A control method and device of a mobile robot, a mobile robot and a medium

Abstract

The application is suitable for the technical field of device 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: obtaining reference motion data required for wheels of the mobile robot to reach a target position; controlling motion of the wheels according to the reference motion data, and monitoring motor shaft data of a motor assembly on the wheels and steering shaft data of a steering shaft on the wheels in the motion process of the wheels; calculating an error amount of the wheels to reach the target position based on the motor shaft data and the steering shaft data; and re-controlling the motion of the wheels according to the error amount. The embodiments of the application can improve the steering accuracy of the mobile robot.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of device control, and particularly relates to a control method and device of a mobile robot, the mobile robot and a medium. BACKGROUND

[0002] The mobile robot usually drives each wheel to realize steering through a driving device. Taking a four-wheel drive and four-wheel steering intelligent unmanned vehicle as an example, the vehicle can control each wheel to steer according to the needs of automatic driving, and each wheel is independently driven by a respective driving device when steering.

[0003] In order to guarantee the reliability of the movement of the mobile robot, the prior art usually sets a motor encoder on the motor of the driving device, and judges whether the mobile robot has moved to the position according to the motor shaft data collected by the motor encoder.

[0004] However, this method cannot accurately move each wheel to the position, resulting in poor consistency of each wheel when steering, and thus the steering accuracy of the mobile robot is reduced. SUMMARY

[0005] The control method and device of the mobile robot, the mobile robot and the medium provided in the embodiments of the present application can improve the steering accuracy of the mobile robot.

[0006] The first aspect of the embodiments of the present application provides a control method of a mobile robot, comprising:

[0007] acquiring reference movement data required for a wheel of the mobile robot to reach a target position;

[0008] controlling movement of the wheel according to the reference movement data, 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 movement process of the wheel;

[0009] calculating an error amount of the wheel reaching the target position based on the motor shaft data and the steering shaft data;

[0010] re-controlling movement of the wheel according to the error amount.

[0011] In some embodiments of the present application, the controlling movement of the wheel according to the reference movement data comprises: controlling a driver of the wheel according to the reference movement data, and driving the steering shaft to move by the motor of the wheel controlled by the driver, so as to control the wheel to rotate with the steering shaft as the rotation axis.

[0012] In some embodiments of the present application, the calculating the error amount of the wheel reaching the target position based on the motor shaft data and the steering shaft data comprises: determining the working state of the motor assembly based on the motor shaft data; and calculating the error amount according to the motor shaft data and the steering shaft data collected when the working state of the motor assembly is in the completed state.

[0013] In some embodiments of the present application, the motor shaft data comprises a first rotation number of the motor shaft of the motor assembly, and the steering shaft data comprises a second rotation number of the steering shaft; and the calculating the error amount according to the motor shaft data and the steering shaft data collected when the working state of the motor assembly is in the completed state comprises: determining first motion data of the motor shaft according to the first rotation number; determining second motion data of the steering shaft according to the second rotation number; and calculating a difference between the first motion data and the second motion data as the error amount.

[0014] In some embodiments of the present application, the obtaining the reference motion data required for the wheel of the mobile robot to reach the target position comprises: obtaining a motion instruction, the motion instruction comprising mobile robot motion data required for the mobile robot to move to the target position; and decomposing the mobile robot motion data to obtain the reference motion data required for the wheel to reach the target position.

[0015] The second aspect of the embodiments of the present application provides a control device of a mobile robot, comprising:

[0016] an obtaining unit configured to obtain reference motion data required for a wheel of a mobile robot to reach a target position;

[0017] a monitoring unit configured to control motion of the wheel according to the reference motion data, and monitor motor shaft data of a motor assembly on the wheel and steering shaft data of a steering shaft on the wheel during the motion of the wheel;

[0018] a calculating unit configured to calculate an error amount of the wheel reaching the target position based on the motor shaft data and the steering shaft data;

[0019] a control unit configured to re-control the motion of the wheel according to the error amount.

[0020] The third aspect of the embodiments of the present application provides a mobile robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the above method when executing the computer program.

[0021] The fourth aspect of the embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps of the method.

[0022] The fifth aspect of the embodiment of the present application provides a computer program product, which, when running on a mobile robot, causes the mobile robot to implement the steps of the method.

[0023] In the embodiment of the present application, the reference motion data required for the wheels of the mobile robot to reach the target position is obtained, then the wheels are controlled to move according to the reference motion data, and the motor shaft data of the motor assembly on the wheels and the steering shaft data of the steering shaft on the wheels are monitored during the movement of the wheels; then, based on the motor shaft data and the steering shaft data, the error amount of the wheels reaching the target position is calculated, and the wheels are re-controlled to move according to the error amount, which reduces the error amount between the actual motion data and the reference motion data caused by the structural tolerance of the mechanical transmission device between the motor and the wheels, improves the steering accuracy of the mobile robot, and makes the movement of each wheel on the mobile robot more consistent through re-controlling the movement of the wheels. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0025] Figure 1 is a schematic diagram of the implementation process of a control method of a mobile robot provided by the embodiment of the present application;

[0026] Figure 2 is a first structural schematic diagram of a mobile robot provided by the embodiment of the present application;

[0027] Figure 3 is a structural schematic diagram of a driving device provided by the embodiment of the present application;

[0028] Figure 4 is a structural schematic diagram of a control device of a mobile robot provided by the embodiment of the present application;

[0029] Figure 5 is a second structural schematic diagram of a mobile robot provided by the embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and 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 work belong to the present application.

[0031] In order to ensure the reliability of the movement of the mobile robot, the prior art often provides a motor encoder on the motor of the driving device, and determines whether the mobile robot has moved to the target position according to the motor shaft data collected by the motor encoder.

[0032] However, the motor and the wheel are often connected through a mechanical transmission device. Due to the existence of the structure tolerance of the mechanical transmission device, when the movement of the mobile robot to the target position is determined according to the motor shaft data, the wheels may not have moved to the target position. At the same time, due to the independent driving device of each wheel, the consistency of each wheel is poor, which further leads to the decline of the steering accuracy of the mobile robot.

[0033] In order to illustrate the technical solutions of the present application, the following specific embodiments are described.

[0034] Figure 1 An implementation flowchart of a control method of a mobile robot is shown, which can be applied to the mobile robot and can be applied to the situation where the steering accuracy of the mobile robot needs to be improved.

[0035] The present application does not limit the type and use scene of the mobile robot, and the above mobile robot can be a patrol mobile robot, a guide mobile robot, an educational mobile robot, etc.

[0036] Specifically, the control method of the above mobile robot can include the following steps S101 to S104.

[0037] Step S101, obtaining reference movement data required for the wheels of the mobile robot to reach the target position.

[0038] The above reference movement data is a theoretical reference value, which can include a reference linear velocity vector and a reference angular velocity vector of each wheel.

[0039] In some embodiments of the present application, as shown in Figure 2 The above mobile robot can be installed with a navigation control system, which can determine the target position required to be reached by the mobile robot according to the task requirement of the mobile robot, and then generate a movement instruction carrying the movement data of the mobile robot. The movement data of the mobile robot can include a target angular velocity vector and a target linear velocity vector of the whole mobile robot.

[0040] The chassis of the mobile robot can interact with the navigation control system to obtain the movement instructions and decompose the mobile robot movement data in the movement instructions to obtain reference movement data required for the wheels to reach the target position.

[0041] Specifically, the mobile robot can take the target linear velocity vector as the linear velocity vector of each wheel, and determine the angular velocity vector of each wheel according to the linear velocity vector in the tangent direction and the chassis radius.

[0042] In step S102, the wheels are controlled to move according to the reference movement data, and the motor shaft data of the motor assembly on the wheel and the steering shaft data of the steering shaft on the wheel are monitored during the movement of the wheel.

[0043] Specifically, Figure 3 The structure of the driving device provided on the robot chassis in the application is shown.

[0044] In some embodiments of the application, the mobile robot can include a chassis control unit, a motor driver 31 and a motor assembly 32, wherein the chassis control unit can control the motor driver 31 of the wheel 34 according to the reference movement data, and the motor driver 31 controls the motor assembly 32 of the wheel 34 to drive the steering shaft 33 to move, so as to control the movement of the wheel 34.

[0045] The chassis control unit of the chassis can issue a position instruction carrying the reference movement data of a certain wheel to the motor driver 31 of the driving device. In response to the position instruction, the motor driver 31 can output U, V, W three-phase excitation signals to control the operation of the motor assembly 32.

[0046] The motor assembly 32 can specifically include a rotating motor assembly 32a and a power motor assembly 32b.

[0047] The power motor assembly 32b is connected to the wheel 34 through a rolling shaft parallel to the rolling contact surface of the wheel 34, and the motor of the power motor assembly can drive the wheel 34 to rotate around the rolling shaft to realize the movement of the mobile robot.

[0048] The steering motor assembly 32a can drive the steering shaft 33 to move to make the wheel 34 rotate around the steering shaft 33, wherein the steering shaft 33 can be perpendicular to the rolling contact surface to realize the steering of the mobile robot on the rolling contact surface. In some specific embodiments, the steering motor assembly 32a can output a transmission torque through a gear reducer to drive the synchronous belt, gear and other mechanical transmission devices 36 to move the steering shaft 33.

[0049] In some embodiments of the present application, a motor shaft encoder can be arranged on the motor shaft of the motor assembly 32, which can be used to collect motor shaft data of the motor shaft and upload the motor shaft data to the motor driver 31 in real time. The motor driver 31 uploads the motor shaft data to the chassis control unit through the bus. At this time, a first control closed loop can be formed among the chassis control unit, the motor driver 31, and the motor assembly 32.

[0050] The motor shaft data can refer to a first rotation number of the motor shaft. The driver can determine first motion data of the motor shaft according to a motion time of the mobile robot and the first rotation number. The first motion data can specifically include a first linear velocity vector, a first angular velocity vector, and working state information.

[0051] In some other embodiments of the present application, a steering shaft encoder 35 can be arranged on the end of the steering shaft 33 away from the wheels. The steering shaft encoder 35 can be used to collect steering shaft data of the steering shaft 33 and upload the steering shaft data to the chassis control unit in real time. At this time, a second control closed loop can be formed among the chassis control unit, the motor driver 31, the motor assembly 32, the mechanical transmission device 36, the wheels 34, and the steering shaft encoder 35.

[0052] The steering shaft data can refer to a second rotation number of the steering shaft 33. The chassis control unit can determine second motion data of the steering shaft 33 according to a motion time of the mobile robot and the second rotation number. The second motion data can specifically include a second linear velocity vector, a second angular velocity vector, and the like.

[0053] That is, in the embodiments of the present application, the chassis control unit of the mobile robot can acquire the motor shaft data of the motor assembly 32 through the first control closed loop in real time, and can also acquire the steering shaft data of the steering shaft 33 through the second control closed loop in real time.

[0054] In actual applications, in order to further improve the steering accuracy of the mobile robot, the above-mentioned steering shaft encoder 35 can be a high-precision absolute encoder.

[0055] In step S103, an error amount of the wheels reaching the target position is calculated based on the motor shaft data and the steering shaft data.

[0056] The error amount is the error amount between the actual motion data and the reference motion data caused by the structural tolerance.

[0057] In some embodiments of the present application, the mobile robot can determine the working state of the motor assembly based on the motor shaft data, and calculate the error amount according to the motor shaft data and the steering shaft data collected when the working state of the motor assembly 32 is the completed state.

[0058] Specifically, the mobile robot can determine, according to the first motion data and the reference motion data, that the wheel has been moved to the position if the difference between the first motion data and the reference motion data is less than the preset difference threshold, and in this case, the mobile robot can set the working state of the motor assembly 32 as a completed state. The mobile robot can determine the first motion data of the motor shaft and the second motion data of the steering shaft 34 according to the motor shaft data and the steering shaft data collected when the working state is the completed state, and calculate the difference between the first motion data and the second motion data as an error amount.

[0059] In some embodiments of the present application, the mobile robot can set the working state of the motor assembly 32 as an incomplete state if the difference between the first motion data and the reference motion data is greater than or equal to the preset difference threshold.

[0060] In some embodiments of the present application, the mobile robot can set the working state of the motor assembly 32 as an alarm state and further notify the staff if the difference between the first motion data and the reference motion data is greater than or equal to the preset difference threshold and the motion time exceeds the preset time threshold, or the difference between the first motion data and the reference motion data is greater than or equal to the preset difference threshold and the difference remains unchanged.

[0061] It should be noted that the above-mentioned difference threshold and time threshold can be set according to actual conditions.

[0062] Step S104: Re-controlling the wheel to move according to the error amount.

[0063] In some embodiments of the present application, the navigation system of the mobile robot can re-generate the motion instruction according to the error amount and send it to the chassis control system, so that the chassis control system controls the wheel 34 to move according to the new motion instruction, thereby reducing the error amount.

[0064] It should be noted that the mobile robot can execute the above-mentioned control method only once, or can continue to monitor the motor shaft data and the steering shaft data after re-controlling the wheel 34 to move, and re-execute steps S103 and S104 until the error amount is less than the preset error amount threshold, and the control of the robot is ended. The error amount threshold can also be set according to actual conditions.

[0065] In the embodiments of the present application, the reference motion data required for the wheels of the mobile robot to reach the target position is acquired, then the wheels are controlled to move according to the reference motion data, and the motor shaft data of the motor assembly on the wheels and the steering shaft data of the steering shaft on the wheels are monitored during the movement of the wheels; then, the error amount of the wheels to reach the target position is calculated based on the motor shaft data and the steering shaft data, and the wheels are re-controlled to move according to the error amount, which reduces the error amount between the actual motion data and the reference motion data caused by the structural tolerance of the mechanical transmission device between the motor and the wheels, improves the steering accuracy of the mobile robot, and makes the movement of each wheel on the mobile robot more consistent through re-controlling the movement of the wheels.

[0066] It should be noted that, for the foregoing method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the order of the described actions, because according to the present application, certain steps can be performed in other orders.

[0067] As Figure 4 Fig. 4 shows a structural schematic diagram of a control device 400 of a mobile robot according to an embodiment of the present application, which is arranged on the mobile robot.

[0068] Specifically, the control device 400 of the mobile robot can include:

[0069] an acquisition unit 401 configured to acquire reference motion data required for wheels of the mobile robot to reach a target position;

[0070] a monitoring unit 402 configured to control the wheels to move according to the reference motion data, and monitor motor shaft data of a motor assembly on the wheels and steering shaft data of a steering shaft on the wheels during the movement of the wheels;

[0071] a calculation unit 403 configured to calculate an error amount of the wheels to reach the target position based on the motor shaft data and the steering shaft data;

[0072] a control unit 404 configured to re-control the wheels to move according to the error amount.

[0073] In some embodiments of the present application, the monitoring unit 402 can be specifically configured to: control a motor driver of the wheels according to the reference motion data, and control the motor assembly of the wheels to drive the steering shaft to move through the motor driver, so as to control the wheels to rotate around the steering shaft as the rotation axis.

[0074] In some embodiments of the present application, the calculation unit 403 can be specifically configured to: determine the working state of the motor assembly based on the motor shaft data; and calculate the error amount based on the motor shaft data and the steering shaft data collected when the working state of the motor assembly is a completed state.

[0075] In some embodiments of the present application, the motor shaft data includes a first rotation number of the motor shaft of the motor assembly, and the steering shaft data includes a second rotation number of the steering shaft; and the calculation unit 403 can be specifically configured to: determine first motion data of the motor shaft based on the first rotation number; determine second motion data of the steering shaft based on the second rotation number; and calculate a difference between the first motion data and the second motion data as the error amount.

[0076] In some embodiments of the present application, the control unit 404 can be specifically configured to: obtain a motion instruction, the motion instruction including motion data of the mobile robot required for the mobile robot to move to the target position; and decompose the motion data of the mobile robot to obtain reference motion data required for the wheels to reach the target position.

[0077] It should be noted that, for the convenience and brevity of description, the specific working process of the control device 400 of the mobile robot can be referred to Figures 1 to 3 the corresponding process of the method, which will not be described here.

[0078] As Figure 5 shown, a schematic diagram of a mobile robot provided by an embodiment of the present application. The mobile robot 5 can include a processor 50, a memory 51, and a computer program 52 stored in the memory 51 and executable on the processor 50, such as a control program of the mobile robot. The processor 50 implements the steps in each of the above mobile robot control method embodiments when executing the computer program 52, such as steps S101-S103 as shown in Figure 1 Alternatively, the processor 50 implements the functions of each module / unit in each of the above device embodiments when executing the computer program 52, such as the obtaining unit 401, the monitoring unit 402, the calculation unit 403, and the control unit 404 as shown in Figure 4

[0079] The computer program can be divided into one or more modules / units, which are stored in the memory 51 and executed by the processor 50 to complete the present application. The one or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program in the mobile robot. ​

[0080] For example, the computer program can be divided into: an acquisition unit, a monitoring unit, a calculation unit and a control unit. The specific functions of each unit are as follows: the acquisition unit is configured to acquire reference motion data required for a wheel of a mobile robot to reach a target position; the monitoring unit is configured to control motion of the wheel according to the reference motion data, and monitor motor shaft data of a motor assembly on the wheel and steering shaft data of a steering shaft on the wheel during the motion of the wheel; the calculation unit is configured to calculate an error amount of the wheel reaching the target position based on the motor shaft data and the steering shaft data; and the control unit is configured to control the wheel to move again according to the error amount.

[0081] The mobile robot can include, but is not limited to, a processor 50 and a memory 51. Those skilled in the art can understand that the mobile robot can include more or fewer components than those shown, or combine certain components, or include different components, such as an input / output device, a network access device, a bus, and the like. Figure 5 The mobile robot is merely an example and does not constitute a limitation on the mobile robot, and can include more or fewer components than those shown, or combine certain components, or include different components, such as an input / output device, a network access device, a bus, and the like.

[0082] The processor 50 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gates or transistor logic components, discrete hardware components, or the like. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0083] The memory 51 can be an internal storage unit of the mobile robot, such as a hard disk or a memory of the mobile robot. The memory 51 can also be an external storage device of the mobile robot, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, or the like, provided on the mobile robot. Further, the memory 51 can include both an internal storage unit and an external storage device of the mobile robot. The memory 51 is used to store the computer program and other programs and data required by the mobile robot. The memory 51 can also be used to temporarily store data that has been output or will be output.

[0084] In some embodiments of the present application, the mobile robot described above can further comprise a chassis, and at least one driving device is arranged on the chassis, each driving device being configured to control movement of one wheel of the mobile robot. Please refer to the accompanying drawings Figure 3 The driving device can comprise a motor driver 31 connected to the processor, a motor assembly 32 connected to the motor driver 31, and a steering shaft 33 connected to the motor assembly 32 and the wheel 34 respectively.

[0085] The motor driver 31 is configured to control the motor assembly 32 to drive the steering shaft 33 to move, and the steering shaft 33 drives the driving wheel 34 to rotate around the steering shaft 33, thereby realizing steering of the mobile robot.

[0086] Specifically, the motor driver 31 can be configured to output an excitation signal to control the steering motor assembly 32a to drive the steering shaft 33 to move. The steering motor assembly 32a outputs a transmission torque through a gear reducer to drive the steering shaft 33 to move through a synchronous belt and gear mechanical transmission device 36. The motor driver 31 can also be configured to output an excitation signal to control the power motor assembly 32a to drive the driving wheel 34 to rotate around the rolling shaft.

[0087] In some embodiments of the present application, a steering shaft encoder 35 can be arranged on the steering shaft 33, and the steering shaft encoder 35 is configured to collect steering shaft data of the steering shaft 33 and send the steering shaft data to the processor.

[0088] The steering shaft encoder 35 can be arranged at the end of the steering shaft 33 away from the driving wheel 34, and can be a high-precision absolute encoder.

[0089] In some embodiments of the present application, a motor shaft encoder can be arranged on the motor shaft of the motor assembly 32, and the motor shaft encoder is configured to collect motor shaft data of the motor shaft and send the motor shaft data to the processor.

[0090] It should be noted that, for the convenience and brevity of description, the structure of the mobile robot described above can also refer to the specific description of the structure in the method embodiment, which will not be described here.

[0091] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is exemplified, and in actual application, the above-mentioned functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be realized in the form of hardware or software. In addition, the specific name of each functional unit and module is only for the convenience of mutual distinction, and does not limit the protection scope of the present application. The specific working process of the unit and module in the above system can refer to the corresponding process in the foregoing method embodiment, which will not be described here.

[0092] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described or recorded in detail in a certain embodiment can be referred to the related description of other embodiments.

[0093] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0094] In the embodiments provided in the present application, it should be understood that the disclosed devices / mobile robots and methods can be implemented in other ways. For example, the device / mobile robot embodiments described above are only schematic, for example, the division of the modules or units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed each other can be indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0095] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0096] In addition, each of the function units in each of the embodiments of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software function unit.

[0097] The integrated module / unit, if realized in the form of a software function unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above-mentioned embodiment methods can also be implemented by a computer program instructing related hardware to complete, and the computer program can be stored in a computer-readable storage medium. When the processor executes the computer program, the steps of each method embodiment described above can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or some intermediate forms, etc. The computer-readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0098] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A control method for a mobile robot, characterized in that, include: The reference motion data required for the wheels of the mobile robot to reach the target position is obtained; the motor assembly of the wheel drives the steering shaft to move through a mechanical transmission device connected to the steering shaft, so as to control the wheel to rotate around the steering shaft as the rotation axis; Based on the reference motion data, the movement of the wheel is controlled, and during the movement of the wheel, the motor shaft data of the motor assembly on the wheel and the steering shaft data of the steering shaft on the wheel are monitored; the motor shaft data includes the first number of rotations of the motor shaft on the motor assembly, and the steering shaft data includes the second number of rotations of the steering shaft; If the difference between the first motion data and the reference motion data is less than a preset difference threshold, then based on the motor shaft data and the steering shaft data, the error in the wheel reaching the target position is calculated; the error is the difference between the first motion data and the second motion data, where the first motion data is determined based on the first number of rotations and the second motion data is determined based on the second number of rotations. Based on the error amount, the wheel is re-controlled to move.

2. The control method for a mobile robot as described in claim 1, characterized in that, The step of controlling the movement of the wheel based on the reference motion data includes: Based on the reference motion data, the motor driver of the wheel is controlled, and the motor driver controls the motor assembly of the wheel to drive the steering shaft to move, so as to control the wheel to rotate around the steering shaft as the rotation axis.

3. The control method for a mobile robot as described in claim 2, characterized in that, The calculation of the error in the wheel reaching the target position based on the motor shaft data and the steering shaft data includes: The operating status of the motor assembly is determined based on the motor shaft data; The error is calculated based on the motor shaft data and steering shaft data collected when the motor assembly is in the completed working state.

4. The control method for a mobile robot as described in any one of claims 1 to 3, characterized in that, The reference motion data required for the mobile robot's wheels to reach the target position includes: Acquire motion instructions, the motion instructions including mobile robot motion data required for the mobile robot to move to the target position; The motion data of the mobile robot is decomposed to obtain reference motion data required for the wheels to reach the target position.

5. A control device for a mobile robot, characterized in that, include: The acquisition unit is used to acquire reference motion data required for the wheels of the mobile robot to reach the target position; the motor assembly of the wheel drives the steering shaft to move through a mechanical transmission device connected to the steering shaft, so as to control the wheel to rotate around the steering shaft as the rotation axis; The monitoring unit is used to control the movement of the wheel based on the reference motion data, and to monitor the motor shaft data of the motor assembly on the wheel and the steering shaft data of the steering shaft on the wheel during the movement of the wheel; the motor shaft data includes the first number of rotations of the motor shaft on the motor assembly, and the steering shaft data includes the second number of rotations of the steering shaft; The calculation unit is configured to calculate the error in the wheel reaching the target position based on the motor shaft data and the steering shaft data if the difference between the first motion data and the reference motion data is less than a preset difference threshold; the error is the difference between the first motion data and the second motion data, wherein the first motion data is determined based on the first number of rotations and the second motion data is determined based on the second number of rotations. A control unit is used to re-control the movement of the wheel based on the amount of error.

6. A mobile robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 4.

7. The mobile robot as described in claim 6, characterized in that, The mobile robot also includes a chassis, on which at least one drive device is mounted. The drive device includes a motor driver connected to the processor, a motor assembly connected to the motor driver, and a steering shaft connected to the motor assembly and the wheels respectively. The motor driver is used to control the motor assembly to drive the steering shaft to move, and when the steering shaft moves, it drives the wheel to rotate around the steering shaft as the rotation axis.

8. The mobile robot as described in claim 6, characterized in that, A steering shaft encoder is provided on the steering shaft. The steering shaft encoder is used to collect the steering shaft data of the steering shaft and send the steering shaft data to the processor.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 4.

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