Robot and its steering control method

A steering control and robot technology, applied in steering mechanism, non-deflectable wheel steering, vehicle components, etc., can solve problems such as robot steering offset, achieve effective obstacle avoidance, precise and stable steering, and avoid rotation, translation or offset Effect

CN110406593BActive Publication Date: 2022-02-18SHEN ZHEN GLI TECH LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2022-02-18

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Abstract

The embodiment of the present application provides a robot and a steering control method thereof, wherein the robot is provided with a first driving wheel and a second driving wheel that can realize the steering of the robot through differential rotation, and the method includes: acquiring a current yaw angle of the robot . The first adjustment amount of the first driving wheel and the second driving wheel is calculated according to the current yaw angle and the target yaw angle. Acquire the current actual rotational speed of the first driving wheel and the second driving wheel. A second adjustment amount of the first driving wheel and the second driving wheel is calculated according to the current actual rotational speed. The actual adjustment amounts of the first driving wheel and the second driving wheel are calculated according to the first adjustment amount and the second adjustment amount. In the above manner, the present application can ensure the accuracy of the robot rotation control.
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Description

technical field

[0001] The present application relates to the technical field of robot control, in particular to a robot and its steering control method. Background technique

[0002] In the prior art, most robots are manufactured and assembled, for example, there are differences in the design, manufacture, and structural installation of various parts, especially motors. When turning, it is easy to cause the robot to deviate and make the travel path prone to deviation. The target yaw angle or path inconsistency makes it difficult for the robot to effectively avoid obstacles or travel to the target point. Most of the existing robots cannot effectively control their steering direction when they are turning due to the above problems. Contents of the invention

[0003] The main technical problem to be solved by this application is to provide a robot and its steering control method, which can improve the phenomenon such as deviation when the robot turns in the prior art. [00...

Examples

Embodiment Construction

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0020] In the prior art, there are differences in the manufacturing and assembly of most robots, such as the design, manufacture, and structural installation of various parts, especially the motors. When the machine turns, due to the differences in the design and installation of the motors and wheels on both sides of the robot. The steering speed of the wheels on both sides is different from the design speed, which will easily cause the robot to deviate and mak...