Control method and device of mobile robot, mobile robot and medium

A mobile robot and control method technology, which is applied in the direction of control drive, power device, power steering mechanism, etc., can solve the problems of in-position movement of each wheel, poor consistency, and reduced steering accuracy of mobile robots, so as to improve steering accuracy and reduce the amount of error. , the effect of consistent movement

Pending Publication Date: 2022-04-19
UBTECH ROBOTICS CORP LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] However, this method cannot accurately move each wheel in place, resulting in poor consistency when each wheel turns, which in turn leads to a decrease in the steering accuracy of the mobile robot.

Method used

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  • Control method and device of mobile robot, mobile robot and medium
  • Control method and device of mobile robot, mobile robot and medium
  • Control method and device of mobile robot, mobile robot and medium

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Embodiment Construction

[0030] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative efforts shall belong to the protection of the present application.

[0031] In order to ensure the reliability of the movement of the mobile robot, in the prior art, a motor encoder is often installed on the motor of the drive device, and it is judged whether the mobile robot is in place according to the motor shaft data collected by the motor encoder.

[0032] However, because the motor and the wheel are often connected by a mechanical transmissio...

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Abstract

The invention is suitable for the technical field of equipment control, and provides a control method and device of a mobile robot, the mobile robot and a medium. The control method of the mobile robot specifically comprises the following steps: acquiring reference motion data required by a wheel of the mobile robot to reach a target position; according to the reference motion data, controlling the wheel to move, and monitoring motor shaft data of a motor assembly on the wheel and steering shaft data of a steering shaft on the wheel in the motion process of the wheel; based on the motor shaft data and the steering shaft data, the error amount of the wheel reaching the target position is calculated; and re-controlling the wheels to move according to the error amount. According to the embodiment of the invention, the steering precision of the mobile robot can be improved.

Description

technical field [0001] The present application belongs to the technical field of equipment control, and in particular relates to a control method and device for a mobile robot, a mobile robot and a medium. Background technique [0002] Mobile robots often drive each wheel through a driving device to achieve steering. Taking the four-wheel-drive four-turn intelligent unmanned car as an example, the car can control the steering of each wheel according to the needs of automatic driving, and each wheel is independently driven by its own driving device when turning. [0003] In order to ensure the reliability of the movement of the mobile robot, in the prior art, a motor encoder is often installed on the motor of the drive device, and it is judged whether the mobile robot is in place according to the motor shaft data collected by the motor encoder. [0004] However, this method cannot accurately move each wheel in place, resulting in poor consistency when each wheel turns, which...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60K7/00B60L15/20B62D5/04
CPCB60K7/0007B60L15/20B62D5/046B60K2007/0092B60K2007/0038Y02T10/72
Inventor 周勇涛雷春华明汝
Owner UBTECH ROBOTICS CORP LTD
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