Motion control method of mobile robot chassis and mobile robot chassis

A mobile robot and motion control technology, applied in the control drive, control device, power steering mechanism, etc., can solve the problems of low precision of mobile robot chassis motion control and control error of mobile robot chassis, so as to reduce mechanical errors and reduce control Error, the effect of improving accuracy

Active Publication Date: 2021-02-05
GUANGZHOU SHIYUAN ELECTRONICS CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the process of realizing the present invention, the inventor found that in the prior art, the movement detection error easily causes the movement control error of the chassis of the mobile robot, which leads to the low precision of the movement control of the chassis of the mobile robot

Method used

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  • Motion control method of mobile robot chassis and mobile robot chassis
  • Motion control method of mobile robot chassis and mobile robot chassis
  • Motion control method of mobile robot chassis and mobile robot chassis

Examples

Experimental program
Comparison scheme
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Embodiment 1

[0055] The following will be combined with Figure 1 to Figure 8 , a method for controlling motion of a mobile robot chassis provided in an embodiment of the present application is introduced in detail.

[0056] see Figure 4 and Figure 5 , the motion control method of described mobile robot chassis, comprises the steps:

[0057] Step S101: Obtain the rotational angular velocity of the two rear wheels of the chassis and the steering angle of the front wheel steering drive motor;

[0058] In an exemplary embodiment of the present application, rotary encoders are respectively fixed on the two rear wheels of the chassis to obtain the rotational angular velocity of the two rear wheels; a steering encoder is fixed on the steering drive motor of the front wheels of the chassis to obtain Get the steering angle of the front wheel steering drive motor.

[0059] Step S102: Obtain the steering angle of the front wheels according to the steering angle of the front wheel steering driv...

Embodiment 2

[0114] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0115] see Figure 9 , which shows a schematic structural diagram of a motion control device for a mobile robot chassis provided by an embodiment of the present application. The motion control device 200 of the mobile robot chassis provided in the embodiment of the present application includes:

[0116] The chassis state acquisition module 210 is used to acquire the rotational angular velocity of the two rear wheels of the chassis and the steering angle of the front wheel steering drive motor;

[0117] The front wheel steering angle acquisition module 220 is configured to obtain the steering angle of the front wheels according to the steering angle of the front wheel steering d...

Embodiment 3

[0139] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0140] see Figure 12, the present application also provides an electronic device 300 , the electronic device 300 may include: at least one processor 301 , at least one memory 302 , at least one network interface 303 , user interface 304 and at least one communication bus 305 .

[0141] Wherein, the user interface 304 is mainly used to provide an input interface for the user to obtain the data input by the user, which may include a display terminal and a camera terminal; the display terminal includes a display layer and a touch layer, and the display layer is used for Display the data processed by the processor; the touch layer can include: a capacitive screen, an electromagneti...

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Abstract

The embodiment of the invention provides a motion control method of a mobile robot chassis and the mobile robot chassis. The method comprises the steps that the rotating angular speed of two rear wheels of the chassis and the steering angle of a front wheel steering driving motor are obtained; the steering angle of a front wheel is obtained; the chassis steering angular speed and the chassis advancing speed which are obtained through calculation according to the rotating angular speed, the rotation angle and a chassis kinematics model are input into a constructed Kalman filter, and the corrected chassis steering angular speed and the corrected chassis advancing speed are obtained; a measurement matrix in the Kalman filter is determined through a constructed chassis measurement model; and according to the deviation between the target steering angular speed and the corrected chassis steering angular speed and the deviation between the target advancing speed and the corrected chassis advancing speed, chassis movement is adjusted. The Kalman filter is constructed through the chassis kinematics model and the measurement matrix determined through the chassis measurement model, and the chassis motion control accuracy is improved.

Description

technical field [0001] The embodiments of the present application relate to the technical field of robot control, and in particular to a motion control method, device, equipment, medium and mobile robot chassis of a mobile robot chassis. Background technique [0002] A mobile robot is a machine device that performs tasks automatically. It is a comprehensive system integrating environmental perception, dynamic decision-making and planning, behavior control and execution. With the continuous improvement of robot performance, the application range of mobile robots has been greatly expanded, not only in industry, agriculture, medical care, service and other industries, but also in harmful and dangerous occasions such as urban security, national defense and space detection. great application. [0003] The mobile robot chassis is an important part of the mobile robot, which directly affects the stability, accuracy and reliability of the mobile robot. In the process of realizing ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60L15/20B62D5/04
CPCB60L15/20B62D5/046B60L2240/42B60L2240/12Y02T10/72
Inventor 王智锋关文江
Owner GUANGZHOU SHIYUAN ELECTRONICS CO LTD
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