CN114995382A - Robot-based tilt control method and control system - Google Patents
Robot-based tilt control method and control system Download PDFInfo
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- CN114995382A CN114995382A CN202210447832.2A CN202210447832A CN114995382A CN 114995382 A CN114995382 A CN 114995382A CN 202210447832 A CN202210447832 A CN 202210447832A CN 114995382 A CN114995382 A CN 114995382A
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of 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
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- 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
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Abstract
The invention discloses a robot-based tilt control method and a robot-based tilt control system, wherein the robot-based tilt control method comprises the following steps: acquiring collision signals of driving wheels of the robot, and monitoring collision directions of the collision signals; adjusting the moving direction of a moving module of the robot based on the collision direction; adjusting the moving position of the moving module relative to the annular area according to the offset angle of the driving wheel in the collision signal; when the mobile module is positioned relative to the annular area, detecting the suspension distance between the center of the robot and the ground by a sensor at the bottom of the robot; outputting the suspension distance to a preset suspension learning model, regulating and controlling a first driving speed of a driving wheel in the robot, wherein the driving wheel is in contact with the ground, and forming a speed stabilizing system based on the first driving speed and the driving speeds of other driving wheels; and forming an auxiliary force falling forwards and downwards for the robot according to the speed stabilizing system, and assisting the robot to land stably based on the auxiliary force.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a tilt control method and a tilt control system based on a robot.
Background
Along with the development of science and technology, the robot removes for ground to the roll of drive wheel for ground, the speed regulation is carried out through the speed of control drive wheel to the robot, and in prior art, the robot carries out the deceleration to the speed of drive wheel when colliding the barrier, so that reduce the unsettled degree of robot after the collision, however, the robot is not carrying out relevant unsettled measure in the unsettled stage after the collision, leads to current robot can't land steadily after the collision.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a robot-based tilt control method and a robot-based tilt control system.
In order to solve the above technical problem, an embodiment of the present invention provides a tilt control method based on a robot, including: acquiring a collision signal of a driving wheel of the robot, and monitoring the collision direction of the collision signal; regulating and controlling the moving direction of a moving module of the robot based on the collision direction; adjusting the moving position of the moving module relative to the annular area according to the offset angle of the driving wheel in the collision signal; detecting, by a sensor at a bottom of the robot, a levitation distance between a center of the robot and a ground surface while the mobile module is positioned relative to the annular region; outputting the suspension distance to a preset suspension learning model, regulating and controlling a first driving speed of a driving wheel in the robot, wherein the driving wheel is in contact with the ground, and forming a speed stable system based on the first driving speed and the driving speeds of other driving wheels; and forming an auxiliary force falling forwards and downwards for the robot according to the speed stabilizing system, and assisting the robot to land stably on the ground based on the auxiliary force.
In addition, an embodiment of the present invention further provides a tilt control system based on a robot, including: an acquisition module: the collision monitoring system is used for acquiring collision signals of driving wheels of the robot and monitoring the collision directions of the collision signals; a regulation module: a movement direction of a movement module for regulating the robot based on the collision direction; an adjusting module: the moving module is used for adjusting the moving position of the moving module relative to the annular area according to the offset angle of the driving wheel in the collision signal; a detection module: a sensor for detecting a levitation distance between a center of the robot and a ground surface when the mobile module is positioned relative to the ring-shaped area; a smoothing module: the suspension distance is output to a preset suspension learning model, a first driving speed of a driving wheel in contact with the ground in the robot is regulated and controlled, and a speed stabilizing system is formed based on the first driving speed and the driving speeds of other driving wheels; an auxiliary force module: the auxiliary force is used for forming forward and downward falling auxiliary force for the robot according to the speed stabilizing system, and the robot is assisted to land stably on the ground based on the auxiliary force.
In the embodiment of the invention, by the method in the embodiment of the invention, the moving module adjusts the moving direction of the moving module relative to the annular area according to the collision direction of the collision signal, adjusts the moving position of the moving module relative to the annular area according to the offset angle of the driving wheel, so that the moving module can rapidly take a measure of gravity center adjustment when the driving wheel collides, so that the moving module can adjust the suspension of the robot after the collision based on different positions of the annular area, reduce the suspension height of the robot after the collision, and perform speed regulation and control on the first driving speed by combining the suspension distance and a preset suspension learning model, the first driving speed and other driving speeds form an auxiliary force for the robot to fall downwards forwards according to a speed stationary system, and assist the robot to land stably based on the auxiliary force, thereby further ensuring the landing stability of the robot after the collision, so that different trim adjustments are made on a multi-stage basis.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow diagram of a robot-based tilt control method in an embodiment of the invention;
FIG. 2 is a schematic flow chart of a collision signal of a robot-based tilt control method in an embodiment of the present invention;
FIG. 3 is a flow chart illustrating the direction of movement of a robot-based tilt control method in an embodiment of the present invention;
FIG. 4 is a schematic flow diagram of the movement positions of a robot-based tilt control method in an embodiment of the present invention;
FIG. 5 is a schematic diagram of the structural components of a robot-based tilt control system in an embodiment of the present invention;
FIG. 6 is a hardware diagram illustrating an electronic device according to an example embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
Referring to fig. 1 to 4, a method for controlling a tilt based on a robot includes:
s11: acquiring a collision signal of a driving wheel of the robot, and monitoring the collision direction of the collision signal;
in the specific implementation process of the invention, the specific steps can be as follows:
s111: the driving wheels of the robot are in universal connection with the base of the robot, when the driving wheels of the robot touch an obstacle, the driving wheels are turned outwards relative to the base, and the driving direction of the driving wheels is converted from a first driving direction to a second driving direction;
s112: triggering the collision signal based on the second driving direction, recording the second driving direction and the collision force, and decomposing the collision force according to the second driving direction to output the overturning force of the robot;
s113: and predicting the overturning track of the robot according to the overturning force, and recording the overturning track and the collision direction.
The driving wheel is in universal connection with the base of the robot, so that the deflection direction of the driving wheel can perform collision induction between the driving wheel and an obstacle, at the moment, when the driving wheel of the robot touches the obstacle, the driving wheel is outwards overturned relative to the base, the driving direction of the driving wheel is converted from a first driving direction to a second driving direction, and therefore the collision condition between the robot and the obstacle can be better detected.
S12: regulating and controlling the moving direction of a moving module of the robot based on the collision direction;
in the specific implementation process of the invention, the specific steps can be as follows:
s121: marking collision positions of the driving wheels, and taking the collision positions of the driving wheels as suspended starting points of the robot;
s122: monitoring the change of the collision direction along the suspension starting point, and creating a suspension model of the robot by combining the overturning track of the robot;
s123: inputting the collision direction into the suspension model, and outputting the suspension trend direction of the robot according to the wind direction of the environment where the robot is located;
s124: and determining the action trend of the robot based on the suspension trend direction, triggering the moving module according to the action trend of the robot, and moving the moving module along the reverse direction of the suspension trend direction and moving the moving module to the highest point in the annular area relative to the reverse direction of the suspension trend direction.
The robot comprises a collision direction input module, a suspension model input module, a robot turning track input module, a turning track of a robot, a turning track of a robot, which turning track of a robot can be introduced in which turning track is taken as a wind direction of a robot, can be introduced in which is introduced in an environment in which is introduced in which the robot can be introduced in which is located in which the robot is located under sufficient external conditions is located in which the robot is located in which is located, is located so that the robot, is so that the robot is located is so that the robot is located so that the.
In addition, the action trend of the robot is determined based on the suspension trend direction, the moving module is triggered according to the action trend of the robot, the moving module moves along the reverse direction of the suspension trend direction and moves to the highest point of the annular region relative to the reverse direction of the suspension trend direction, at the moment, the moving module occupies the highest point of the annular region relative to the reverse direction of the suspension trend direction and can be adjusted based on each position of the annular region, so that the moving module can move in multiple directions, and the adjustment of the moving module can overcome multiple suspension conditions in the robot.
S13: adjusting the moving position of the moving module relative to the annular area according to the offset angle of the driving wheel in the collision signal;
in the specific implementation process of the invention, the specific steps can be as follows:
s131: measuring an offset angle of the drive wheel based on the second travel direction and the first travel direction;
s132: dynamically monitoring an orientation of the drive wheel during suspension of the robot and further adjusting an offset angle of the drive wheel based on the orientation to output an actual offset angle;
s133: performing trigonometric operation on the actual offset angle, and performing horizontal direction and vertical direction decomposition on the actual offset angle to measure and calculate the horizontal distance and the vertical distance of the robot in the horizontal direction;
s134: adjusting the moving position of the moving module relative to the annular area according to the horizontal distance and the vertical distance, wherein the moving module can move in the annular area at a plurality of angles, a positioning point is determined along a preset horizontal distance-vertical distance curve, and the positioning point is mapped to the annular area;
s135: the positioning points are not in the same position relative to the mapping of the annular region as the robot is suspended.
And adjusting the offset angle of the driving wheel based on the orientation, calibrating based on the offset angle so as to output an actual offset angle, wherein the robot can perform a trigonometric operation according to the actual offset angle to calculate the actual distance of the robot relative to the ground, and the actual offset angle is decomposed in the horizontal direction and the vertical direction so as to measure and calculate the horizontal distance and the vertical distance of the robot in the horizontal direction and the vertical direction.
In addition, the moving position of the mobile module relative to the annular area is adjusted according to the horizontal distance and the vertical distance, at the moment, the mobile module can move in the annular area at multiple angles, positioning points are determined along a preset horizontal distance-vertical distance curve and are mapped to the annular area, the mobile module performs directional movement based on the positioning points and stays at the positioning points, so that the mobile module continuously presses the robot at the positioning points, and in addition, the positioning points are not mapped at the same position relative to the annular area along with the suspension of the robot, so that the moving position of the mobile module is adjusted according to different suspension states, and the robot is effectively acted in real time.
S14: detecting, by a sensor at a bottom of the robot, a levitation distance between a center of the robot and a ground surface while the mobile module is positioned relative to the annular region;
in the specific implementation process of the invention, the specific steps can be as follows: the mobile module moves to the positioning point in the annular area and stays relative to the positioning point; the moving module continuously presses down the robot based on the positioning points and adjusts the inclination state of the robot; triggering a sensor at the bottom of the robot based on the stay time of the mobile module, wherein the sensor is adjusted from a standby state to a detection state; the sensor in a detection state detects the suspension distance between the center of the robot and the ground; acquiring an inclination angle of the robot relative to the ground, and regulating and controlling the levitation distance based on the inclination angle to output an actual levitation distance; and if the variation of the levitation distance is larger than a preset variation threshold, re-measuring the center of the robot in an inclined state.
The mobile module continuously presses down the robot based on the positioning point and adjusts the inclination state of the robot, at the moment, the robot continuously slows down the inclination degree under the positioning position and the pressing-down action of the mobile module, and triggers the sensor at the bottom of the robot based on the staying time of the mobile module, so that the sensor can detect under a preset condition, detect the suspension distance between the center of the robot and the ground, and regulate and control the suspension distance based on the inclination angle to output the actual suspension distance.
In addition, if the variation of the levitation distance is larger than a preset variation threshold, the center of the robot is measured and calculated again in the inclined state, so that the center can be measured and calculated again, and the inclination degree of the robot can be calculated again conveniently.
S15: outputting the suspension distance to a preset suspension learning model, regulating and controlling a first driving speed of a driving wheel in the robot, wherein the driving wheel is in contact with the ground, and forming a speed stable system based on the first driving speed and the driving speeds of other driving wheels;
in the specific implementation process of the invention, the specific steps comprise: taking a past levitation distance and a past first driving speed as data packets, wherein the levitation distance and the first driving speed in the data packets are in one-to-one correspondence; training based on a plurality of data packets, and outputting the preset suspension learning model; outputting the levitation distance to a preset levitation learning model, and performing calculation of a first driving speed based on the preset levitation learning model; regulating the speed of a driving wheel in contact with the ground in the robot based on the first driving speed, and taking the first driving speed as the actual speed of the driving wheel; regulating and controlling the driving speeds of other driving wheels by taking the first driving speed as a center, and maintaining the relation between the first driving speed and other driving speeds in the speed smooth system; and taking the center of the robot as reference data, and regulating and controlling the speed stabilizing system to realize self-learning of the speed stabilizing system.
S16: and forming an auxiliary force falling forwards and downwards for the robot according to the speed stabilizing system, and assisting the robot to land stably on the ground based on the auxiliary force.
In the specific implementation process of the invention, the specific steps comprise: regulating and controlling the driving speeds of other driving wheels according to the speed stabilizing system; a speed difference based on the driving speed of the other driving wheel and the first driving speed as a speed variation amount; taking the speed variation as the acceleration of the assist force, and adjusting the acting force direction of the assist force based on the variation direction of the speed variation; an assist force that falls forward and downward is formed based on the acceleration of the assist force and the acting force direction of the assist force, and the robot is assisted to land smoothly based on the assist force.
The robot-based tilt control method further comprises: detecting a falling speed of the robot; embedding the falling speed as a balance parameter in the assisting force based on the balance parameter to optimize the assisting force; taking the optimized auxiliary force as the actual falling force of the robot, wherein the direction of the auxiliary force is vertical to the ground; the driving wheel of the robot is in contact with the ground, and then the moving position of the moving module is adjusted; adjusting a falling force of the robot based on the change in the position of the moving module.
In the embodiment of the invention, by the method in the embodiment of the invention, the moving module adjusts the suspension of the robot after collision based on different positions of the annular region, the suspension height of the robot after collision is reduced, the speed regulation and control are carried out on the first driving speed by combining the suspension distance and the preset suspension learning model, the first driving speed and other driving speeds form the auxiliary force falling forwards and downwards on the robot based on the speed stabilizing system, and the robot is assisted to stably land based on the auxiliary force, so that the land stability of the robot after collision is further ensured, and different stable adjustments are conveniently carried out based on multiple stages.
Examples
Referring to fig. 5, fig. 5 is a schematic structural diagram of a robot-based tilt control system according to an embodiment of the present disclosure.
As shown in fig. 5, a robot-based tilt control system includes:
the acquisition module 21: the collision monitoring system is used for acquiring collision signals of driving wheels of the robot and monitoring the collision directions of the collision signals;
the regulation and control module 22: a movement direction of a movement module for regulating the robot based on the collision direction;
the adjusting module 23: the moving module is used for adjusting the moving position of the moving module relative to the annular area according to the offset angle of the driving wheel in the collision signal;
the detection module 24: a sensor for detecting a levitation distance between a center of the robot and a ground surface when the mobile module is positioned relative to the ring-shaped area;
the smoothing module 25: the suspension distance is output to a preset suspension learning model, a first driving speed of a driving wheel in contact with the ground in the robot is regulated and controlled, and a speed stabilizing system is formed on the basis of the first driving speed and the driving speeds of other driving wheels;
the auxiliary force module 26: and the auxiliary force is used for forming a forward and downward falling auxiliary force for the robot according to the speed stabilizing system, and the robot is assisted to stably land on the ground based on the auxiliary force.
The invention provides a tilt control method and a tilt control system based on a robot.A mobile module adjusts the suspension of the robot after collision based on different positions of an annular area, reduces the suspension height of the robot after collision, and regulates and controls the speed of a first driving speed by combining a suspension distance and a preset suspension learning model, wherein the first driving speed and other driving speeds form an auxiliary force for the robot to fall forwards and downwards according to a speed stabilizing system, and the robot is assisted to stably land based on the auxiliary force, so that the landing stability of the robot after collision is further ensured, and different stable adjustments are conveniently performed based on multiple stages.
Examples
Referring to fig. 6, an electronic apparatus 40 according to this embodiment of the present invention is described below with reference to fig. 6. The electronic device 40 shown in fig. 6 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiment of the present invention.
As shown in fig. 6, electronic device 40 is embodied in the form of a general purpose computing device. The components of the electronic device 40 may include, but are not limited to: the at least one processing unit 41, the at least one memory unit 42, and a bus 43 connecting the various system components (including the memory unit 42 and the processing unit 41).
Wherein the storage unit stores program code executable by the processing unit 41 to cause the processing unit 41 to perform the steps according to various exemplary embodiments of the present invention described in the section "example methods" above in this specification.
The storage unit 42 may include a readable medium in the form of a volatile memory unit, such as a random access memory unit (RAM)421 and/or a cache memory unit 422, and may further include a read only memory unit (ROM) 423.
The storage unit 42 may also include a program/utility 424 having a set (at least one) of program modules 425, such program modules 425 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.
The electronic device 40 may also communicate with one or more external devices (e.g., keyboard, pointing device, bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 40, and/or any device (e.g., router, modem, etc.) that enables the electronic device 40 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 45. Also, the electronic device 40 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via the network adapter 46. As shown in FIG. 6, the network adapter 46 communicates with the other modules of the electronic device 40 via the bus 43. It should be appreciated that although not shown in FIG. 6, other hardware and/or software modules may be used in conjunction with electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic or optical disk, and the like. And, it stores computer program instructions which, when executed by a computer, cause the computer to perform the method according to the above.
In addition, the tilt control method and the tilt control system based on the robot provided by the embodiment of the present invention are described in detail above, and a specific example should be used herein to explain the principle and the implementation of the present invention, and the description of the above embodiment is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (9)
1. A robot-based tilt control method, comprising:
acquiring a collision signal of a driving wheel of the robot, and monitoring the collision direction of the collision signal;
regulating and controlling the moving direction of a moving module of the robot based on the collision direction;
adjusting the moving position of the moving module relative to the annular area according to the offset angle of the driving wheel in the collision signal;
detecting, by a sensor at a bottom of the robot, a levitation distance between a center of the robot and a ground surface while the mobile module is positioned relative to the annular region;
outputting the suspension distance to a preset suspension learning model, regulating and controlling a first driving speed of a driving wheel in the robot, wherein the driving wheel is in contact with the ground, and forming a speed stabilizing system based on the first driving speed and the driving speeds of other driving wheels;
and forming an auxiliary force falling forwards and downwards for the robot according to the speed stabilizing system, and assisting the robot to land stably on the ground based on the auxiliary force.
2. The robot-based tilt control method of claim 1, wherein the acquiring a collision signal of a driving wheel of the robot and monitoring a collision direction of the collision signal comprises:
the driving wheels of the robot are in universal connection relative to a base of the robot, when the driving wheels of the robot touch an obstacle, the driving wheels turn outwards relative to the base, and the driving direction of the driving wheels is converted from a first driving direction to a second driving direction;
triggering the collision signal based on the second driving direction, recording the second driving direction and the collision force, and decomposing the collision force according to the second driving direction to output the overturning force of the robot;
and predicting the overturning track of the robot according to the overturning force, and recording the overturning track and the collision direction.
3. The robot-based tilt control method of claim 2, wherein the regulating the moving direction of the moving module of the robot based on the collision direction comprises:
marking collision positions of the driving wheels, and taking the collision positions of the driving wheels as suspended starting points of the robot;
monitoring the change of the collision direction along the suspension starting point, and creating a suspension model of the robot by combining the overturning track of the robot;
inputting the collision direction to the suspended model, and outputting the suspended trend direction of the robot according to the wind direction of the environment where the robot is located;
and determining the action trend of the robot based on the suspension trend direction, triggering the moving module according to the action trend of the robot, and moving the moving module along the reverse direction of the suspension trend direction and moving the moving module to the highest point in the annular area relative to the reverse direction of the suspension trend direction.
4. The robot-based tilt control method of claim 3, wherein the adjusting the movement position of the mobile module relative to the annular region according to the offset angle of the drive wheel in the collision signal comprises:
measuring an offset angle of the drive wheel based on the second direction of travel and the first direction of travel;
dynamically monitoring an orientation of the drive wheel during suspension of the robot and further adjusting an offset angle of the drive wheel based on the orientation to output an actual offset angle;
performing trigonometric operation on the actual offset angle, and performing horizontal direction and vertical direction decomposition on the actual offset angle to measure and calculate the horizontal distance and the vertical distance of the robot in the horizontal direction;
adjusting the moving position of the moving module relative to the annular area according to the horizontal distance and the vertical distance, wherein the moving module can move in the annular area at multiple angles, a positioning point is determined along a preset horizontal distance-vertical distance curve, and the positioning point is mapped to the annular area;
the positioning points are not in the same position relative to the mapping of the annular region as the robot is suspended.
5. The robot-based tilt control method of claim 4, wherein the detecting a levitation distance between a center of the robot and a ground surface by a sensor at a bottom of the robot while the mobile module is positioned relative to the ring-shaped area comprises:
the mobile module moves to the positioning point in the annular area and stays relative to the positioning point;
the moving module continuously presses down the robot based on the positioning point and adjusts the inclination state of the robot;
triggering a sensor at the bottom of the robot based on the staying time of the mobile module, wherein the sensor is adjusted from a standby state to a detection state;
the sensor in a detection state detects the suspension distance between the center of the robot and the ground;
acquiring an inclination angle of the robot relative to the ground, and regulating and controlling the suspension distance based on the inclination angle to output the actual suspension distance;
and if the variation of the levitation distance is larger than a preset variation threshold, re-measuring the center of the robot in an inclined state.
6. The robot-based tilt control method of claim 5, wherein the outputting the levitation distance to a preset levitation learning model, and regulating a first driving speed of a driving wheel in contact with the ground in the robot, and forming a speed plateau based on the first driving speed and driving speeds of other driving wheels, comprises:
taking a past levitation distance and a past first driving speed as data packets, wherein the levitation distance and the first driving speed in the data packets are in one-to-one correspondence;
training based on a plurality of data packets, and outputting the preset suspension learning model;
outputting the levitation distance to a preset levitation learning model, and performing calculation of a first driving speed based on the preset levitation learning model;
regulating the speed of a driving wheel in contact with the ground in the robot based on the first driving speed, and taking the first driving speed as the actual speed of the driving wheel;
regulating and controlling the driving speeds of other driving wheels by taking the first driving speed as a center, and maintaining the relation between the first driving speed and other driving speeds in the speed smooth system;
and taking the center of the robot as reference data, and regulating and controlling the speed stabilizing system to realize self-learning of the speed stabilizing system.
7. The robot-based tilt control method of claim 6, wherein the forming a forward-downward falling assisting force for the robot according to the speed gimbal and assisting the robot to land smoothly based on the assisting force comprises:
regulating and controlling the driving speeds of other driving wheels according to the speed stabilizing system;
a speed difference based on the driving speed of the other driving wheel and the first driving speed as a speed variation amount;
taking the speed variation as the acceleration of the assisting force, and adjusting the acting direction of the assisting force based on the variation direction of the speed variation;
an assist force that falls forward and downward is formed based on the acceleration of the assist force and the acting force direction of the assist force, and the robot is assisted to land smoothly based on the assist force.
8. The robot-based tilt control method of claim 7, further comprising:
detecting a falling speed of the robot;
embedding the falling speed as a balance parameter in the assist force based on the balance parameter to optimize the assist force;
taking the optimized auxiliary force as the actual falling force of the robot, wherein the direction of the auxiliary force is vertical to the ground;
if the driving wheel of the robot contacts the ground, adjusting the moving position of the moving module;
adjusting a falling force of the robot based on the change in the position of the moving module.
9. A robot-based tilt control system, comprising:
an acquisition module: the collision monitoring system is used for acquiring collision signals of driving wheels of the robot and monitoring the collision direction of the collision signals;
a regulation module: a movement direction of a movement module for regulating the robot based on the collision direction;
an adjusting module: the moving module is used for adjusting the moving position of the moving module relative to the annular area according to the offset angle of the driving wheel in the collision signal;
a detection module: a sensor for detecting a levitation distance between a center of the robot and a ground surface when the mobile module is positioned relative to the ring-shaped area;
a smoothing module: the suspension distance is output to a preset suspension learning model, a first driving speed of a driving wheel in contact with the ground in the robot is regulated and controlled, and a speed stabilizing system is formed based on the first driving speed and the driving speeds of other driving wheels;
an auxiliary force module: and the auxiliary force is used for forming a forward and downward falling auxiliary force for the robot according to the speed stabilizing system, and the robot is assisted to stably land on the ground based on the auxiliary force.
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