Control method, device, equipment and readable storage medium of wheeled robot

Abstract

The present application discloses a control method, device, equipment and readable storage medium for a wheeled robot, which relates to the field of robot control. The method comprises: obtaining motion state data of the wheeled robot; determining the balancing torque through a controller based on the motion state data, wherein the controller is a pre-set mathematical model for balancing the wheeled robot; and controlling the wheeled robot to be in a target balancing state by the balancing torque. The wheeled robot is controlled by a pre-set controller. When the wheeled robot deviates from the balance point and cannot be controlled by a linearized model, the wheeled robot is controlled by the controller to return to the target balancing state, thereby improving the accuracy of balancing control of the wheeled robot.

Description

Technical Field

[0001] Embodiments of the present application relate to the field of robot control, and in particular, to a control method, device, equipment, and readable storage medium for a wheeled robot. Background Art

[0002] A wheeled robot is a robot structure that uses a wheel structure to control the motion of the robot body. Since the contact points between the wheeled robot and the ground only include the contact points between the wheels and the ground, there is a problem of balance control when the wheeled structure itself is unstable. In related technologies, traditional linear models are usually used for control.

[0003] However, the related art does not take into account the physical differences between the actual wheeled robot and the idealized model. When the wheeled robot is near the balance point, the linearized model can be used to control the balance of the wheeled robot. However, when the wheeled robot deviates far from the balance point, the linearized model cannot be used to control the wheeled robot to return to the balance point, that is, the balance of the wheeled robot cannot be stably controlled, and the control stability of the wheeled robot is poor. Summary of the invention

[0004] The embodiments of the present application provide a control method, device, equipment and readable storage medium for a wheeled robot, which can improve the control stability and accuracy of the wheel-legged robot. The technical solution is as follows:

[0005] In one aspect, a control method for a wheeled robot is provided, the method comprising:

[0006] Acquiring motion state data of the wheeled robot, wherein the motion state data is used to represent motion characteristics of the wheeled robot;

[0007] Based on the motion state data, a balancing torque is determined by a controller, wherein the controller is a pre-set mathematical model for balancing the wheeled robot in a partial feedback linear manner;

[0008] The wheeled robot is controlled to be in a target balanced state by using the balancing torque.

[0009] On the other hand, a control device for a wheeled robot is provided, the device comprising:

[0010] An acquisition module, used for acquiring motion state data of the wheeled robot, wherein the motion state data is used for representing motion characteristics of the wheeled robot;

[0011] A determination module, configured to determine a balancing torque through a controller based on the motion state data, wherein the controller is a pre-set mathematical model for balancing the wheeled robot through a partial feedback linear method;

[0012] A control module is used to control the wheeled robot to be in a target balance state using the balance torque.

[0013] On the other hand, a wheel-legged robot is provided, which includes a processor and a memory, wherein at least one program is stored in the memory, and the at least one program is loaded and executed by the processor to implement a control method for the wheeled robot as described in any of the above-mentioned embodiments of the present application.

[0014] On the other hand, a computer-readable storage medium is provided, in which at least one instruction, at least one program, a code set or an instruction set is stored, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement a control method for a wheeled robot as described in any of the above-mentioned embodiments of the present application.

[0015] On the other hand, a computer program product or a computer program is provided, the computer program product or the computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the control method of the wheeled robot described in any of the above embodiments.

[0016] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least:

[0017] The wheeled robot is controlled by a pre-set controller. When the wheeled robot deviates from the balance point and cannot be controlled by a linearized model, the wheeled robot is controlled by the controller to return to the target balance state, thereby improving the accuracy of balance control of the wheeled robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 is a schematic structural diagram of a wheel-legged robot provided by an exemplary embodiment of the present application;

[0020] Figure 2is a schematic diagram of the performance of a wheel-legged robot at different heights provided by an exemplary embodiment of the present application;

[0021] Figure 3 is a flow chart of a control method of a wheeled robot provided by an exemplary embodiment of the present application;

[0022] Figure 4 is a flow chart of a control method of a wheeled robot provided by another exemplary embodiment of the present application;

[0023] Figure 5 is a schematic diagram of the performance results of a wheel-legged robot passing through beams of different heights provided by an exemplary embodiment of the present application;

[0024] Figure 6 An exemplary embodiment of the present application provides Figure 5 The experimental results are shown in a curve diagram;

[0025] Figure 7 is a rotation schematic diagram of a wheel-legged robot provided by an exemplary embodiment of the present application;

[0026] Figure 8 An exemplary embodiment of the present application provides Figure 7 The experimental results are shown in a curve diagram;

[0027] Fig. 9 is a schematic diagram of a wheel-legged robot performing an S-turn provided by an exemplary embodiment of the present application;

[0028] Fig.10 An exemplary embodiment of the present application provides Fig. 9 The experimental results are shown in a curve diagram;

[0029] Fig.11 is a schematic diagram of the performance of a wheel-legged robot provided by an exemplary embodiment of the present application when encountering a speed bump;

[0030] Fig.12 An exemplary embodiment of the present application provides Fig.11 The experimental results are shown in a curve diagram;

[0031] Fig.13 is a schematic diagram of the performance of a wheel-legged robot provided by an exemplary embodiment of the present application when encountering external force interference;

[0032] Fig.14 An exemplary embodiment of the present application provides Fig.13 The experimental results are shown in a curve diagram;

[0033] Fig.15This is a schematic diagram of a wheel-legged robot rushing toward a slope on one leg provided by an exemplary embodiment of the present application;

[0034] Fig.16 An exemplary embodiment of the present application provides Fig.15 The experimental results are shown in a curve diagram;

[0035] Fig.17 is a schematic diagram of a performance of a wheel-legged robot adjusting its state from an initial state provided by an exemplary embodiment of the present application;

[0036] Fig.18 An exemplary embodiment of the present application provides Fig.17 The experimental results are shown in a curve diagram;

[0037] Fig.19 is a structural block diagram of a control device for a wheeled robot provided by an exemplary embodiment of the present application;

[0038] Fig. 20 A structural block diagram of a terminal provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0039] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0040] First, the terms involved in the embodiments of the present application are introduced:

[0041] Wheeled robot: A wheeled robot is a robot structure that controls the motion of the robot body through a wheel structure. Since the contact points between the wheeled robot and the ground only include the contact points between the wheels and the ground, there is a problem of balance control when the wheeled structure arrangement itself is unstable.

[0042] Controller: The controller is a mathematical model pre-set in the embodiments of the present application for balancing the wheeled robot. In some embodiments, the controller is used to balance the wheeled robot by combining a linear control method and a nonlinear control method when the wheeled robot deviates from the balance point and cannot be balanced by a linear model.

[0043] In this embodiment of the present application, the wheeled robot is implemented as a wheeled bipedal robot as an example for explanation, that is, the wheeled bipedal robot includes two wheels for movement, the two wheels are respectively connected to the leg structure, and the leg structure is connected to the robot body, so that the two wheels drive the robot body to complete motion control. However, it should be understood that the wheeled robot in the present application is not limited to the above structure. Any wheeled robot should be understood as any robot including a wheeled structure.

[0044] Indicative, Figure 1 is a schematic diagram of the structure of a wheeled robot provided by an exemplary embodiment of the present application, such as Figure 1 As shown, the wheeled robot 100 includes a main body portion 110 and a wheel-leg portion 120;

[0045] The main body 110 is connected to the wheel-leg part 120, and the wheel-leg part 120 includes two wheels 121 and a leg structure 122 for connecting the wheels 121 and the main body 110. Figure 1 As shown, the wheeled robot 100 includes 4 leg structures 122, and 2 leg structures 122 of the 4 leg structures 122 are respectively connected to a wheel 121. Schematically, there are leg structures A, leg structures B, leg structures C and leg structures D, then leg structures A and leg structures B are connected to the first wheel, and leg structures C and leg structures D are connected to the second wheel. Among them, leg structures A, leg structures B and the first wheel, as well as leg structures C, leg structures D and the second wheel constitute a two-legged planar parallel structure of the wheeled robot. The parallel leg has five rotational joints, and has two translational degrees of freedom in the lateral and vertical directions respectively. Compared with the serial mechanism, the parallel mechanism has the characteristics of compact structure, high rigidity and strong load-bearing capacity. Therefore, the robot can jump higher and overcome obstacles flexibly.

[0046] Optionally, the leg structure 122 includes a calf segment 1221 and a thigh segment 1222 , the calf segment 1221 and the thigh segment 1222 are connected via a rotating joint, and the calf segment 1221 and the wheel 121 are also connected via a rotating joint.

[0047] The main body 110 is provided with four motors corresponding to the four leg structures 122, and the four motors are used to control the bending and straightening of the leg structures 122. In some embodiments, a section where the leg structures 122 are connected to the main body 110 is connected via a rotating joint, schematically, as shown in FIG. Figure 1 As shown, when the motor drives the rotating joint to rotate clockwise, the leg structure 122 is controlled to bend; and when the motor drives the rotating joint to rotate counterclockwise, the leg structure 122 is controlled to straighten. (Wherein, the two groups of leg structures 122 are driven by the rotating joint in the same or different ways.) That is, the relationship between the clockwise and counterclockwise rotation modes and the bending and straightening control modes is the same or different.

[0048] The bending and straightening of the leg structure 122 (i.e., the relative position relationship between the calf segment 1221 and the thigh segment 1222) is used to control the height of the wheeled robot 100, that is, when the leg structure 122 tends to bend, the height of the wheeled robot 100 decreases, and when the leg structure 122 tends to straighten, the height of the wheeled robot 100 increases. For illustration, please refer to Figure 2 , Figure 1 The leg structure 122 shown is a case where the bending degree is large. In this case, the height of the wheeled robot 100 is low, and Figure 2 In the embodiment, the bending degree of the leg structure 122 is relatively Figure 1 The leg structure 122 is smaller. At this bending degree, the height of the wheeled robot 100 is higher. Figure 1 and Figure 2 At different heights, the balance of the wheeled robot is different, resulting in different balance control torques at the two heights.

[0049] The wheel 121 is an active wheel, that is, the wheel 121 can actively rotate after being driven by a motor, thereby realizing the motion state control of the wheeled robot 100, such as: controlling the wheeled robot to move forward, controlling the wheeled robot to move backward, controlling the wheeled robot to turn, or controlling the wheeled robot to stand still.

[0050] Based on the structure of the main body 110 and the wheel-leg part 120 in the wheeled robot 100, the wheeled robot 100 can be approximated as a structure of an inverted pendulum of a small vehicle, wherein the height of the wheeled robot 100 corresponds to the pendulum length in the inverted pendulum structure.

[0051] The weight of the wheeled robot 100 is mainly concentrated in the main body 110 and the wheels 121 , wherein the weight factors of the main body 110 mainly include 4 motors driving the leg structure 122 , a microcomputer, a circuit board, a motor, a battery, and the like.

[0052] The dynamic model of the wheeled robot 100 can be expressed by the following formula 1:

[0053] Formula 1:

[0054]

[0055] Among them, m is used to refer to the body of the wheeled robot, that is, the mass of the main part, M is used to refer to the mass of the wheeled robot's wheels, l is the current height of the wheeled robot, that is, the height of the wheeled robot under the current leg structure. x represents the rotation distance of the wheel, represents the rotational linear velocity of the wheel, represents the derivative of the rotational velocity, which is the rotational acceleration. θ represents the inclination angle of the wheeled robot, represents the inclination velocity of the wheeled robot, represents the inclination acceleration of the wheeled robot. Here, the pitch angle θ is taken as an example for explanation. u represents the thrust applied to the wheeled robot, and there is a corresponding relationship between u and the torque applied to the wheel.

[0056] In the related art, a linearized model is used to control the wheeled robot, that is, a linearized curve is used to simulate the control torque of the wheeled robot in different motion states. However, when the wheeled robot is near the balance point, the linearized model can be used to achieve balance control of the wheeled robot, and when the wheeled robot deviates far from the balance point, the wheeled robot's dynamic model does not conform to the linearization characteristics, so the linearized model cannot be used to control the wheeled robot to return to the balance point, that is, the balance of the wheeled robot cannot be stably controlled, and the control stability of the wheeled robot is poor.

[0057] Based on the above description, Figure 3 FIG. 1 is a flow chart of a control method of a wheeled robot provided by an exemplary embodiment of the present application, wherein the method is applied to a microprocessor of a wheeled machine. Figure 3 As shown, the method includes:

[0058] Step 301, obtaining motion state data of a wheeled robot, where the motion state data is used to represent motion characteristics of the wheeled robot.

[0059] In some embodiments, basic data and motion state data of the wheeled robot are acquired, and the basic data is used to represent the structural characteristics of the wheel-legged robot.

[0060] Structural features include the physical values ​​of the various parts of the robot. Figure 1 Taking the wheeled biped robot 100 in the figure as an example, the wheel-leg robot includes but is not limited to the main body and the wheel-leg part, and the wheel-leg part and the main body are in an inverted pendulum structure. That is, the control of the wheel-leg part can be linked to the control of the main body. Among them, the inverted pendulum structure refers to a linkage structure that controls the leg structure and the main body by controlling the wheels. Structural features include: the height of the current leg structure, the mass of the main body, the mass of the wheels, the radius of the wheels, the distance between the two wheels, etc. The structural features may also include the linkage structure between the various parts. For example, Figure 1 For example, when the wheel is controlled to rotate clockwise to move rightward, the main body and leg structure will move to the left relative to the wheel through linkage, and this linkage structure can also be reflected in the basic data. This application does not limit the specific form or content of the basic data.

[0061] In some embodiments, since the basic structure of the wheeled robot is fixed, a portion of the basic data may be pre-set. Figure 1 For example, the wheeled biped robot 100 in FIG. 1 may include the first mass data of the main body, the second mass data of the wheels in the wheel-leg part, the corresponding relationship between the angle of the leg structure and the height, etc. In some embodiments, a part of the basic data may also be obtained by calculation. Figure 1 Taking the wheeled biped robot 100 in FIG. 1 as an example, the height in the basic data can be calculated according to the corresponding relationship between the angles presented by the calf segment and the thigh segment in the leg structure.

[0062] The motion state data is used to represent the motion characteristics of the wheeled robot, and may include the inclination data of the wheeled robot and the rotation data of the wheels, such as: inclination, inclination speed, wheel rotation distance (i.e., the moving distance of the wheeled robot), wheel rotation linear speed, etc. This application does not limit the specific form or content of the motion state data.

[0063] In some embodiments, the motion state data needs to be detected based on the motion state of the wheeled robot. For example, the inclination data corresponding to the motion state can be collected and acquired by a sensor, and the wheel-related data can be read by a motor. This application does not limit the specific method of acquiring the motion state data.

[0064] Step 302: Based on the motion state data, a balancing torque is determined by a controller, where the controller is a pre-set mathematical model for balancing the wheeled robot in a partial feedback linear manner.

[0065] In some embodiments, the controller is a pre-set mathematical model for balancing the wheeled robot outside the linear control range, wherein outside the linear control range means that the wheeled robot is outside the control range of the linearized model.

[0066] In some embodiments, based on the motion state data, an intermediate variable is determined by a controller, and the intermediate variable corresponds to the linearized part of the dynamic relationship of the wheeled robot; the intermediate variable is substituted into the nonlinear part of the dynamic relationship of the wheeled robot to obtain a balancing torque.

[0067] Referring to the above formula 1, it can be seen that the dynamic model of the wheeled robot itself is nonlinear. Therefore, the above formula 1 is first deformed and split into the following formula 2 and formula 3.

[0068] Formula 2:

[0069] Formula 3:

[0070] Among them, v represents the intermediate variable, m is used to refer to the body of the wheeled robot, that is, the mass of the main part, M is used to refer to the mass of the wheels of the wheeled robot, and l is the current height of the wheeled robot, that is, the height of the wheeled robot under the current leg structure. represents the derivative of the rotational linear velocity of the wheel, which is the rotational linear acceleration. θ represents the inclination angle of the wheeled robot, represents the inclination velocity of the wheeled robot, represents the inclination acceleration of the wheeled robot. Here, the pitch angle θ is taken as an example for explanation. u represents the balancing torque, that is, the thrust applied to the wheeled robot. There is a corresponding relationship between u and the torque applied to the wheel.

[0071] That is, after the nonlinear dynamic model shown in the above formula 1 is split into a linear part (formula 3) and a nonlinear part (formula 2), the intermediate variable v is first determined by the linear part, and then the intermediate variable is substituted into the nonlinear part to obtain the equilibrium torque. Based on the motion state data, the intermediate variable v is first determined by the above formula 3, and then the intermediate variable v is substituted into formula 2 to obtain the equilibrium torque u.

[0072] The following is about Figure 4 An exemplary specific implementation is disclosed, but this embodiment does not limit the specific implementation method of determining the intermediate variable determination process.

[0073] Step 303: Control the wheeled robot to be in a target balanced state by using a balancing torque.

[0074] In some embodiments, the calculated balancing torque is transmitted to the motor, and the motor electrically controls the wheel of the wheeled robot to control the wheel to rotate with the balancing torque as the target, thereby driving the wheel structure of the wheeled robot and the main body of the wheeled robot to a stationary state. This application does not limit the implementation method of applying the balancing torque, for example, a hydraulic-based driving method should also be considered to be included in this application.

[0075] To sum up, the control method of the wheeled robot provided in the embodiment of the present application adopts a pre-set controller to control the wheeled robot. When the wheeled robot deviates from the balance point and cannot be controlled by a linearized model, the controller controls the wheeled robot to return to the target balance state, thereby improving the accuracy of balance control of the wheeled robot.

[0076] Figure 4 is a flow chart of a control method of a wheeled robot in some embodiments of the present application, wherein the process of determining an intermediate variable by a controller includes:

[0077] Step 401, obtaining motion state data of a wheeled robot, where the motion state data is used to represent motion characteristics of the wheeled robot.

[0078] The method for acquiring the motion status data has been described in the above step 301 and will not be repeated here.

[0079] Step 402, based on the motion state data, determine the intermediate variable through the controller, where the intermediate variable corresponds to the linearized part of the dynamic relationship of the wheeled robot.

[0080] In some embodiments, based on the motion state data, the intermediate variables are determined by the controller with the goal of making the linearized part of the dynamic relationship of the wheeled robot conform to the target equilibrium state.

[0081] Optionally, the linearized part corresponds to an original energy relationship, so after determining the original energy relationship, the intermediate variable is determined through the original energy relationship based on the motion state data, and the original energy relationship includes the original potential energy, and the original potential energy has a non-steady-state characteristic. The non-steady-state characteristic means that in the calculation curve of the original potential energy, when the original potential energy is at a maximum value, the wheeled robot is in a target equilibrium state, and the maximum value of the original potential energy is unstable.

[0082] In the embodiment of the present application, a variant energy relationship is introduced, that is, the linearized part also corresponds to a variant energy relationship. After determining the variant energy relationship, the intermediate variable is determined based on the motion state data through the original energy relationship and the variant energy relationship, wherein the variant energy relationship includes variant potential energy, and the variant potential energy has a steady-state characteristic, and when the wheeled robot is in the target equilibrium state, the variant potential energy takes the minimum value. The steady-state characteristic means that in the calculation curve of the variant potential energy, when the variant potential energy is at the minimum value, the wheeled robot is in the target equilibrium state, and the minimum value of the variant potential energy is stable.

[0083] In some embodiments, intermediate variables are determined with the goal of changing the original energy relationship into a variant energy relationship.

[0084] Schematically, the original energy relationship is shown in Formula 4 below.

[0085] Formula 4:

[0086] Where q represents momentum, p represents angular momentum, q=[θx] T , and the inertia matrix M I =[10;01], original potential energy V=cos(θ)g / l. Since the original potential energy V has non-steady-state characteristics and may be dumped, a variant energy relationship is designed in this embodiment, as shown in the following formula 5.

[0087] Formula 5:

[0088] V d It is a variable potential energy, which has a steady-state characteristic. For the expression of the variable potential energy, please refer to the following formula 6.

[0089] Formula 6:

[0090] Among them, k is a free parameter. Using the Lyapunov function, it can be confirmed that when the variable potential energy is minimized, the wheeled robot can stabilize in the target equilibrium state x*.

[0091] M d It is a preset matrix and is within the pitch angle range The inner is positive definite, please refer to the following formula 7.

[0092] Formula 7:

[0093] Among them, m 11 、m 12 、m 22 are used to simplify the relationship between subsequent height and inclination, that is, m 11 For representative m 12 For representative m 22 For representative

[0094] Among them, θ represents the inclination angle of the wheel-legged robot, l is the height of the current wheel-legged robot, and k and is a predefined free parameter, and k>0,

[0095] That is, in the embodiment of the present application, the intermediate variable v is determined with the goal of changing the original energy relationship shown in Formula 4 to the variant energy relationship shown in Formula 5.

[0096] When determining the intermediate variable v, the intermediate variable v is determined in different ways for different control objectives, including at least the following two situations:

[0097] 1. Control the wheeled robot to balance and fix it at the balance point x*.

[0098] In some embodiments, the intermediate variable is determined based on the following formula eight.

[0099] Formula 8: v = A1(θ)P(xx*)+p T A2(θ)p+A3(θ)-k v A4(θ)p

[0100] Among them, kv is a free parameter in the damping injection process, v represents the intermediate variable, P is a pre-set free parameter, x represents the rotation distance of the wheeled robot wheel, x * represents the balance point of the wheel in the target balance state; p represents the angular momentum, θ represents the inclination angle of the wheeled robot, and A1, A2, A3 and A4 are pre-set parameters. Therefore, when the wheeled robot is controlled, the balance torque is used to control the wheeled robot to balance and fix it at the balance point x * .

[0101] For the calculation method of the above A1, A2, A3 and A4, please refer to the following formula 9 to formula 12.

[0102] Formula 9:

[0103] Formula 10:

[0104] Formula 11:

[0105] Formula 12:

[0106] Among them, m 11 、m 12 、m 22 Please refer to Formula 7 above, It represents the differential of the function F(θ) at θ. The calculation method of F(θ) is as shown in the following formula 13:

[0107] Formula 13:

[0108] α 11 and α 12 Please refer to the following formula 14 for the calculation method:

[0109] Formula 14:

[0110] α 11 That is the first row obtained by multiplying the above matrices, α 12 is the second row obtained by multiplying the above matrices.

[0111] Based on the above formula 8, calculate the direction from the current wheel to the balance point x * Adjust the corresponding intermediate variable v to control the wheeled robot to be fixed at the equilibrium point [0 0 x * 0] T That is, the intermediate variable v calculated at present can make H in formula 5 d satisfy Indicates that the inclination is 0, Indicates that the wheeled robot is at the equilibrium point x * Among them, the equilibrium point x * A value specified in real time, such as a value determined based on the control operation of a wheeled robot.

[0112] 2. Control the wheeled robot to move at a constant speed in the target balanced state.

[0113] In some embodiments, the intermediate variable is determined based on the following formula fifteen.

[0114] Formula 15:

[0115] in, and θ represents the inclination angle of the wheeled robot, and A1, A2, A3 and A4 are pre-set parameters. Therefore, when the wheeled robot is controlled, the wheeled robot is controlled by the balancing torque to move in the target balanced state. The speed of uniform motion.

[0116] Based on the above formula 15, the current wheel linear speed is calculated Speed ​​to target Adjust the corresponding intermediate variable v to control the wheeled robot That is, the intermediate variable v calculated at present can make H in formula 5 d satisfy Indicates that the inclination is 0, The moving speed of the wheeled robot is Among them, the balance point A value specified in real time, such as a value determined based on the control operation of a wheeled robot.

[0117] Step 403: Substitute the intermediate variable into the nonlinear part of the dynamic relationship of the wheeled robot to obtain the equilibrium torque.

[0118] Substitute the intermediate variable v into the nonlinear part of the dynamic relationship of the wheeled robot, that is, the above formula 2, to calculate the corresponding equilibrium torque.

[0119] Step 404: Control the wheeled robot to be in a target balanced state by using a balancing torque.

[0120] In some embodiments, the calculated balancing torque is transmitted to the motor, and the motor electrically controls the wheel of the wheeled robot to control the wheel to rotate with the balancing torque as the target, thereby driving the wheel structure of the wheeled robot and the main body of the wheeled robot to a stationary state. This application does not limit the implementation method of applying the balancing torque, for example, a hydraulic-based driving method should also be considered to be included in this application.

[0121] To sum up, the control method of the wheeled robot provided in the embodiment of the present application adopts a pre-set controller to control the wheeled robot. When the wheeled robot deviates from the balance point and cannot be controlled by a linearized model, the controller controls the wheeled robot to return to the target balance state, thereby improving the accuracy of balance control of the wheeled robot.

[0122] The method provided in this embodiment splits the dynamic model into a linearized part and a nonlinear part, and after determining the intermediate variables based on the linearized part, substitutes the intermediate variables into the nonlinear part to obtain the balancing torque to control the wheeled robot, thereby improving the control accuracy of the wheeled robot.

[0123] Schematically, the embodiment of the present application controls the wheel-legged robot through linear output regulation and nonlinear interconnection-damping assignment passive control (Interconnection and Damping Assignment Passivity-Based Control, IDA-PBC), and verifies the stability and performance of linear output regulation and nonlinear IDA-PBC through experiments. First, all parameters are summarized in Table 1.

[0124] Table 1

[0125]

[0126] Among them, Robot / IPC in the second line indicates the wheel-legged robot / inverted pendulum, and Parameters is the basic data of the wheel-legged robot / inverted pendulum, such as: M is the wheel mass 3kg; m is the main body mass 1kg; g is the gravitational acceleration 9.81m / s 2 ; l is the height, which can be adjusted between 0.37m and 0.7m (i.e. the connection length between the motor and the legs of the subject body at the use angle); r w Indicates the wheel radius, d w Indicates the distance between the two wheels.

[0127] The IDA-PBC in the third row indicates the IDA-PBC parameters used in the control process, including parameter k as 0.015; parameter Parameter k v is 0.05 and parameter P=0.2.

[0128] The Output regulation in the fourth row represents the parameters used in the linear output regulation method provided in the embodiment of the present application, including the gain matrix k x , parameter k d And the matrix L.

[0129] In some embodiments, k x The third element of is set to a negligible small value, such as 0.001 as shown in Table 1 above, and the third element is a non-zero element.

[0130] Thus, the pitch angle θ and roll angle φ and their speed are measured by the Inertial Measurement Unit (IMU). At the same time, we read the angular velocity ω of the right wheel through the motor encoder r (rad / s) and the angular velocity of the left wheel ω l (rad / s). Then the linear velocity of the wheel-legged robot in the x direction can be calculated and yaw speed The following is formula 16:

[0131] Formula 16:

[0132] When controlling the wheel-legged robot based on the balance force u, the formula τ=1 / 2r w u is converted into torque, τ is the torque, on the other hand, the yaw moment Adding τ rotates the wheel-legged robot through the left motor, while subtracting τ rotates the wheel-legged robot through the right motor. Since the yaw moment does not change the total torque in the x direction, it will not destroy the balance of the robot.

[0133] In the experiment, a central processing unit (CPU) of model PICO-WHU4 was used, and its processing cycle was T s ≈0.002s, thus through The observer calculates x and discretizes the observer. k represents the distance at time k, x k-1 represents the distance at time k-1, represents the velocity at time k-1.

[0134] Indicatively, Figure 5 As shown, it shows the performance results of the wheel-legged robot 510 passing through beams of different heights (0.37m, 0.5m and 0.70m) during the experiment. It can adjust the height under railings of different heights and pass stably at the balance point.

[0135] Indicative, Figure 6 for Figure 5The height variation curve of the wheel-legged robot 510 and the corresponding linear speed variation curve are shown in FIG. 610 , and the corresponding linear speed variation is shown in FIG. 620 . The wheel-legged robot 510 passes through three beams with a maximum height of 0.7 m, an intermediate height of 0.5 m, and a minimum height of 0.37 m. Then it runs back at the minimum height, the intermediate height, and the maximum height. In this experiment, the wheel-legged robot 510 is stable when running in a straight line. In addition, since the height is called in IDA-PBC, it can be freely changed between its minimum and maximum values ​​by remote control.

[0136] like Figure 7 As shown, it shows a schematic diagram of the rotation of the wheel-legged robot 710, and torque is added / subtracted on the two wheel motors of the wheel-legged robot 710 to control the rotation of the wheel-legged robot 710.

[0137] Indicative, Figure 8 for Figure 7 The yaw angular velocity curve and motor input curve of the wheel-legged robot 710 during rotation are shown in FIG. Figure 8 As shown, the yaw angular velocity is shown as curve 810, the left motor input is shown as curve 821, and the right motor input is shown as curve 822. The yaw torque does not affect the balance control, so the wheel-legged robot 710 rotates smoothly clockwise at a yaw speed of 165° / s. During the rotation process, the torque applied to the wheel motor is also smooth.

[0138] like Fig. 9 As shown, it shows a schematic diagram of the wheel-legged robot 910 performing an S-turn on a pile based on straight-line operation and rotation.

[0139] Indicative, Fig.10 yes Fig. 9 The linear velocity curve and yaw angular velocity curve of the wheel-legged robot 910 during the S-turn process are shown in FIG. Fig.10 The linear velocity is shown as curve 1010, and the yaw angular velocity is shown as curve 1020. The wheel-legged robot 910 rotates counterclockwise at the first and third posts and clockwise at the second post. However, in order to keep the robot on the desired path, the experimenter often adjusted the remote control. Although the stability was poor, the robot remained stable along the desired path at the maximum height.

[0140] like Fig.11 As shown, it shows the performance of the wheel-legged robot 1110 when encountering a speed bump.

[0141] Indicative, Fig.12 yes Fig.11The pitch angle performance curve and linear speed curve of the wheel-legged robot 1110 when encountering a speed bump are shown in FIG. Fig.12 The pitch angle changes as shown in curve 1210, and the linear speed changes as shown in curve 1220. The wheel-legged robot 1110 reaches the first speed bump in 1.5s and the second speed bump in 2.8s. Fig.12 It can be seen that although the pitch angle and linear velocity change dramatically at the bump point, the robot remains stable after leaving the bump point. The results show that IDA-PBC has strong robustness to such wheel exogenous disturbances.

[0142] like Fig.13 As shown, it shows the performance of the wheel-legged robot 1310 when encountering external force interference.

[0143] Indicative, Fig.14 yes Fig.13 The wheel-legged robot 1310 shown in FIG. Fig.13 The figure shows the pitch angle performance curve and linear velocity curve when the experimenter imposes artificial interference. Fig.14 As shown, the pitch angle changes as shown in curve 1410, and the linear speed changes as shown in curve 1420. Each intersection 0 in curve 1420 represents a kick to the wheel-legged robot 1310, at which time the wheel-legged robot 1310 stops and changes direction. After each kick, the wheel-legged robot 1310 will suddenly accelerate due to the kick, but will quickly decelerate because the IDA-PBC adjusts the speed to zero. Before the speed drops to zero, the robot is kicked to the other side. Similarly, the pitch angle also undergoes a similar change. The pitch angle suddenly changes due to the artificial interference of the experimenter, but quickly returns to balance.

[0144] like Fig.15 As shown, it shows the performance of the wheel-legged robot 1510 rushing towards the slope on one leg.

[0145] Indicative, Fig.16 yes Fig.15 The diagram shown is a schematic diagram of the pitch angle variation curve and the roll angle variation curve of the wheel-legged robot 1510 when the robot 1510 runs toward a slope on one leg. Fig.16As shown, the pitch angle changes as shown in curve 1610, and the roll angle changes as shown in curve 1620. The wheel-legged robot 1510 is very stable on the slope. Although the roll angle increases when the wheel-legged robot 1510 moves on the slope, the wheel-legged robot 1510 still maintains linear motion. When the wheels leave the top of the slope and fall to the ground, the wheel-legged robot 1510 is still stable, especially when its height is reduced to a minimum. As shown in curve 1610, the pitch angle eventually converges to a balanced state. The results verify the robustness of IDA-PBC when the robot runs fast and a single wheel is slightly off the ground.

[0146] like Fig.17 As shown, it shows the adjustment process of the wheel-legged robot 1710 from the initial state to the normal motion state.

[0147] Indicative, Fig.18 yes Fig.17 The graph shows the curve of the pitch angle and linear speed motor input torque changes during the process of the wheel-legged robot 1710 entering the normal motion state from the initial state. Fig.17 As shown in Figure 2, the starting angle in the initial state is around 36° and is outside the linear region. The results show that after adopting the nonlinear controller, the oscillation of the pitch angle is reduced and equilibrium can be reached faster.

[0148] like Fig.18 As shown, the curve corresponding to the equilibrium state is curve 1810. When the wheel-legged robot needs to enter the normal motion state from the initial state, the wheel-legged robot is controlled by linear control (refer to linear curve 1820) and nonlinear control (refer to nonlinear curve 1830), so as to control the wheel-legged robot to a state close to the equilibrium state, that is, the pitch angle is close to 0.

[0149] like Fig.18 As shown, the pitch angular velocity in the equilibrium state should be 0. When the wheel-legged robot needs to enter the normal motion state from the initial state, the wheel-legged robot is controlled by linear control (refer to linear curve 1840) and nonlinear control (refer to nonlinear curve 1850), so as to control the wheel-legged robot to a state close to the equilibrium state, that is, the pitch angular velocity is close to 0.

[0150] like Fig.18 As shown, the linear velocity should be 0 in the equilibrium state. When the wheel-legged robot needs to enter the normal motion state from the initial state, the wheel-legged robot is controlled by linear control (refer to linear curve 1860) and nonlinear control (refer to nonlinear curve 1870), so as to control the wheel-legged robot to a state close to the equilibrium state, that is, the linear velocity is close to 0.

[0151] like Fig.18As shown, the torque should be 0 in the equilibrium state. When the wheel-legged robot needs to enter the normal motion state from the initial state, the wheel-legged robot is controlled by linear control (refer to linear curve 1880) and nonlinear control (refer to nonlinear curve 1890), so as to control the wheel-legged robot to a state close to equilibrium.

[0152] Fig.19 is a structural block diagram of a control device for a wheeled robot provided by an exemplary embodiment of the present application, such as Fig.19 As shown, the device comprises:

[0153] Acquisition module 1910, used to execute the embodiments in step 301 and step 401;

[0154] Determine module 1920, execute the embodiments in step 302, step 303, step 402, step 403 and step 404;

[0155] The control module 1930 is used to execute the embodiments in step 303 and step 405 .

[0156] To sum up, the control device of the wheeled robot provided in the embodiment of the present application adopts a pre-set controller to control the wheeled robot. When the wheeled robot deviates from the balance point and cannot be controlled by a linearized model, the controller controls the wheeled robot to return to the target balance state, thereby improving the accuracy of balance control of the wheeled robot.

[0157] It should be noted that the control device of the wheeled robot provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the control device of the wheeled robot provided in the above embodiment belongs to the same concept as the control method embodiment of the wheeled robot. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0158] Fig. 20The block diagram of the structure of an electronic device 2000 provided by an exemplary embodiment of the present application is shown. The electronic device 2000 may be a portable mobile terminal, such as a smart phone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III), an MP4 player (Moving Picture Experts Group Audio Layer IV), a laptop computer or a desktop computer. The electronic device 2000 may also be called a user device, a portable terminal, a laptop terminal, a desktop terminal or other names. In the embodiment of the present application, the electronic device 2000 is implemented as a control device part in a wheel-legged robot.

[0159] Typically, the electronic device 2000 includes: a processor 2001 and a memory 2002 .

[0160] The processor 2001 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 2001 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 2001 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 2001 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 2001 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0161] The memory 2002 may include one or more computer-readable storage media, which may be non-transitory. The memory 2002 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 2002 is used to store at least one instruction, which is used to be executed by the processor 2001 to implement the control method of the wheeled robot provided in the method embodiment of the present application.

[0162] In some embodiments, the electronic device 2000 may further optionally include: a peripheral device interface 2003 and at least one peripheral device. The processor 2001, the memory 2002 and the peripheral device interface 2003 may be connected via a bus or a signal line. Each peripheral device may be connected to the peripheral device interface 2003 via a bus, a signal line or a circuit board. Specifically, the peripheral device includes: at least one of a radio frequency circuit 2004, a display screen 2005, a camera assembly 2006, an audio circuit 2007, a positioning assembly 2008 and a power supply 2009.

[0163] The peripheral device interface 2003 may be used to connect at least one peripheral device related to I / O (Input / Output) to the processor 2001 and the memory 2002. In some embodiments, the processor 2001, the memory 2002, and the peripheral device interface 2003 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 2001, the memory 2002, and the peripheral device interface 2003 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.

[0164] The radio frequency circuit 2004 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 2004 communicates with the communication network and other communication devices through electromagnetic signals. The radio frequency circuit 2004 converts the electrical signal into an electromagnetic signal for transmission, or converts the received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 2004 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The radio frequency circuit 2004 can communicate with other terminals through at least one wireless communication protocol. The wireless communication protocol includes but is not limited to: the World Wide Web, a metropolitan area network, an intranet, various generations of mobile communication networks (2G, 3G, 4G and 5G), a wireless local area network and / or a WiFi (Wireless Fidelity) network. In some embodiments, the radio frequency circuit 2004 may also include circuits related to NFC (Near Field Communication), which is not limited in this application.

[0165] The display screen 2005 is used to display a UI (User Interface). The UI may include graphics, text, icons, videos, and any combination thereof. When the display screen 2005 is a touch display screen, the display screen 2005 also has the ability to collect touch signals on the surface or above the surface of the display screen 2005. The touch signal can be input to the processor 2001 as a control signal for processing. At this time, the display screen 2005 can also be used to provide virtual buttons and / or virtual keyboards, also known as soft buttons and / or soft keyboards. In some embodiments, the display screen 2005 can be one, arranged on the front panel of the electronic device 2000; in other embodiments, the display screen 2005 can be at least two, respectively arranged on different surfaces of the electronic device 2000 or in a folding design; in other embodiments, the display screen 2005 can be a flexible display screen, arranged on a curved surface or a folding surface of the electronic device 2000. Even, the display screen 2005 can also be arranged as a non-rectangular irregular figure, that is, a special-shaped screen. The display screen 2005 can be made of materials such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode).

[0166] The camera assembly 2006 is used to capture images or videos. Optionally, the camera assembly 2006 includes a front camera and a rear camera. Typically, the front camera is arranged on the front panel of the terminal, and the rear camera is arranged on the back of the terminal. In some embodiments, there are at least two rear cameras, which are any one of a main camera, a depth of field camera, a wide-angle camera, and a telephoto camera, so as to realize the fusion of the main camera and the depth of field camera to realize the background blur function, the fusion of the main camera and the wide-angle camera to realize the panoramic shooting and VR (Virtual Reality) shooting function or other fusion shooting functions. In some embodiments, the camera assembly 2006 may also include a flash. The flash can be a monochrome temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cold light flash, which can be used for light compensation at different color temperatures.

[0167] The audio circuit 2007 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, and convert the sound waves into electrical signals and input them into the processor 2001 for processing, or input them into the radio frequency circuit 2004 to achieve voice communication. For the purpose of stereo acquisition or noise reduction, there may be multiple microphones, which are respectively arranged at different parts of the electronic device 2000. The microphone may also be an array microphone or an omnidirectional acquisition microphone. The speaker is used to convert the electrical signal from the processor 2001 or the radio frequency circuit 2004 into sound waves. The speaker may be a traditional film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert the electrical signal into sound waves audible to humans, but also convert the electrical signal into sound waves inaudible to humans for purposes such as distance measurement. In some embodiments, the audio circuit 2007 may also include a headphone jack.

[0168] The positioning component 2008 is used to locate the current geographic location of the electronic device 2000 to implement navigation or LBS (Location Based Service).

[0169] The power supply 2009 is used to power various components in the electronic device 2000. The power supply 2009 can be an alternating current, a direct current, a disposable battery, or a rechargeable battery. When the power supply 2009 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery that is charged through a wired line, and a wireless rechargeable battery is a battery that is charged through a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0170] In some embodiments, the electronic device 2000 further includes one or more sensors 2010. The one or more sensors 2010 include but are not limited to: an acceleration sensor 2011, a gyroscope sensor 2012, a pressure sensor 2013, a fingerprint sensor 2014, an optical sensor 2015, and a proximity sensor 2016.

[0171] The acceleration sensor 2011 can detect the magnitude of acceleration on the three coordinate axes of the coordinate system established by the electronic device 2000. For example, the acceleration sensor 2011 can be used to detect the components of gravity acceleration on the three coordinate axes. The processor 2001 can control the display screen 2005 to display the user interface in a horizontal view or a vertical view according to the gravity acceleration signal collected by the acceleration sensor 2011. The acceleration sensor 2011 can also be used for collecting game or user motion data.

[0172] The gyro sensor 2012 can detect the body direction and rotation angle of the electronic device 2000, and the gyro sensor 2012 can cooperate with the acceleration sensor 2011 to collect the user's 3D actions on the electronic device 2000. The processor 2001 can implement the following functions based on the data collected by the gyro sensor 2012: motion sensing (such as changing the UI according to the user's tilt operation), image stabilization during shooting, game control, and inertial navigation.

[0173] The pressure sensor 2013 can be set on the side frame of the electronic device 2000 and / or the lower layer of the display screen 2005. When the pressure sensor 2013 is set on the side frame of the electronic device 2000, it can detect the user's holding signal of the electronic device 2000, and the processor 2001 performs left and right hand recognition or shortcut operation according to the holding signal collected by the pressure sensor 2013. When the pressure sensor 2013 is set on the lower layer of the display screen 2005, the processor 2001 controls the operability controls on the UI interface according to the user's pressure operation on the display screen 2005. The operability controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

[0174] The fingerprint sensor 2014 is used to collect the user's fingerprint, and the processor 2001 identifies the user's identity based on the fingerprint collected by the fingerprint sensor 2014, or the fingerprint sensor 2014 identifies the user's identity based on the collected fingerprint. When the user's identity is identified as a trusted identity, the processor 2001 authorizes the user to perform relevant sensitive operations, including unlocking the screen, viewing encrypted information, downloading software, paying, and changing settings. The fingerprint sensor 2014 can be set on the front, back, or side of the electronic device 2000. When a physical button or a manufacturer logo is set on the electronic device 2000, the fingerprint sensor 2014 can be integrated with the physical button or the manufacturer logo.

[0175] The optical sensor 2015 is used to collect the ambient light intensity. In one embodiment, the processor 2001 can control the display brightness of the display screen 2005 according to the ambient light intensity collected by the optical sensor 2015. Specifically, when the ambient light intensity is high, the display brightness of the display screen 2005 is increased; when the ambient light intensity is low, the display brightness of the display screen 2005 is decreased. In another embodiment, the processor 2001 can also dynamically adjust the shooting parameters of the camera assembly 2006 according to the ambient light intensity collected by the optical sensor 2015.

[0176] The proximity sensor 2016, also called a distance sensor, is usually disposed on the front panel of the electronic device 2000. The proximity sensor 2016 is used to collect the distance between the user and the front of the electronic device 2000. In one embodiment, when the proximity sensor 2016 detects that the distance between the user and the front of the electronic device 2000 is gradually decreasing, the processor 2001 controls the display screen 2005 to switch from the screen-on state to the screen-off state; when the proximity sensor 2016 detects that the distance between the user and the front of the electronic device 2000 is gradually increasing, the processor 2001 controls the display screen 2005 to switch from the screen-off state to the screen-on state.

[0177] Those skilled in the art will understand that Fig. 20 The structure shown in the figure does not constitute a limitation on the electronic device 2000, and may include more or less components than those shown in the figure, or combine certain components, or adopt a different component arrangement.

[0178] An embodiment of the present application also provides a wheel-legged robot, which includes a processor and a memory, in which at least one instruction, at least one program, a code set or an instruction set is stored, and at least one instruction, at least one program, a code set or an instruction set is loaded and executed by the processor to implement the control method of the wheeled robot provided by the above-mentioned method embodiments.

[0179] An embodiment of the present application also provides a computer-readable storage medium, on which is stored at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the control method of the wheeled robot provided in the above-mentioned method embodiments.

[0180] The embodiments of the present application also provide a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the control method of the wheeled robot described in any of the above embodiments.

[0181] Optionally, the computer readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a solid state drive (SSD), or an optical disk. Among them, the random access memory may include a resistance random access memory (ReRAM) and a dynamic random access memory (DRAM). The serial numbers of the above embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments.

[0182] Those skilled in the art can understand that all or part of the steps of implementing the above embodiments can be completed by hardware, or by a program to instruct the relevant hardware to complete, and the program can be stored in a computer-readable storage medium, and the above-mentioned storage medium can be a read-only memory, a disk or an optical disk, etc. The above description is only an optional embodiment of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A control method for a wheeled robot, characterized in that: The method comprises: Acquiring motion state data of the wheeled robot, wherein the motion state data is used to represent motion characteristics of the wheeled robot; Based on the motion state data, an intermediate variable is determined by the controller, wherein the intermediate variable corresponds to a linearized part of the dynamic relationship of the wheeled robot, and the controller is a pre-set mathematical model for balancing the wheeled robot in a partial feedback linear manner; the intermediate variable is used to make the wheeled robot at a balance point with an inclination angle of 0; Substituting the intermediate variable into the nonlinear part of the dynamic relationship of the wheeled robot to obtain the balancing torque; The wheeled robot is controlled to be in a target balanced state by using the balancing torque.

2. The method according to claim 1, characterized in that The determining of the intermediate variable by the controller based on the motion state data comprises: Based on the motion state data, the intermediate variable is determined by the controller with the goal of making the linearized part of the dynamic relationship of the wheeled robot conform to the target equilibrium state.

3. The method according to claim 1, characterized in that The controller is obtained by the following steps: Determining an original energy relationship of the wheeled robot, wherein the original energy relationship includes original potential energy, and the original potential energy has a non-steady-state characteristic; Determining a variant energy relationship of the wheeled robot, wherein the variant energy relationship includes a variant potential energy, the variant potential energy has a steady-state characteristic, and when the wheeled robot is in the target equilibrium state, the variant potential energy has a minimum value; The controller is determined with the goal of changing the original energy relationship into the modified energy relationship.

4. The method according to claim 3, characterized in that The original energy relationship is as follows: Where q represents momentum, p represents angular momentum, q=[θx] T , inertia matrix M I =[10;01], V is the original potential energy, V=cos(θ)g / l.

5. The method according to claim 3, characterized in that: The variant energy relationship is as follows: Where q represents momentum, p represents angular momentum, q=[θx] T , M d is a preset matrix determined based on the relationship between height and inclination, V d It is a variable potential energy, and the variable potential energy has a steady-state characteristic.

6. The method according to any one of claims 1 to 5, characterized in that: The determining of the intermediate variable by the controller based on the motion state data comprises: Substituting the motion state data into the controller shown in the following formula, the intermediate variable is calculated; ν=A1(θ)p(xx * )+p T A2(θ)p+A3(θ)-k v A4(θ)p Wherein, ν represents the intermediate variable, P is a pre-set free parameter, x represents the rotation distance of the wheeled robot wheel, and x * Indicates the balance point of the wheel in the target balance state; θ represents the inclination angle of the wheeled robot, represents the inclination velocity of the wheeled robot, k v are free parameters in the damping injection process, and A1, A2, A3, and A4 are pre-set parameter calculation expressions; The step of controlling the wheeled robot to be in a target balanced state by using the balancing torque comprises: The wheeled robot is controlled to be balanced and fixed at the balance point x by the balance torque. * .

7. The method according to any one of claims 1 to 5, characterized in that: The determining of the intermediate variable by the controller based on the motion state data comprises: Substituting the motion state data into the controller shown in the following formula, the intermediate variable is calculated; Wherein, ν represents the intermediate variable, represents the rotation linear velocity of the wheel leg of the wheeled robot, represents the rotational acceleration of the wheel leg of the wheeled robot in the target equilibrium state, θ represents the inclination angle of the wheeled robot, represents the inclination velocity of the wheeled robot, k v are free parameters in the damping injection process, and A1, A2, A3, and A4 are pre-set parameter calculation expressions; The step of controlling the wheeled robot to be in a target balanced state by using the balancing torque comprises: The wheeled robot is controlled by the balancing torque to move in the target balancing state. The speed of uniform motion.

8. The method according to any one of claims 1 to 5, characterized in that: The nonlinear part of the dynamic relationship of the wheeled robot is Wherein, ν represents the intermediate variable, u represents the balancing torque, m represents the mass of the main body of the wheeled robot, M represents the mass of the wheel of the wheeled robot, l represents the height of the wheeled robot, θ represents the inclination angle of the wheeled robot, Represents the tilt velocity of the wheeled robot.

9. A control device for a wheeled robot, characterized in that: The device comprises: An acquisition module, used for acquiring motion state data of the wheeled robot, wherein the motion state data is used for representing motion characteristics of the wheeled robot; A determination module, configured to determine an intermediate variable through the controller based on the motion state data, wherein the intermediate variable corresponds to a linearized part of the dynamic relationship of the wheeled robot, and the controller is a pre-set mathematical model for balancing the wheeled robot in a partial feedback linear manner; the intermediate variable is used to make the wheeled robot at a balance point with an inclination of 0; the intermediate variable is substituted into the nonlinear part of the dynamic relationship of the wheeled robot to obtain the balancing torque; A control module is used to control the wheeled robot to be in a target balance state using the balance torque.

10. The device according to claim 9, characterized in that The determination module is further used to determine the intermediate variable through the controller based on the motion state data and with the goal of the linearized part of the dynamic relationship of the wheeled robot conforming to the target equilibrium state.

11. A wheel-legged robot, characterized in that: The wheel-legged robot includes a processor and a memory, wherein the memory stores at least one program, and the at least one program is loaded and executed by the processor to implement the control method of the wheeled robot as described in any one of claims 1 to 8.

12. A computer-readable storage medium, characterized in that: The storage medium stores at least one program, and the at least one program is loaded and executed by the processor to implement the control method of the wheeled robot as described in any one of claims 1 to 8.

Images