheel or the robot body, an optical code disc or other speed measuring device is additionally installed on the driven wheel or the robot body.
Disclosure of Invention
The present application aims to provide an improved control method and apparatus for a wheeled mobile robot to solve the technical problems mentioned in the background section above.
In a first aspect, an embodiment of the present application provides a method for controlling a wheeled mobile robot, where the wheeled mobile robot includes a driving wheel, a speed measuring device disposed on the driving wheel, and a driving device providing driving torque for the driving wheel, and the method includes: determining the angular acceleration rate of the driving wheel according to the output value of the speed measuring device; in response to determining that the rate of change of angular acceleration is greater than a preset threshold, it is determined that a slip phenomenon occurs in the drive wheels.
In this embodiment, the method further includes: the drive device is controlled to reduce the drive torque in response to determining that the drive wheel is slipping.
In this embodiment, the method further includes: determining the angular acceleration of the driving wheel according to the output value of the speed measuring device; determining a driving torque correction value corresponding to the angular acceleration and the angular acceleration change rate according to a preset corresponding relation between the angular acceleration and the angular acceleration change rate and the driving torque correction value; the drive means is controlled to provide a drive torque corrected in accordance with the determined drive torque correction value.
In the present embodiment, the wheeled mobile robot further includes other driving wheels in addition to the driving wheels; and the method further comprises: and determining a driving torque adjustment value of a driving device of other driving wheels according to the driving torque correction value, wherein when the wheeled mobile robot is in a steering state by adopting the two-wheel driving mobile robot, the driving torque adjustment value is the same as the driving torque correction value, and the positive and negative are opposite, and when the wheeled mobile robot is in a non-steering state by adopting the two-wheel driving mobile robot, the driving torque adjustment value is the same as the driving torque correction value.
In the present embodiment, the wheeled mobile robot further includes a communication device; and the method further comprises: uploading operation data of the wheeled mobile robot to a target server through a communication device, wherein the operation data comprises at least one of the following items: the target server is used for acquiring operation data and issuing the corresponding relation of the angular acceleration, the angular acceleration change rate and the driving torque correction value modified according to the operation data to the wheeled mobile robot.
In this embodiment, the wheeled mobile robot is a transfer robot, the operation data further includes operation position information of the transfer robot and load information of the transfer robot, and the target server is further configured to issue, to the transfer robot, a threshold value of a driving torque provided by the driving device determined according to the operation data; and the method further comprises: receiving a threshold value of a driving torque; the drive means is controlled to provide a drive torque that is less than a threshold value of the drive torque.
In a second aspect, an embodiment of the present application provides a control apparatus for a wheeled mobile robot, where the wheeled mobile robot includes a driving wheel, a speed measuring device disposed on the driving wheel, and a driving device providing driving torque for the driving wheel, the apparatus includes: the first determining unit is used for determining the angular acceleration change rate of the driving wheel according to the output value of the speed measuring device; and a second determination unit for determining that the drive wheel is slipping in response to a determination that the rate of change of angular acceleration is greater than a preset threshold value.
In this embodiment, the apparatus further comprises: a first control unit for controlling the drive device to reduce the drive torque in response to determining that the drive wheel is slipping.
In this embodiment, the apparatus further comprises: the third determining unit is used for determining the angular acceleration of the driving wheel according to the output value of the speed measuring device; a fourth determining unit, configured to determine a driving torque correction value corresponding to the angular acceleration and the angular acceleration change rate according to a preset correspondence relationship between the angular acceleration and the angular acceleration change rate, and the driving torque correction value; a second control unit for controlling the drive means to supply a drive torque corrected in accordance with the determined drive torque correction value.
In this embodiment, the speed measuring device is configured to measure and output the angular velocity of the driving wheel every predetermined time, and the correspondence relationship is stored in the fuzzy control rule table; and a fourth determination unit further configured to: acquiring angular velocity at fixed time, and carrying out differential calculation on the angular velocity to obtain angular acceleration and angular acceleration change rate; and determining a driving torque correction value corresponding to the angular acceleration and the angular acceleration change rate according to the fuzzy control rule table.
In the present embodiment, the wheeled mobile robot further includes other driving wheels in addition to the driving wheels; and the apparatus further comprises: and the fifth determining unit is used for determining a driving torque adjusting value of a driving device of other driving wheels except the driving wheels in the wheeled mobile robot according to the driving torque correction value, wherein when the wheeled mobile robot is in a steering state through double-wheel driving of the mobile robot, the driving torque adjusting value is the same as the driving torque correction value, and the driving torque adjusting value is opposite in positive and negative, and when the wheeled mobile robot is in a non-steering state through double-wheel driving of the mobile robot, the driving torque adjusting value is the same as the driving torque correction value.
In the present embodiment, the wheeled mobile robot further includes a communication device; and the apparatus further comprises: an uploading unit for uploading operation data of the wheeled mobile robot to a target server through a communication device, wherein the operation data includes at least one of: the target server is used for acquiring operation data and issuing the corresponding relation of the angular acceleration, the angular acceleration change rate and the driving torque correction value modified according to the operation data to the wheeled mobile robot.
In this embodiment, the wheeled mobile robot is a transfer robot, the operation data further includes operation position information of the transfer robot and load information of the transfer robot, and the target server is further configured to issue, to the transfer robot, a threshold value of a driving torque provided by the driving device determined according to the operation data; and the apparatus further comprises: a receiving unit for receiving a threshold value of a driving torque; a third control unit for controlling the drive means to provide a drive torque which is smaller than a threshold value for the drive torque.
In a third aspect, an embodiment of the present application provides an apparatus, including: one or more processors; storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to carry out the method as described above in relation to the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, wherein the computer program is configured to, when executed by a processor, implement the method as described above in the first aspect.
According to the control method and the control device for the wheeled mobile robot, the angular acceleration change rate of the driving wheel is determined according to the output value of the speed measuring device, then the phenomenon that the driving wheel slips is determined in response to the fact that the angular acceleration change rate is larger than the preset threshold value, and the efficiency of determining whether the driving wheel of the wheeled mobile robot slips is improved.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is an exemplary system architecture diagram in which the present application may be applied;
figure 2 is a schematic flow chart diagram of one embodiment of a method of controlling a wheeled mobile robot according to the present application;
fig. 3 is a schematic force analysis diagram of a driving wheel of the wheeled mobile robot of the present application;
figure 4 is an exemplary wheel profile for the wheeled mobile robot of the present application;
fig. 5 is a schematic control logic diagram of an embodiment of a control method of a wheeled mobile robot according to the present application.
Fig. 6 is a schematic flow chart of still another embodiment of a control method of a wheeled mobile robot according to the present application;
fig. 7 is an exemplary configuration diagram of one embodiment of a control apparatus of a wheeled mobile robot according to the present application;
fig. 8 is a schematic structural diagram of a computer system suitable for implementing the control device according to the embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 shows an exemplary system architecture 100 to which an embodiment of a control method of a wheeled mobile robot or a control apparatus of a wheeled mobile robot of the present application may be applied.
As shown in fig. 1, the system architecture 100 may include a wheeled mobile robot 101, a network 102, and a server 103. The wheeled mobile robot 101 may include a driving wheel 1011, a speed measuring device 1012 provided on the driving wheel 1011, a driving device 1013 for providing a driving torque to the driving wheel 1011, a control device 1014 for determining an angular acceleration change rate of the driving wheel 1011 based on an output value of the speed measuring device 1012 and determining that a slip phenomenon occurs on the driving wheel 1011 in response to the determined angular acceleration change rate being greater than a preset threshold, and a communication device 1015 for controlling data transmission between the device 1014 and other devices. The control device 1014 may include a single chip or other device having a data processing function.
The network 102 is a medium for providing a transmission link between the wheeled mobile robot 101 and the server 103, and the network 102 may include various connection types such as a wired, wireless transmission link, or a fiber optic cable, etc.
The wheeled mobile robot 101 interacts with the server 103 through the network 102 to receive instructions or return responses or the like. The wheeled mobile robot 101 may be used for cargo handling, and may perform loading, unloading, and transportation according to instructions or cargo information sent from the server 103.
The server 103 may be a server for providing support for the operation of the wheeled mobile robot 101, and the server 103 may send a command to the wheeled mobile robot 101 to manage the wheeled mobile robot 101, specifically, the server 103 may obtain operation data of the wheeled mobile robot 101, where the operation data may include: the angular velocity of the driving wheels 1011, the angular acceleration rate of change of the driving wheels 1011, and the response speed of the driving device 1013, and then the server may issue the angular acceleration, the angular acceleration rate of change of the angular acceleration, and the driving torque correction value, which are modified according to the operation data, to the wheeled mobile robot 1011.
It should be noted that the control method of the wheeled mobile robot provided in the embodiment of the present application may be executed by the control device 1014, and accordingly, the control device of the wheeled mobile robot may be provided in the control device 1014.
It should be understood that the number of wheeled mobile robots and their various components, networks, and servers in fig. 1 are merely illustrative. There may be any number of wheeled mobile robots and their various components, networks and servers, as desired for implementation.
With continued reference to fig. 2, a flow 200 of one embodiment of a method of controlling a wheeled mobile robot according to the present application is shown. The control method of the wheeled mobile robot comprises the following steps:
In this embodiment, the wheeled mobile robot includes a driving wheel, a speed measuring device disposed on the driving wheel, and a driving device providing a driving torque to the driving wheel, and an electronic device (for example, a control apparatus shown in fig. 1) on which a control method of the wheeled mobile robot is operated may determine an angular acceleration rate of the driving wheel according to an output value of the speed measuring device. The driving wheels, which may also be referred to as driving wheels, receive a forward ground friction force to provide a driving force for the robot to travel. The speed measuring device can be an angular velocity sensor, a photoelectric speed measuring coded disc, an angular acceleration sensor and the like. The driving device can be a motor, and can adopt a driving mode such as electric control hydraulic driving or electric control pneumatic driving, and the driving device can be connected with the driving wheel through a driving axle, a bearing, a gear and the like so as to provide driving torque for the driving wheel. The speed measuring device can output the angular velocity or the angular acceleration of the driving wheel, and the electronic equipment can determine the angular acceleration change rate of the driving wheel through differential calculation according to the output of the speed measuring device and relevant time information.
In response to determining that the rate of angular acceleration is greater than a predetermined threshold, a determination is made that the drive wheels are slipping, step 202.
In this embodiment, the electronic device may determine that the drive wheel is slipping in response to the angular acceleration rate determined in step 201 being greater than a preset threshold value. As shown in fig. 3, when the wheeled mobile robot moves forward at a speed V, the driving device provides a clockwise driving moment T to rotate the driving wheel clockwise, a backward movement tendency is generated at a place where the driving wheel contacts with the ground, the ground obstructs the movement of the driving wheel to generate a counterclockwise resisting moment, and a forward friction force F is provided for the driving wheel, which is opposite to the relative movement direction of the driving wheel and the ground, and becomes a forward traction force of the robot. When the wheeled mobile robot slips, the friction force provided by the ground to the driving wheel is suddenly reduced, the resisting moment is reduced, and the driving moment is not changed, so that the sum of the driving moment and the resisting moment can enable the driving wheel to generate an angular acceleration. In this case, the feedback value of the velocity measuring device such as the photoelectric encoder cannot be used as the reference value for the position control, but can still be used to measure the angular velocity or the angular acceleration of the wheel. The change of the angular acceleration is easier to monitor and observe relative to the change of the angular velocity, and the angular acceleration can be suddenly changed when the sliding wheel slips relative to a normal running state, namely the change rate of the angular acceleration is larger than a preset threshold value. The preset threshold value can be determined according to the angular acceleration change rate in normal operation in the historical operation record of the wheeled mobile robot, and can also be determined according to experiments. The preset threshold value can be updated according to actual needs, and the updated preset threshold value can be issued to the wheeled mobile robot by the server.
In some optional implementations of this embodiment, the method further includes: the drive device is controlled to reduce the drive torque in response to determining that the drive wheel is slipping.
In this implementation, the driving torque may be reduced according to a preset rule, for example, when the value of the angular acceleration is within a certain range, the driving torque may be reduced by a certain amount, or the driving torque may be gradually reduced by a preset magnitude until the angular acceleration change rate is not greater than a preset threshold value. The driving torque is reduced by controlling the driving device, so that the problem of reduced running efficiency of the wheeled mobile robot caused by the in-situ idle running of the driving wheels is further avoided.
In some optional implementations of this embodiment, the method further includes: determining the angular acceleration of the driving wheel according to the output value of the speed measuring device; determining a driving torque correction value corresponding to the angular acceleration and the angular acceleration change rate according to a preset corresponding relation between the angular acceleration and the angular acceleration change rate and the driving torque correction value; the drive means is controlled to provide a drive torque corrected in accordance with the determined drive torque correction value.
In this implementation, the correspondence relationship between the angular acceleration, the angular acceleration change rate, and the drive torque correction value may be stored in advance in a storage medium of the wheeled mobile robot, or may be acquired from a server. The server can determine the magnitude of the driving moment in normal operation according to the corresponding relation between the angular acceleration, the angular acceleration change rate and the driving moment in normal operation in the historical operation record of the wheeled mobile robot, and the control device can correct the magnitude of the driving moment provided by the current driving device according to the magnitude of the driving moment. In addition, since the friction torque is related to the load of the driving wheels, the material properties and surface conditions (roughness, humidity, etc.) of the driving wheels and the operation area, the driving torque correction value of the wheeled mobile robot can also be determined according to the load of the driving wheels and the operation area thereof.
In some optional implementations of the present embodiment, the wheeled mobile robot further includes other driving wheels in addition to the driving wheels; and the method further comprises: and determining a driving torque adjustment value of a driving device of other driving wheels according to the driving torque correction value, wherein when the wheeled mobile robot is in a steering state by adopting the two-wheel driving mobile robot, the driving torque adjustment value is the same as the driving torque correction value, and the positive and negative are opposite, and when the wheeled mobile robot is in a non-steering state by adopting the two-wheel driving mobile robot, the driving torque adjustment value is the same as the driving torque correction value.
In this embodiment, since the wheeled mobile robot needs to maintain a constant motion state (turning or straight traveling), the driving wheels other than the driving wheels whose driving torque is adjusted need to be adjusted accordingly. Taking a two-wheel driven mobile robot as an example, the chassis wheels of the two-wheel driven mobile robot are distributed as shown in fig. 4, and four driven wheels 4011 and two driving wheels 4012 are provided on the chassis 401 of the two-wheel driven mobile robot. The driven wheel 4011 can make the operation of the robot smoother. The double-wheel drive mobile robot can adopt differential control, namely the speed of the two driving wheels is completely the same in direction when the robot moves straight, and the speed of the two driving wheels is the same in direction and opposite in direction when the robot turns on site. Therefore, when the drive torque of one drive wheel is adjusted, an adjustment of the same magnitude is also correspondingly transmitted to the other drive wheel. The direction of the adjustment amount is the same when the vehicle travels straight, and the direction is opposite when the vehicle turns.
In some optional implementations of this embodiment, the wheeled mobile robot further includes a communication device; and the method further comprises: uploading operation data of the wheeled mobile robot to a target server through a communication device, wherein the operation data comprises at least one of the following items: the target server is used for acquiring operation data and issuing the corresponding relation of the angular acceleration, the angular acceleration change rate and the driving torque correction value modified according to the operation data to the wheeled mobile robot.
In this implementation, the target server, i.e., a background server of the wheeled mobile robot, such as the server shown in fig. 1, feeds back actual operation data to the server, so that the server can adjust the correspondence relationship, thereby further optimizing the control of the wheeled mobile robot.
In some optional implementations of the embodiment, the wheeled mobile robot is a transfer robot, the operation data further includes operation position information of the transfer robot and load information of the transfer robot, and the target server is further configured to issue, to the transfer robot, a threshold value of driving torque provided by the driving device determined according to the operation data; and the method further comprises: receiving a threshold value of a driving torque; the drive means is controlled to provide a drive torque that is less than a threshold value of the drive torque.
In the implementation mode, the load of the transfer robot is variable, and the transfer robot is required to adapt to the ground with different flatness and roughness in various old and new warehouses, so that the running condition of the transfer robot is more complex, and the threshold value of the driving torque of the transfer robot is determined according to the running position information and the load information of the transfer robot, so that the slip phenomenon can be prevented.
According to the method provided by the embodiment of the application, the angular acceleration change rate of the driving wheel is determined according to the output value of the speed measuring device, then the driving wheel is determined to have the slipping phenomenon in response to the fact that the angular acceleration change rate is larger than the preset threshold value, and the efficiency of determining whether the driving wheel of the wheeled mobile robot has the slipping phenomenon is improved.
Referring to fig. 6, fig. 6 is a schematic flowchart illustrating a control method of a wheeled mobile robot according to another embodiment of the present invention.
In fig. 6, a flow 600 of a control method of the wheeled mobile robot includes the following steps:
In this embodiment, the wheeled mobile robot includes a driving wheel, a speed measuring device disposed on the driving wheel, and a driving device providing a driving torque to the driving wheel, and an electronic device (for example, a control apparatus shown in fig. 1) on which a control method of the wheeled mobile robot is operated may determine an angular acceleration rate of the driving wheel according to an output value of the speed measuring device.
In response to determining that the rate of angular acceleration is greater than a predetermined threshold, a determination is made that the drive wheels are slipping, step 602.
In this embodiment, the electronic device may determine that the drive wheel is slipping in response to the angular acceleration rate determined in step 601 being greater than a preset threshold value.
And step 603, acquiring angular velocity at regular time, and performing differential calculation on the angular velocity to obtain angular acceleration and angular acceleration change rate.
In this embodiment, the electronic device may acquire the angular velocity at regular time, and perform differential calculation on the angular velocity to obtain the angular acceleration and the angular acceleration change rate. As shown in fig. 5, which shows a logical process for controlling the wheel type mobile robot. T is the original driving moment input value, in each control period, the speed measuring device feeds the angular speed omega back to the comparator, the comparator is put into a stack, and the angular acceleration is obtained through differential calculation
And rate of change of angular acceleration
And step 604, determining a driving torque correction value corresponding to the angular acceleration and the angular acceleration change rate according to the fuzzy control rule table.
In this embodiment, the electronic device may determine the drive torque correction value corresponding to the angular acceleration and the angular acceleration change rate obtained in step 603 according to a fuzzy control rule table. Angular acceleration
And rate of change of angular acceleration
The fuzzy controller is used as input of the fuzzy controller, firstly fuzzification processing is carried out, fuzzy reasoning is carried out according to fuzzy control rules, fuzzy output quantity is given, finally fuzzy is solved to obtain a driving moment correction value delta T, the driving moment correction value delta T is used as negative feedback to correct the driving moment input value T, and therefore the wheel type mobile robot is controlled.
Wherein each input variable
And the output variable delta T respectively defines 7 language variable values of Negative Big (NB), Negative Middle (NM), Negative Small (NS), Zero (ZE), Positive Small (PS), Positive Middle (PM) and Positive Big (PB) according to respective domains of discourse in the fuzzy controller. The fuzzy control rule table is as follows:
TABLE 1
In the actual operation process, the fuzzy control rule table can be properly adjusted according to the running condition of the wheeled mobile robot and the response condition of the driving device. And after fuzzy reasoning is carried out by the fuzzy controller according to rules, defuzzification is carried out to obtain an adjusting value of the driving torque. Typically, once wheel slip is detected, the control means reduces the input drive torque to a level not exceeding the maximum drag torque available on the ground. When the driving wheel is blocked, the driving torque can be also properly increased, so that the robot can pass through the process point more smoothly.
For details and technical effects of the implementation of step 601 to step 602, reference may be made to the descriptions of step 201 to step 202, which are not described herein again.
As can be seen from fig. 6, compared with the embodiment corresponding to fig. 2, the flow 600 of the control method of the wheeled mobile robot in the present embodiment highlights the step of fuzzy control of the wheeled mobile robot. Therefore, the scheme described in the embodiment better ensures that the wheeled mobile robot runs smoothly according to the designed track.
With further reference to fig. 7, as an implementation of the above method, the present application provides an embodiment of a control apparatus for a wheeled mobile robot, which corresponds to the method embodiment shown in fig. 2, and which can be applied in various electronic devices.
As shown in fig. 7, a control device 700 of a wheeled mobile robot according to the present embodiment includes: a first determining unit 701 and a second determining unit 702, wherein the first determining unit 701 is configured to determine an angular acceleration rate of the driving wheel according to an output value of the velocity measuring device; a second determination unit 702 for determining that the drive wheel is slipping in response to determining that the angular acceleration change rate is greater than a preset threshold value.
In this embodiment, the detailed descriptions of step 201 and step 202 in the embodiment of fig. 2 may be referred to for the specific processing of the first determining unit 701 and the second determining unit 702, and are not repeated herein.
In some optional implementations of this embodiment, the apparatus further comprises: a first control unit (not shown) for controlling the drive means to reduce the drive torque in response to a determination that a slip phenomenon is occurring at the drive wheels.
In some optional implementations of this embodiment, the apparatus further comprises: a third determining unit (not shown in the figure) for determining the angular acceleration of the driving wheel according to the output value of the tachometer means; a fourth determining unit (not shown in the figure) for determining a drive torque correction value corresponding to the angular acceleration and the angular acceleration change rate, based on a correspondence relationship between the angular acceleration, the angular acceleration change rate, and the drive torque correction value, which is set in advance; a second control unit (not shown) for controlling the drive means to provide a drive torque corrected in accordance with the determined drive torque correction value.
In some optional implementations of this embodiment, the speed measuring device is configured to measure and output the angular velocity of the driving wheel every predetermined time, and the correspondence is stored in the fuzzy control rule table; and a fourth determination unit (not shown in the figure) further configured to: acquiring angular velocity at fixed time, and carrying out differential calculation on the angular velocity to obtain angular acceleration and angular acceleration change rate; and determining a driving torque correction value corresponding to the angular acceleration and the angular acceleration change rate according to the fuzzy control rule table.
In some optional implementations of the present embodiment, the wheeled mobile robot further includes other driving wheels in addition to the driving wheels; and the apparatus further comprises: and a fifth determining unit (not shown) for determining a driving torque adjustment value of a driving device of a driving wheel other than the driving wheel in the wheeled mobile robot according to the driving torque correction value, wherein the driving torque adjustment value is the same as the driving torque correction value in magnitude and opposite in sign when the wheeled mobile robot is in a turning state in which the wheeled mobile robot is driven by two wheels, and the driving torque adjustment value is the same as the driving torque correction value in magnitude and opposite in sign when the wheeled mobile robot is in a non-turning state in which the wheeled mobile robot is driven by two wheels.
In some optional implementations of this embodiment, the wheeled mobile robot further includes a communication device; and the apparatus further comprises: an uploading unit (not shown in the figure) for uploading operation data of the wheeled mobile robot to a target server through a communication device, wherein the operation data includes at least one of: the target server is used for acquiring operation data and issuing the corresponding relation of the angular acceleration, the angular acceleration change rate and the driving torque correction value modified according to the operation data to the wheeled mobile robot.
In some optional implementations of the embodiment, the wheeled mobile robot is a transfer robot, the operation data further includes operation position information of the transfer robot and load information of the transfer robot, and the target server is further configured to issue, to the transfer robot, a threshold value of driving torque provided by the driving device determined according to the operation data; and the apparatus further comprises: a receiving unit (not shown in the figure) for receiving a threshold value of the driving torque; a third control unit (not shown in the figures) for controlling the drive means to provide a drive torque which is smaller than a threshold value for the drive torque.
As can be seen from fig. 7, in the present embodiment, the control device 700 of the wheeled mobile robot determines the angular acceleration rate of the driving wheel according to the output value of the speed measuring device, and then determines that the driving wheel slips in response to determining that the angular acceleration rate is greater than the preset threshold, so as to improve the efficiency of determining whether the driving wheel of the wheeled mobile robot slips.
Referring now to FIG. 8, a block diagram of a computer system 800 suitable for use in implementing a control device according to embodiments of the present application is shown. The control device shown in fig. 8 is only an example, and should not bring any limitation to the functions and the range of use of the embodiment of the present application.
As shown in fig. 8, the computer system 800 includes a Central Processing Unit (CPU)801 that can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)802 or a program loaded from a storage section 808 into a Random Access Memory (RAM) 803. In the RAM 803, various programs and data necessary for the operation of the system 800 are also stored. The CPU 801, ROM 802, and RAM 803 are connected to each other via a bus 804. An input/output (I/O) interface 805 is also connected to bus 804.
The following components are connected to the I/O interface 805: an input portion 806 including a keyboard, a mouse, and the like; an output section 807 including a signal such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 808 including a hard disk and the like; and a communication section 809 including a network interface card such as a LAN card, a modem, or the like. The communication section 809 performs communication processing via a network such as the internet. A drive 810 is also connected to the I/O interface 806 as needed. A removable medium 811 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 810 as necessary, so that a computer program read out therefrom is mounted on the storage section 808 as necessary.
In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 809 and/or installed from the removable medium 811. The computer program performs the above-described functions defined in the method of the present application when executed by the Central Processing Unit (CPU) 801. It should be noted that the computer readable medium described herein can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a unit, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present application may be implemented by software or hardware. The described units may also be provided in a processor, and may be described as: a processor includes a first determination unit, a second determination unit. Where the names of the units do not in some cases constitute a limitation of the unit itself, for example, the first determination unit may also be described as a "unit that determines the rate of change of angular acceleration of the driving wheel from the output value of the tacho means".
As another aspect, the present application also provides a non-volatile computer storage medium, which may be the non-volatile computer storage medium included in the apparatus in the above-described embodiments; or it may be a non-volatile computer storage medium that exists separately and is not incorporated into the control device. The non-transitory computer storage medium stores one or more programs that, when executed by a device, cause the device to: determining the angular acceleration rate of the driving wheel according to the output value of the speed measuring device; in response to determining that the rate of change of angular acceleration is greater than a preset threshold, it is determined that a slip phenomenon occurs in the drive wheels.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (14)
1. A method for controlling a wheeled mobile robot including a driving wheel, a speed measuring device provided on the driving wheel, and a driving device for supplying a driving torque to the driving wheel, the method comprising:
determining the angular acceleration rate of the driving wheel according to the output value of the speed measuring device;
determining that the drive wheel is slipping in response to determining that the rate of change of angular acceleration is greater than a preset threshold;
wherein the method further comprises:
determining the angular acceleration of the driving wheel according to the output value of the speed measuring device;
determining a driving torque correction value corresponding to an angular acceleration and an angular acceleration change rate according to a preset corresponding relation between the angular acceleration and the angular acceleration change rate and the driving torque correction value;
controlling the drive means to provide a drive torque corrected in accordance with the determined drive torque correction value.
2. The method of claim 1, further comprising:
controlling the drive means to reduce the drive torque in response to determining that the drive wheel is slipping.
3. The method according to claim 1, wherein the speed measuring device is used for measuring and outputting the angular velocity of the driving wheel every predetermined time, and the corresponding relation is stored in a fuzzy control rule table; and
the method for determining the driving torque correction value corresponding to the angular acceleration and the angular acceleration change rate according to the preset corresponding relation among the angular acceleration, the angular acceleration change rate and the driving torque correction value comprises the following steps:
acquiring the angular velocity at fixed time, and carrying out differential calculation on the angular velocity to obtain angular acceleration and angular acceleration change rate;
and determining a driving torque correction value corresponding to the angular acceleration and the angular acceleration change rate according to the fuzzy control rule table.
4. The method of any of claims 1-3, wherein the wheeled mobile robot further comprises other drive wheels in addition to the drive wheels; and
the method further comprises the following steps:
and determining a driving torque adjustment value of a driving device of the other driving wheels according to the driving torque correction value, wherein when the wheeled mobile robot is in a steering state with the two-wheel driving mobile robot, the driving torque adjustment value is the same as the driving torque correction value, and the positive and negative are opposite, and when the wheeled mobile robot is in a non-steering state with the two-wheel driving mobile robot, the driving torque adjustment value is the same as the driving torque correction value.
5. The method of any of claims 1-3, wherein the wheeled mobile robot further comprises a communication device; and
the method further comprises the following steps:
uploading, by the communication device, operational data of the wheeled mobile robot to a target server, wherein the operational data includes at least one of: the target server is used for acquiring the operation data and sending the corresponding relation of the angular acceleration, the angular acceleration change rate and the driving torque correction value to the wheeled mobile robot after being modified according to the operation data.
6. The method according to claim 5, wherein the wheeled mobile robot is a transfer robot, the operation data further includes operation position information of the transfer robot and load information of the transfer robot, and the target server is further configured to issue a threshold value of a driving torque provided by a driving device determined based on the operation data to the transfer robot; and
the method further comprises the following steps:
receiving a threshold value of the driving torque;
controlling the drive means to provide a drive torque that is less than a threshold value of the drive torque.
7. A control apparatus of a wheeled mobile robot including a driving wheel, a speed measuring device provided on the driving wheel, and a driving device providing a driving torque to the driving wheel, the apparatus comprising:
the first determining unit is used for determining the angular acceleration change rate of the driving wheel according to the output value of the speed measuring device;
a second determination unit configured to determine that the drive wheel is slipping in response to a determination that the angular acceleration change rate is greater than a preset threshold value;
wherein the apparatus further comprises:
the third determining unit is used for determining the angular acceleration of the driving wheel according to the output value of the speed measuring device;
the fourth determining unit is used for determining a driving torque correction value corresponding to the angular acceleration and the angular acceleration change rate according to a preset corresponding relation between the angular acceleration and the angular acceleration change rate and the driving torque correction value;
a second control unit for controlling the drive means to provide a drive torque corrected in accordance with the determined drive torque correction value.
8. The apparatus of claim 7, further comprising:
a first control unit for controlling the drive means to reduce the drive torque in response to determination that a slip phenomenon occurs in the drive wheels.
9. The apparatus according to claim 8, wherein the speed measuring device is configured to measure and output the angular velocity of the driving wheel every predetermined time, and the correspondence relationship is stored in a fuzzy control rule table; and
the fourth determining unit is further configured to:
acquiring the angular velocity at fixed time, and carrying out differential calculation on the angular velocity to obtain angular acceleration and angular acceleration change rate;
and determining a driving torque correction value corresponding to the angular acceleration and the angular acceleration change rate according to the fuzzy control rule table.
10. The apparatus according to any one of claims 7 to 9, wherein the wheeled mobile robot further comprises a driving wheel other than the driving wheel; and
the device further comprises:
and a fifth determining unit, configured to determine, according to the driving torque correction value, a driving torque adjustment value of a driving device of a driving wheel other than the driving wheel in the wheeled mobile robot, where the driving torque adjustment value is the same as the driving torque correction value when the wheeled mobile robot is in a steering state and the two-wheeled mobile robot is driven, and the positive and negative are opposite, and the driving torque adjustment value is the same as the driving torque correction value when the wheeled mobile robot is in a non-steering state and the two-wheeled mobile robot is driven.
11. The apparatus according to any one of claims 7 to 9, wherein the wheeled mobile robot further comprises a communication device; and
the device further comprises:
an uploading unit for uploading operation data of the wheeled mobile robot to a target server through the communication device, wherein the operation data includes at least one of: the target server is used for acquiring the operation data and sending the corresponding relation of the angular acceleration, the angular acceleration change rate and the driving torque correction value to the wheeled mobile robot after being modified according to the operation data.
12. The apparatus according to claim 11, wherein the wheeled mobile robot is a transfer robot, the operation data further includes operation position information of the transfer robot and load information of the transfer robot, and the destination server is further configured to issue to the transfer robot a threshold value of a driving torque provided by the driving device determined based on the operation data; and
the device further comprises:
a receiving unit for receiving a threshold value of the driving torque;
a third control unit for controlling the drive means to provide a drive torque which is smaller than a threshold value of the drive torque.
13. A wheeled mobile robot, comprising:
one or more processors;
storage means for storing one or more programs;
the driving wheel is provided with a speed measuring device;
a drive means for providing a drive torque to the drive wheel;
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-6.
14. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-6.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710228624.2A CN106933229B (en) | 2017-04-10 | 2017-04-10 | Control method and device for wheeled mobile robot |
| PCT/CN2018/082488 WO2018188583A1 (en) | 2017-04-10 | 2018-04-10 | Method and device for controlling wheeled mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710228624.2A CN106933229B (en) | 2017-04-10 | 2017-04-10 | Control method and device for wheeled mobile robot |
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| CN106933229A CN106933229A (en) | 2017-07-07 |
| CN106933229B true CN106933229B (en) | 2020-06-05 |
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| WO (1) | WO2018188583A1 (en) |
Families Citing this family (8)
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| CN106933229B (en) * | 2017-04-10 | 2020-06-05 | 天津京东深拓机器人科技有限公司 | Control method and device for wheeled mobile robot |
| CN107348910B (en) | 2017-09-12 | 2019-10-08 | 珠海市一微半导体有限公司 | The detection method and build drawing method and chip that robot skids |
| CN107443430B (en) * | 2017-09-12 | 2019-11-05 | 珠海市一微半导体有限公司 | The detection method of intelligent robot collision obstacle and build drawing method |
| CN111290347A (en) * | 2018-12-10 | 2020-06-16 | 北京京东尚科信息技术有限公司 | Monitoring method and system |
| CN110031019B (en) * | 2019-04-18 | 2021-05-07 | 北京智行者科技有限公司 | Slip detection processing method for automatic driving vehicle |
| CN112971643B (en) * | 2019-12-17 | 2023-04-07 | 科沃斯机器人股份有限公司 | Detection method, robot, and storage medium |
| CN114895663B (en) * | 2022-03-03 | 2024-08-09 | 上海飒智智能科技有限公司 | Mobile robot slip identification method and control method |
| CN117125053B (en) * | 2022-05-20 | 2025-09-16 | 比亚迪股份有限公司 | Road adhesion coefficient estimation method and torque control method and device |
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| WO2018188583A1 (en) | 2018-10-18 |
| CN106933229A (en) | 2017-07-07 |
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