CN106933229A - The control method and device of wheeled mobile robot - Google Patents
The control method and device of wheeled mobile robot Download PDFInfo
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- CN106933229A CN106933229A CN201710228624.2A CN201710228624A CN106933229A CN 106933229 A CN106933229 A CN 106933229A CN 201710228624 A CN201710228624 A CN 201710228624A CN 106933229 A CN106933229 A CN 106933229A
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- 238000012937 correction Methods 0.000 claims description 54
- 238000012546 transfer Methods 0.000 claims description 25
- 238000003860 storage Methods 0.000 claims description 22
- 230000006854 communication Effects 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 15
- 238000004364 calculation method Methods 0.000 claims description 8
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Classifications
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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
-
- 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
-
- 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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- 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
-
- 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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- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
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- Radar, Positioning & Navigation (AREA)
- Electromagnetism (AREA)
- Chemical & Material Sciences (AREA)
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- Transportation (AREA)
- Combustion & Propulsion (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
This application discloses the control method and device of wheeled mobile robot.Wheeled mobile robot includes driving wheel, the setting device that tests the speed on the drive wheel, and the driving element of driving moment is provided for driving wheel, and a specific embodiment of the method includes：Output valve according to the device that tests the speed determines the rate of angular acceleration of driving wheel；In response to determining that rate of angular acceleration, more than predetermined threshold value, determines that skidding occurs in driving wheel.Whether there is the efficiency of skidding this embodiment improves the driving wheel for determining wheeled mobile robot.
Description
Technical field
The application is related to robot control field, more particularly to wheeled mobile robot control method and device.
Background technology
With social development and scientific and technological progress, robot has obtained increasingly being widely applied in current production and living.
Mobile robot is to research and develop a kind of robot earlier, and mainly there are wheeled, crawler type, leg formula and combined type etc. in travel mechanism.Wheel
Formula mobile robot due to from heavy and light, carry that big, mechanism is simple, drive and control relatively convenient, the speed of travel are fast, motor-driven
Flexibly the advantages of, and it is widely used in the fields such as industry, agricultural, space exploration.The operation of wheeled mobile robot needs suitable
The ground of various different flatness and roughness is answered, therefore is skidded and is turned into a problem that must be solved.Wheeled mobile robot
People generally comprises driving wheel and driven pulley, at present, mainly by comparing the driving wheel of wheeled mobile robot and the speed of driven pulley
Degree, or the speed of robot body and driving wheel judges whether to occur in that skidding.
However, to obtain the speed of driven pulley or robot body, it is necessary to extra to pacify in driven pulley or robot body
Dress photoelectric code disk or other speed measuring devices.
The content of the invention
The purpose of the application be propose the control method and device of a kind of improved wheeled mobile robot solve with
The technical problem that upper background section is mentioned.
In a first aspect, the embodiment of the present application provides a kind of control method of wheeled mobile robot, wheeled mobile robot
People includes driving wheel, the setting device that tests the speed on the drive wheel, and the driving element of driving moment, the method bag are provided for driving wheel
Include：Output valve according to the device that tests the speed determines the rate of angular acceleration of driving wheel；In response to determining rate of angular acceleration
More than predetermined threshold value, determine that skidding occurs in driving wheel.
In the present embodiment, method also includes：In response to determining that skidding occurs in driving wheel, control driving element subtracts
Small driving moment.
In the present embodiment, method also includes：Output valve according to the device that tests the speed determines the angular acceleration of driving wheel；According to
The corresponding relation of the angular acceleration, rate of angular acceleration and driving moment correction value that pre-set, determines angular acceleration and angle
The corresponding driving moment correction value of rate of acceleration change；Control driving element provides the driving moment correction value according to determined by and repaiies
Driving moment after just.
In the present embodiment, wheeled mobile robot also includes other driving wheels in addition to driving wheel；And method is also wrapped
Include：According to driving moment correction value, the driving moment adjusted value of the driving element of other driving wheels is determined, wherein, when wheeled shifting
Mobile robot is Mobile Robot Based on Two Driving Wheels and during in steering state, and driving moment adjusted value is big with driving moment correction value
It is small identical, it is positive and negative conversely, when wheeled mobile robot is Mobile Robot Based on Two Driving Wheels and during in non-steering state, driving force
Square adjusted value is identical with driving moment correction value.
In the present embodiment, wheeled mobile robot also includes communication device；And method also includes：By communication device
The service data of wheeled mobile robot is uploaded to destination server, wherein, service data include it is following at least one：Drive
The angular speed of wheel, the angular acceleration of driving wheel, the rate of angular acceleration of driving wheel, the response speed of driving element, target clothes
Business device adds for obtaining service data, and being issued to wheeled mobile robot according to the amended angular acceleration of service data, angle
The corresponding relation of percentage speed variation and driving moment correction value.
In the present embodiment, wheeled mobile robot is transfer robot, the service data also fortune including transfer robot
The load information of row positional information and transfer robot, destination server is additionally operable to be issued according to service data to transfer robot
The threshold value of the driving moment that the driving element of determination is provided；And method also includes：Receive the threshold value of driving moment；Control drives
Device provides the driving moment of the threshold value less than driving moment.
Second aspect, the embodiment of the present application provides a kind of control device of wheeled mobile robot, wheeled mobile robot
People includes driving wheel, the setting device that tests the speed on the drive wheel, the driving element of driving moment is provided for driving wheel, the device bag
Include：First determining unit, the rate of angular acceleration for determining driving wheel according to the output valve of the device that tests the speed；Second determines list
Unit, in response to determining that rate of angular acceleration, more than predetermined threshold value, determines that skidding occurs in driving wheel.
In the present embodiment, device also includes：First control unit, in response to determining that skidding now occurs in driving wheel
As control driving element reduces driving moment.
In the present embodiment, device also includes：3rd determining unit, determines to drive for the output valve according to the device that tests the speed
The angular acceleration of wheel；4th determining unit, for according to angular acceleration, rate of angular acceleration and the driving moment for pre-setting
The corresponding relation of correction value, determines angular acceleration and the corresponding driving moment correction value of rate of angular acceleration；Second control is single
Unit, for controlling driving element to provide the driving moment revised driving moment of correction value according to determined by.
In the present embodiment, the device that tests the speed is used for the angular speed of measurement and output driving wheel at predetermined time intervals, and correspondence is closed
System's storage is in fuzzy control rule table；And the 4th determining unit, further it is configured to：Timing acquisition angular speed, diagonally
Speed carries out differential calculation and obtains angular acceleration and rate of angular acceleration；According to fuzzy control rule table, angular acceleration is determined
Driving moment correction value corresponding with rate of angular acceleration.
In the present embodiment, wheeled mobile robot also includes other driving wheels in addition to driving wheel；And device is also wrapped
Include：5th determining unit, for according to driving moment correction value, determining other drives in wheeled mobile robot in addition to driving wheel
The driving moment adjusted value of the driving element of driving wheel, wherein, when wheeled mobile robot is Mobile Robot Based on Two Driving Wheels and place
When steering state, driving moment adjusted value is identical with driving moment correction value size, positive and negative conversely, working as wheeled mobile robot
For Mobile Robot Based on Two Driving Wheels and during in non-steering state, driving moment adjusted value is identical with driving moment correction value.
In the present embodiment, wheeled mobile robot also includes communication device；And device also includes：Uploading unit, uses
In the service data of wheeled mobile robot is uploaded into destination server by communication device, wherein, service data include with
Descend at least one：The angular speed of driving wheel, the angular acceleration of driving wheel, the rate of angular acceleration of driving wheel, driving element
Response speed, destination server is used to obtain service data, and is issued according to after service data modification to wheeled mobile robot
Angular acceleration, rate of angular acceleration and driving moment correction value corresponding relation.
In the present embodiment, wheeled mobile robot is transfer robot, the service data also fortune including transfer robot
The load information of row positional information and transfer robot, destination server is additionally operable to be issued according to service data to transfer robot
The threshold value of the driving moment that the driving element of determination is provided；And device also includes：Receiving unit, for receiving driving moment
Threshold value；3rd control unit, for controlling driving element to provide the driving moment of the threshold value less than driving moment.
The third aspect, the embodiment of the present application provides a kind of equipment, including：One or more processors；Storage device, uses
In one or more programs are stored, when said one or multiple programs are by said one or multiple computing devices so that above-mentioned
One or more processors realize such as the above-mentioned method of first aspect.
Fourth aspect, the embodiment of the present application provides a kind of computer-readable recording medium, is stored thereon with computer journey
Sequence, it is characterised in that the program is when executed by realizing as above-mentioned method such as first aspect.
The control method and device of the wheeled mobile robot that the embodiment of the present application is provided, according to the output valve of the device that tests the speed
The rate of angular acceleration of driving wheel is determined, then in response to determining rate of angular acceleration more than predetermined threshold value, it is determined that driving
There is skidding in driving wheel, improves and determines whether the driving wheel of wheeled mobile robot the efficiency of skidding occurs.
Brief description of the drawings
By the detailed description made to non-limiting example made with reference to the following drawings of reading, the application other
Feature, objects and advantages will become more apparent upon：
Fig. 1 is that the application can apply to exemplary system architecture figure therein；
Fig. 2 is the indicative flowchart of one embodiment of the control method of the wheeled mobile robot according to the application；
Fig. 3 is the schematic force analysis figure of the driving wheel of the wheeled mobile robot of the application；
Fig. 4 is the exemplary wheel distribution map of the wheeled mobile robot of the application；
Fig. 5 is the schematic control logic of one embodiment of the control method of the wheeled mobile robot according to the application
Figure.
Fig. 6 is the schematic flow of another embodiment of the control method of the wheeled mobile robot according to the application
Figure；
Fig. 7 is the exemplary block diagram of one embodiment of the control device of the wheeled mobile robot according to the application；
Fig. 8 is adapted for the structural representation of the computer system of the control device for realizing the embodiment of the present application.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that, in order to
Be easy to description, be illustrate only in accompanying drawing to about the related part of invention.
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the application in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 shows the control of the control method or wheeled mobile robot of the wheeled mobile robot that can apply the application
The exemplary system architecture 100 of the embodiment of device processed.
As shown in figure 1, system architecture 100 can include wheeled mobile robot 101, network 102 and server 103.Wheel
Formula mobile robot 101 can include driving wheel 1011, be arranged at the device 1012 that tests the speed on driving wheel 1011, for being driving
Wheel 1011 provides the driving element 1013 of driving moment, for determining driving wheel 1011 according to the output valve of the device 1012 that tests the speed
Rate of angular acceleration, and determine that driving wheel 1011 occurs more than predetermined threshold value in response to the rate of angular acceleration determined
The control device 1014 of skidding, and for the communication device of the data transfer between control device 1014 and other equipment
1015.Control device 1014 can include single-chip microcomputer or other there is the device of data processing function.
Network 102 is used to be provided between wheeled mobile robot 101 and server 103 medium of transmission link, network
102 can include various connection types, such as wired, wireless transmission link or fiber optic cables etc..
Wheeled mobile robot 101 is interacted by network 102 with server 103, to receive instruction or return to response etc..Wheel
Formula mobile robot 101 can be used for goods carrying, and luggage is entered in the instruction or goods information that can be sent according to server 103
Carry, unload and transport.
Server 103 can provide the server supported to the operation of wheeled mobile robot 101, and server 103 can
It is managed with to wheeled mobile robot 101 with sending order to wheeled mobile robot 101, specifically, server 103 can
To obtain the service data of wheeled mobile robot 101, service data can include：The angular speed of driving wheel 1011, driving wheel
1011 angular acceleration, the rate of angular acceleration of driving wheel 1011, the response speed of driving element 1013, then server can
Issued according to the amended angular acceleration of service data, rate of angular acceleration and driving force with to wheeled mobile robot 1011
The corresponding relation of square correction value.
It should be noted that the control method of wheeled mobile robot that the embodiment of the present application is provided can be by controller
Part 1014 is performed, and correspondingly, the control device of wheeled mobile robot can be arranged in control device 1014.
It should be understood that the number of wheeled mobile robot and its each part, network and server in Fig. 1 is only
It is schematical.According to needs are realized, can have any number of wheeled mobile robot and its each part, network
And server.
With continued reference to Fig. 2, one embodiment of the control method of wheeled mobile robot according to the application is shown
Flow 200.The control method of the wheeled mobile robot, comprises the following steps：
Step 201, the output valve according to the device that tests the speed determines the rate of angular acceleration of driving wheel.
In the present embodiment, wheeled mobile robot includes driving wheel, the setting device that tests the speed on the drive wheel, is to drive
Wheel provides the driving element of driving moment, and the control method of wheeled mobile robot runs electronic equipment (such as Fig. 1 thereon
Shown control device) rate of angular acceleration of driving wheel can be determined according to the output valve of the device that tests the speed.Driving wheel, also may be used
With referred to as driving wheel, the frictional ground force suffered by it forward, for the traveling of robot provides driving force.The device that tests the speed can be
Angular-rate sensor, photoelectric speed-measuring code wheel, angular acceleration transducer etc..Driving element can be motor, can use automatically controlled liquid
The type of drive such as pressure driving or controlled pneumatic driving, driving element can be by the modes such as drive axle, bearing, gear and driving wheel
It is attached, driving moment is provided with to driving wheel.Testing the speed device can be above-mentioned with the angular speed of output driving wheel or angular acceleration
Electronic equipment can add according to the output of the device that tests the speed and the temporal information of correlation, the angle for determining driving wheel by differential calculation
Percentage speed variation.
Step 202, in response to determining rate of angular acceleration more than predetermined threshold value, determines that skidding now occurs in driving wheel
As.
In the present embodiment, above-mentioned electronic equipment can be more than in response to the rate of angular acceleration determined in step 201
Predetermined threshold value, determines that skidding occurs in driving wheel.As shown in figure 3, when wheeled mobile robot is advanced with speed V, driving
Device gives a clockwise driving moment T, rotates clockwise driving wheel, the place that driving wheel is contacted with ground
The trend moved backward is generated, ground will hinder the motion of driving wheel, generate an anticlockwise moment of resistance, to driving
That driving wheel provides the moment of resistance is exactly frictional force F forward, and the direction of relative movement on it and driving wheel and ground is conversely, as machine
The tractive force that people advances.When wheeled mobile robot skids, ground reduces suddenly to the frictional force that driving wheel is provided, resistance
Torque reduces therewith, and now driving moment and unchanged, thus driving moment and the moment of resistance and torque will drive this
Wheel produces an angular acceleration.In this case, the value of feedback of device such as photoelectric code disk of testing the speed cannot be used as the ginseng of position control
Value is examined, but but still can be used to measure the angular speed or angular acceleration of wheel.Relative to the change of angular speed, angular acceleration
Change be easier to monitor and observe, relative to normal operating condition, angular acceleration can undergo mutation during skidding, i.e. angular acceleration
Rate of change can be more than predetermined threshold value.Predetermined threshold value can be according in wheeled mobile robot history log, when normally running
Rate of angular acceleration determine, it is also possible to determined according to experiment.Predetermined threshold value can be updated according to actual needs, can
The predetermined threshold value after updating is issued to wheeled mobile robot with from server.
In some optional implementations of the present embodiment, method also includes：In response to determining that skidding occurs in driving wheel
Phenomenon, control driving element reduces driving moment.
In this implementation, driving moment can be reduced according to the rule for pre-setting, for example, the numerical value of angular acceleration
When within a certain range, reduce a certain size driving moment, it is also possible to which the amplitude according to pre-setting progressively reduces driving force
Square, until rate of angular acceleration is not more than predetermined threshold value.Reduce driving moment by controlling driving element, further avoid
The problem of wheeled mobile robot operational efficiency reduction caused by the idle running of driving wheel original place.
In some optional implementations of the present embodiment, method also includes：Output valve according to the device that tests the speed determines to drive
The angular acceleration of driving wheel；According to angular acceleration, the rate of angular acceleration pass corresponding with driving moment correction value for pre-setting
System, determines angular acceleration and the corresponding driving moment correction value of rate of angular acceleration；Control driving element provide according to really
The fixed revised driving moment of driving moment correction value.
In this implementation, the corresponding relation of angular acceleration, rate of angular acceleration and driving moment correction value can be with
It is stored in advance in the storage medium of wheeled mobile robot, or is obtained from server.Server can be according to wheel type mobile
The corresponding relation of angular acceleration, rate of angular acceleration and driving moment in robot history log during normal operation,
The size of driving moment during determining normally to run, control device can accordingly correct the driving moment of current drive part offer
Size.Further, since moment of friction is (thick with the material character and surface appearance of driving wheel load, driving wheel and operation area
Rough degree, humidity etc.) it is relevant, so determining the drive of wheeled mobile robot also dependent on driving wheel load, and its operation area
Kinetic moment correction value.
In some optional implementations of the present embodiment, wheeled mobile robot also includes other drives in addition to driving wheel
Driving wheel；And method also includes：According to driving moment correction value, the driving moment adjustment of the driving element of other driving wheels is determined
Value, wherein, when wheeled mobile robot is Mobile Robot Based on Two Driving Wheels and during in steering state, driving moment adjusted value with
Driving moment correction value size is identical, positive and negative conversely, when wheeled mobile robot is for Mobile Robot Based on Two Driving Wheels and in non-
During steering state, driving moment adjusted value is identical with driving moment correction value.
In this implementation, because wheeled mobile robot needs to keep certain motion state (turn or keep straight on),
So in addition to the driving wheel that have adjusted driving moment, other driving wheels are also required to be adjusted correspondingly.With Two-wheeled
As a example by mobile robot, its chassis wheel distribution can be with as shown in figure 4, be provided with Mobile Robot Based on Two Driving Wheels chassis 401
Four driven pulleys 4011, and two driving wheels 4012.Driven pulley 4011 can make the operation of robot more steady.Two-wheeled is moved
Mobile robot can use Differential Control, that is, the velocity magnitude direction of two driving wheels is identical when keeping straight on, two during pivot stud
Wheel speed size is identical, in the opposite direction.Therefore, when the driving moment of one driving wheel of adjustment, also will be in another driving wheel
On correspondingly issue size identical adjustment amount.Wherein, adjustment amount direction is identical during straight trip, in opposite direction during steering.
In some optional implementations of the present embodiment, wheeled mobile robot also includes communication device；And method
Also include：The service data of wheeled mobile robot is uploaded to by destination server by communication device, wherein, service data bag
Include it is following at least one：The angular speed of driving wheel, the angular acceleration of driving wheel, the rate of angular acceleration of driving wheel, driver
The response speed of part, destination server is repaiied for obtaining service data, and being issued to wheeled mobile robot according to service data
The corresponding relation of angular acceleration, rate of angular acceleration and driving moment correction value after changing.
In this implementation, destination server is the background server of wheeled mobile robot, such as clothes shown in Fig. 1
Business device, by the actual service data of server feedback so that server can adjust above-mentioned corresponding relation, further optimization
For the control of wheeled mobile robot.
In some optional implementations of the present embodiment, wheeled mobile robot is transfer robot, and service data is also
The load information of run location information and transfer robot including transfer robot, destination server is additionally operable to conveying robot
People issues the threshold value of the driving moment that the driving element determined according to service data is provided；And method also includes：Receive and drive
The threshold value of torque；Control driving element provides the driving moment of the threshold value less than driving moment.
In this implementation, due to the changing load of transfer robot, and it is needed to adapt in various new and old warehouses not
With flatness and the ground of roughness, so its ruuning situation is complex, the run location information according to transfer robot and
Load information determines the threshold value of its driving moment, can prevent it from skidding occur.
The method that above-described embodiment of the application is provided determines the angular acceleration of driving wheel according to the output valve of the device that tests the speed
Rate of change, then in response to determining rate of angular acceleration more than predetermined threshold value, determines that skidding occurs in driving wheel, improves
Determine whether the driving wheel of wheeled mobile robot the efficiency of skidding occurs.
Fig. 6 is refer to, Fig. 6 is another embodiment of the control method of the wheeled mobile robot according to the present embodiment
Schematic flow sheet.
In figure 6, the flow 600 of the control method of the wheeled mobile robot, comprises the following steps：
Step 601, the output valve according to the device that tests the speed determines the rate of angular acceleration of driving wheel.
In the present embodiment, wheeled mobile robot includes driving wheel, the setting device that tests the speed on the drive wheel, is to drive
Wheel provides the driving element of driving moment, and the control method of wheeled mobile robot runs electronic equipment (such as Fig. 1 thereon
Shown control device) rate of angular acceleration of driving wheel can be determined according to the output valve of the device that tests the speed.
Step 602, in response to determining rate of angular acceleration more than predetermined threshold value, determines that skidding now occurs in driving wheel
As.
In the present embodiment, above-mentioned electronic equipment can be more than in response to the rate of angular acceleration determined in step 601
Predetermined threshold value, determines that skidding occurs in driving wheel.
Step 603, timing acquisition angular speed, angular velocity carries out differential calculation and obtains angular acceleration and angular acceleration change
Rate.
In the present embodiment, above-mentioned electronic equipment can be with timing acquisition angular speed, and angular velocity carries out differential calculation and obtains
Angular acceleration and rate of angular acceleration.As shown in figure 5, it illustrates the logical process to Control of Wheeled Mobile Robots.T is
Original driving moment input value, in each controlling cycle, angular velocity omega is fed back to comparator by the device that tests the speed, and heap is put into by it
Stack, and carry out differential calculation and obtain angular accelerationAnd rate of angular acceleration
Step 604, according to fuzzy control rule table, determines angular acceleration and the corresponding driving moment of rate of angular acceleration
Correction value.
In the present embodiment, above-mentioned electronic equipment can determine the angle obtained in step 603 according to fuzzy control rule table
Acceleration and the corresponding driving moment correction value of rate of angular acceleration.Angular accelerationAnd rate of angular accelerationTo make
It is the input of fuzzy controller, first passes around Fuzzy processing, after carrying out fuzzy reasoning according to fuzzy control rule, provides fuzzy
Output quantity, last ambiguity solution obtains driving moment correction value Δ T, and it will correct driving moment input value T as negative-feedback, from
And realize the control to wheeled mobile robot.
Wherein, each input variableDivide according to its respective domain in fuzzy controller with output variable Δ T
Ding Yi not 7 linguistic variable values:Negative big (NB), it is negative in (NM), bear small (NS), zero (ZE), just small (PS), center (PM), honest
(PB).Fuzzy control rule table is as follows：
Table 1
In actual mechanical process, can be according to wheeled mobile robot ruuning situation and the response condition pair of drive device
Fuzzy control rule table is suitably adjusted.After fuzzy controller carries out fuzzy reasoning according to rule, defuzzification is carried out
Obtain the adjusted value of driving moment.Under normal circumstances, once detecting that skidding occurs in driving wheel, control device can all reduce input
Driving driving moment, no more than the maximum resistance square that ground can be provided.And work as driving wheel and meet with obstruction, can also equally fit
When driving moment is increased, robot is set more smoothly to pass through process point.
Step 601 to step 602 realize details and technique effect may be referred to step 201 to step 202 in explanation,
Will not be repeated here.
From fig. 6 it can be seen that compared with the corresponding embodiments of Fig. 2, the control of the wheeled mobile robot in the present embodiment
The flow 600 of method processed highlights the fuzzy control step to wheeled mobile robot.Thus, the scheme that the present embodiment is described is more
Good ensure that wheeled mobile robot is smoothly run by planned course.
With further reference to Fig. 7, as the realization to the above method, this application provides a kind of control of wheeled mobile robot
One embodiment of device processed, the device embodiment is corresponding with the embodiment of the method shown in Fig. 2, and the device can specifically be applied
In various electronic equipments.
As shown in fig. 7, the control device 700 of the wheeled mobile robot of the present embodiment includes：The He of first determining unit 701
Second determining unit 702, wherein, the first determining unit 701, for determining that the angle of driving wheel adds according to the output valve of the device that tests the speed
Percentage speed variation；Second determining unit 702, in response to determining rate of angular acceleration more than predetermined threshold value, it is determined that driving
There is skidding in driving wheel.
In the present embodiment, the specific treatment of the first determining unit 701 and the second determining unit 702 may be referred to Fig. 2 pairs
The detailed description of embodiment step 201 and step 202 is answered, be will not be repeated here.
In some optional implementations of the present embodiment, device also includes：First control unit (not shown), uses
In in response to determining that skidding occurs in driving wheel, control driving element reduces driving moment.
In some optional implementations of the present embodiment, device also includes：3rd determining unit (not shown), uses
In the angular acceleration that driving wheel is determined according to the output valve of the device that tests the speed；4th determining unit (not shown), for basis
The corresponding relation of the angular acceleration, rate of angular acceleration and driving moment correction value that pre-set, determines angular acceleration and angle
The corresponding driving moment correction value of rate of acceleration change；Second control unit (not shown), for controlling driving element to carry
For the driving moment revised driving moment of correction value according to determined by.
In some optional implementations of the present embodiment, the device that tests the speed is used for measurement and output driving at predetermined time intervals
The angular speed of wheel, corresponding relation is stored in fuzzy control rule table；And the 4th determining unit (not shown), further
It is configured to：Timing acquisition angular speed, angular velocity carries out differential calculation and obtains angular acceleration and rate of angular acceleration；According to
Fuzzy control rule table, determines angular acceleration and the corresponding driving moment correction value of rate of angular acceleration.
In some optional implementations of the present embodiment, wheeled mobile robot also includes other drives in addition to driving wheel
Driving wheel；And device also includes：5th determining unit (not shown), for according to driving moment correction value, determining wheeled
The driving moment adjusted value of the driving element of other driving wheels in mobile robot in addition to driving wheel, wherein, work as wheel type mobile
The artificial Mobile Robot Based on Two Driving Wheels of machine and during in steering state, driving moment adjusted value and driving moment correction value size
It is identical, it is positive and negative conversely, when wheeled mobile robot is Mobile Robot Based on Two Driving Wheels and during in non-steering state, driving moment
Adjusted value is identical with driving moment correction value.
In some optional implementations of the present embodiment, wheeled mobile robot also includes communication device；And device
Also include：Uploading unit (not shown), for being uploaded to the service data of wheeled mobile robot by communication device
Destination server, wherein, service data include it is following at least one：The angular speed of driving wheel, the angular acceleration of driving wheel, driving
The rate of angular acceleration of wheel, the response speed of driving element, destination server are used to obtain service data, and to wheel type mobile
Robot is issued according to the amended angular acceleration of service data, rate of angular acceleration pass corresponding with driving moment correction value
System.
In some optional implementations of the present embodiment, wheeled mobile robot is transfer robot, and service data is also
The load information of run location information and transfer robot including transfer robot, destination server is additionally operable to conveying robot
People issues the threshold value of the driving moment that the driving element determined according to service data is provided；And device also includes：Receiving unit
(not shown), the threshold value for receiving driving moment；3rd control unit (not shown), for controlling driving element
The driving moment of the threshold value less than driving moment is provided.
It can be seen from figure 7 that the control device 700 of wheeled mobile robot is according to the defeated of the device that tests the speed in the present embodiment
Go out the rate of angular acceleration that value determines driving wheel, be then more than predetermined threshold value in response to determining rate of angular acceleration, really
Determine driving wheel and skidding occur, improve and determine whether the driving wheel of wheeled mobile robot the efficiency of skidding occurs.
Below with reference to Fig. 8, it illustrates the computer system for being suitable to the control device device for realizing the embodiment of the present application
800 structural representation.Control device shown in Fig. 8 is only an example, to the function of the embodiment of the present application and should not be made
With range band come any limitation.
As shown in figure 8, computer system 800 includes CPU (CPU) 801, it can be according to storage read-only
Program in memory (ROM) 802 or be loaded into program in random access storage device (RAM) 803 from storage part 808 and
Perform various appropriate actions and treatment.In RAM 803, the system that is also stored with 800 operates required various programs and data.
CPU 801, ROM 802 and RAM 803 are connected with each other by bus 804.Input/output (I/O) interface 805 is also connected to always
Line 804.
I/O interfaces 805 are connected to lower component：Including the importation 806 of keyboard, mouse etc.；Penetrated including such as negative electrode
The output par, c 807 of spool (CRT), liquid crystal display (LCD) etc. and loudspeaker etc.；Storage part 808 including hard disk etc.；
And the communications portion 809 of the NIC including LAN card, modem etc..Communications portion 809 via such as because
The network of spy's net performs communication process.Driver 810 is also according to needing to be connected to I/O interfaces 806.Detachable media 811, such as
Disk, CD, magneto-optic disk, semiconductor memory etc., as needed on driver 810, in order to read from it
Computer program be mounted into as needed storage part 808.
Especially, in accordance with an embodiment of the present disclosure, the process above with reference to flow chart description may be implemented as computer
Software program.For example, embodiment of the disclosure includes a kind of computer program product, it includes being carried on computer-readable medium
On computer program, the computer program includes the program code for the method shown in execution flow chart.In such reality
Apply in example, the computer program can be downloaded and installed by communications portion 809 from network, and/or from detachable media
811 are mounted.When the computer program is performed by CPU (CPU) 801, limited in execution the present processes
Above-mentioned functions.It should be noted that computer-readable medium described herein can be computer-readable signal media or
Computer-readable recording medium or the two are combined.Computer-readable recording medium for example can be --- but
Be not limited to --- the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device or device, or it is any more than combination.
The more specifically example of computer-readable recording medium can be included but is not limited to：Electrical connection with one or more wires,
Portable computer diskette, hard disk, random access storage device (RAM), read-only storage (ROM), erasable type may be programmed read-only depositing
Reservoir (EPROM or flash memory), optical fiber, portable compact disc read-only storage (CD-ROM), light storage device, magnetic memory
Part or above-mentioned any appropriate combination.In this application, computer-readable recording medium can be it is any comprising or storage
The tangible medium of program, the program can be commanded execution system, device or device and use or in connection.And
In the application, computer-readable signal media can include believing in a base band or as the data that a carrier wave part is propagated
Number, wherein carrying computer-readable program code.The data-signal of this propagation can take various forms, including but not
It is limited to electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be computer
Any computer-readable medium beyond readable storage medium storing program for executing, the computer-readable medium can send, propagate or transmit use
In by the use of instruction execution system, device or device or program in connection.Included on computer-readable medium
Program code any appropriate medium can be used to transmit, including but not limited to：Wirelessly, electric wire, optical cable, RF etc., Huo Zheshang
Any appropriate combination stated.
Flow chart and block diagram in accompanying drawing, it is illustrated that according to the system of the various embodiments of the application, method and computer journey
The architectural framework in the cards of sequence product, function and operation.At this point, each square frame in flow chart or block diagram can generation
One part for unit, program segment or code of table a, part for the unit, program segment or code includes one or more
Executable instruction for realizing the logic function of regulation.It should also be noted that in some realizations as replacement, institute in square frame
The function of mark can also occur with different from the order marked in accompanying drawing.For example, two square frame reality for succeedingly representing
On can perform substantially in parallel, they can also be performed in the opposite order sometimes, and this is depending on involved function.Also
It is noted that the combination of the square frame in each square frame and block diagram and/or flow chart in block diagram and/or flow chart, Ke Yiyong
Perform the function of regulation or the special hardware based system of operation to realize, or can be referred to computer with specialized hardware
The combination of order is realized.
Being described in involved unit in the embodiment of the present application can be realized by way of software, it is also possible to by hard
The mode of part is realized.Described unit can also be set within a processor, for example, can be described as：A kind of processor bag
Include the first determining unit, the second determining unit.Wherein, the title of these units is not constituted to the unit sheet under certain conditions
The restriction of body, for example, the first determining unit is also described as, and " output valve according to the device that tests the speed determines that the angle of driving wheel adds
The unit of percentage speed variation ".
As on the other hand, present invention also provides a kind of nonvolatile computer storage media, the non-volatile calculating
Machine storage medium can be the nonvolatile computer storage media included in device described in above-described embodiment；Can also be
Individualism, without the nonvolatile computer storage media allocated into control device.Above-mentioned non-volatile computer storage is situated between
Matter is stored with one or more program, when one or more of programs are performed by an equipment so that the equipment：
Output valve according to the device that tests the speed determines the rate of angular acceleration of driving wheel；In response to determining that rate of angular acceleration is more than
Predetermined threshold value, determines that skidding occurs in driving wheel.
Above description is only the preferred embodiment and the explanation to institute's application technology principle of the application.People in the art
Member is it should be appreciated that involved invention scope in the application, however it is not limited to the technology of the particular combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where the inventive concept is not departed from, is carried out by above-mentioned technical characteristic or its equivalent feature
Other technical schemes for being combined and being formed.Such as features described above has similar work(with (but not limited to) disclosed herein
The technical scheme that the technical characteristic of energy is replaced mutually and formed.
Claims (16)
1. a kind of control method of wheeled mobile robot, the wheeled mobile robot includes driving wheel, is arranged on the drive
The device that tests the speed on driving wheel, the driving element of driving moment is provided for the driving wheel, it is characterised in that methods described includes：
Output valve according to the device that tests the speed determines the rate of angular acceleration of the driving wheel；
In response to determining that the rate of angular acceleration, more than predetermined threshold value, determines that skidding occurs in the driving wheel.
2. method according to claim 1, it is characterised in that methods described also includes：
In response to determining that skidding occurs in the driving wheel, the driving element is controlled to reduce the driving moment.
3. method according to claim 1, it is characterised in that methods described also includes：
Output valve according to the device that tests the speed determines the angular acceleration of the driving wheel；
According to the angular acceleration, rate of angular acceleration and the corresponding relation of driving moment correction value that pre-set, it is determined that described
Angular acceleration and the corresponding driving moment correction value of the rate of angular acceleration；
The driving element is controlled to provide the driving moment revised driving moment of correction value according to determined by.
4. method according to claim 3, it is characterised in that the device that tests the speed is for measurement at predetermined time intervals and defeated
Go out the angular speed of the driving wheel, the corresponding relation storage is in fuzzy control rule table；And
The corresponding relation of angular acceleration, rate of angular acceleration and driving moment correction value that the basis pre-sets, it is determined that
The angular acceleration and the corresponding driving moment correction value of the rate of angular acceleration, including：
Angular speed described in timing acquisition, carries out differential calculation and obtains angular acceleration and rate of angular acceleration to the angular speed；
According to the fuzzy control rule table, the angular acceleration and the corresponding driving moment of the rate of angular acceleration are determined
Correction value.
5. according to the methods described of claim 3 or 4, it is characterised in that the wheeled mobile robot also includes removing the driving
Other driving wheels outside wheel；And
Methods described also includes：
According to the driving moment correction value, it is determined that the driving moment adjusted value of the driving element of other driving wheels, wherein,
When the wheeled mobile robot is Mobile Robot Based on Two Driving Wheels and during in steering state, the driving moment adjusted value with
The driving moment correction value size is identical, positive and negative conversely, when the wheeled mobile robot is Mobile Robot Based on Two Driving Wheels
And during in non-steering state, the driving moment adjusted value is identical with the driving moment correction value.
6. the method according to claim 3 or 4, it is characterised in that the wheeled mobile robot also includes communication device；
And
Methods described also includes：
The service data of the wheeled mobile robot is uploaded to by destination server by the communication device, wherein, it is described
Service data include it is following at least one：The angular speed of driving wheel, the angular acceleration of driving wheel, the angular acceleration change of driving wheel
Rate, the response speed of driving element, the destination server are used to obtain the service data, and under wheeled mobile robot
Root of hair according to the amended angular acceleration of the service data, rate of angular acceleration and driving moment correction value corresponding relation.
7. method according to claim 6, it is characterised in that the wheeled mobile robot is transfer robot, described
The load information of run location information and the transfer robot of the service data also including the transfer robot, the target
Server is additionally operable to issue the driving moment that the driving element determined according to the service data is provided to the transfer robot
Threshold value；And
Methods described also includes：
Receive the threshold value of the driving moment；
The driving element is controlled to provide the driving moment of the threshold value less than the driving moment.
8. a kind of control device of wheeled mobile robot, the wheeled mobile robot includes driving wheel, is arranged on the drive
The device that tests the speed on driving wheel, the driving element of driving moment is provided for the driving wheel, it is characterised in that described device includes：
First determining unit, the output valve for the device that tested the speed according to determines the rate of angular acceleration of the driving wheel；
Second determining unit, in response to determining that the rate of angular acceleration, more than predetermined threshold value, determines the driving
There is skidding in wheel.
9. device according to claim 8, it is characterised in that described device also includes：
First control unit, in response to determining that skidding occurs in the driving wheel, controlling the driving element to reduce
The driving moment.
10. device according to claim 8, it is characterised in that described device also includes：
3rd determining unit, the output valve for the device that tested the speed according to determines the angular acceleration of the driving wheel；
4th determining unit, for according to angular acceleration, rate of angular acceleration and the driving moment correction value for pre-setting
Corresponding relation, determines the angular acceleration and the corresponding driving moment correction value of the rate of angular acceleration；
Second control unit, for controlling the driving element to provide the driving moment revised drive of correction value according to determined by
Kinetic moment.
11. devices according to claim 10, it is characterised in that the device that tests the speed for measuring simultaneously at predetermined time intervals
The angular speed of the driving wheel is exported, the corresponding relation storage is in fuzzy control rule table；And
4th determining unit, is further configured to：
Angular speed described in timing acquisition, carries out differential calculation and obtains angular acceleration and rate of angular acceleration to the angular speed；
According to the fuzzy control rule table, the angular acceleration and the corresponding driving moment of the rate of angular acceleration are determined
Correction value.
12. according to the described device of claim 10 or 11, it is characterised in that the wheeled mobile robot also includes removing the drive
Other driving wheels outside driving wheel；And
Described device also includes：
5th determining unit, for according to the driving moment correction value, determining to remove the drive in the wheeled mobile robot
The driving moment adjusted value of the driving element of other driving wheels outside driving wheel, wherein, when the wheeled mobile robot is two-wheel
Drive mobile robot and during in steering state, the driving moment adjusted value and the driving moment correction value size phase
Together, it is positive and negative conversely, when the wheeled mobile robot is Mobile Robot Based on Two Driving Wheels and during in non-steering state, the drive
Kinetic moment adjusted value is identical with the driving moment correction value.
13. device according to claim 10 or 11, it is characterised in that the wheeled mobile robot also includes communicator
Part；And
Described device also includes：
Uploading unit, for the service data of the wheeled mobile robot to be uploaded into destination service by the communication device
Device, wherein, the service data include it is following at least one：The angular speed of driving wheel, the angular acceleration of driving wheel, driving wheel
Rate of angular acceleration, the response speed of driving element, the destination server are used to obtain the service data, and to wheeled
Mobile robot is issued according to the amended angular acceleration of the service data, rate of angular acceleration and driving moment correction value
Corresponding relation.
14. devices according to claim 13, it is characterised in that the wheeled mobile robot is transfer robot, institute
State the load information of run location information and the transfer robot of the service data also including the transfer robot, the mesh
Mark server is additionally operable to issue the driving force that the driving element determined according to the service data is provided to the transfer robot
The threshold value of square；And
Described device also includes：
Receiving unit, the threshold value for receiving the driving moment；
3rd control unit, for controlling the driving element to provide the driving moment of the threshold value less than the driving moment.
A kind of 15. wheeled mobile robots, it is characterised in that including：
One or more processors；
Storage device, for storing one or more programs；
Driving wheel, the device that tests the speed is provided with the driving wheel；
Driving element, for providing driving moment for the driving wheel；
When one or more of programs are by one or more of computing devices so that one or more of processor realities
The existing method as described in any in claim 1-7.
A kind of 16. computer-readable recording mediums, are stored thereon with computer program, it is characterised in that the program is by processor
The method as described in any in claim 1-7 is realized during execution.
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| 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 |
Applications Claiming Priority (1)
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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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| CN106933229B CN106933229B (en) | 2020-06-05 |
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| CN110031019A (en) * | 2019-04-18 | 2019-07-19 | 北京智行者科技有限公司 | A kind of skidding detection processing method for automatic driving vehicle |
| 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 |
| CN112971643A (en) * | 2019-12-17 | 2021-06-18 | 科沃斯机器人股份有限公司 | Detection method, robot, and storage medium |
| CN114895663A (en) * | 2022-03-03 | 2022-08-12 | 上海飒智智能科技有限公司 | Mobile robot slip identification method and control method |
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Also Published As
| Publication number | Publication date |
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| CN106933229B (en) | 2020-06-05 |
| WO2018188583A1 (en) | 2018-10-18 |
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