A Distributed Driving Method and Device for a Mobile Robot

Abstract

The embodiments of the present application disclose a distributed driving method and device for a mobile robot. The chassis controller receives the operation data sent by each motor controller, and determines the current control mode based on the operation data; when it is determined that the current control mode is the normal control mode, the chassis controller sends the reference speed, reference angle, and the first control mode command and the second control mode command to each motor controller to drive the mobile robot; when it is determined that the current control mode is the redundant standby control mode, based on the preset driving rules, the hub motors in the normal state and / or the steering gears in the normal state are determined, and the reference speed, reference angle, and the third control mode command and / or the fourth control mode command and / or the fifth control command are sent to the motor controllers corresponding to the hub motors of the hub motors in the normal state and / or the steering gears in the normal state to drive the mobile robot.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and in particular, to a distributed driving method and device for a mobile robot. Background Art

[0002] With the development and progress of science and technology and economy, various dangerous environments or complex terrain environments require robots to perform remote or autonomous operations, such as life monitoring and rescue in narrow spaces, early monitoring of mountain fires, and patrol inspections.

[0003] Currently, outdoor robots are mostly used in fixed and relatively simple road condition closed scenarios, such as express delivery, express sorting AGVs, etc., and there are also tracked vehicles for fire fighting or rescue. In complex terrain environments, the above outdoor robots usually have various failures due to their poor flexibility, making it difficult for outdoor robots to drive stably. Summary of the Invention

[0004] Embodiments of the present application provide a distributed driving method and device for a mobile robot to solve the following technical problem: Outdoor robots in the prior art are difficult to drive stably.

[0005] Embodiments of the present application adopt the following technical solutions:

[0006] An embodiment of the present application provides a distributed driving method for a mobile robot. The method includes: a chassis controller of a distributed driving device of the mobile robot receives operation data sent by each motor controller, and determines a current control mode based on the operation data; wherein the current control mode includes a normal control mode and a redundant standby control mode; when it is determined that the current control mode is the normal control mode, the chassis controller sends a reference rotational speed, a reference rotation angle, a first control mode command, and a second control mode command to each motor controller to drive the mobile robot; wherein the first control mode command is an improved rotational speed deviation coupling synchronization control mode command for the hub motor operating in the rotational speed control mode, and the second control mode command is an improved rotation angle deviation coupling synchronization control mode command for the steering gear operating in the position control mode; when it is determined that the current control mode is the redundant standby control mode, based on a preset driving rule, a hub motor in a normal state and / or a steering gear in a normal state are determined, and the reference rotational speed, the reference rotation angle, a third control mode command and / or a fourth control mode command and / or a fifth control command are sent to the motor controller corresponding to the hub motor in the normal state and / or the steering gear in the normal state to drive the mobile robot; wherein the third control mode command is an improved rotational speed deviation coupling synchronization control mode command for the hub motor in the normal state operating in the rotational speed control mode; the fourth control mode command is an improved rotation angle deviation coupling synchronization control mode command for the steering gear in the normal state operating in the position control mode; and the fifth control command is a differential control mode command for the hub motor in the normal state.

[0007] Through the improved rotational speed and rotation angle deviation synchronization control technology, the embodiment of the present application automatically adapts to different load torques and unexpected torque disturbances formed by the load terrain on each driving wheel, and solves the flexible mobility that previous products do not have. At the same time, through the control algorithm, functions such as driving and steering are realized for hot standby, and a redundant switching backup control strategy is adopted to increase the driving stability.

[0008] In an implementation manner of the present application, the chassis controller of the distributed driving device of the mobile robot receives the operation data sent by each motor controller, and determines the current control mode based on the operation data, which specifically includes: the chassis controller of the distributed driving device of the mobile robot receives the operation data sent by each motor controller, and determines the operation states of the motor controller, the hub motor, and the steering gear based on the operation data; when any one of the motor controller, the hub motor, and the steering gear is in an operation failure state, it is determined that the current control mode is the redundant standby control mode.

[0009] In an implementation manner of the present application, the operating states of the motor controller, the in-wheel motor, and the steering gear are determined based on the operating data, specifically including: comparing the operating data with a preset operating data threshold table to determine the operating states of the motor controller, the in-wheel motor, and the steering gear; wherein, the preset operating data threshold table includes various preset operating data and the corresponding operating states; wherein, the operating data includes at least one or more of the motor controller temperature value, the in-wheel motor temperature value, the steering gear temperature value, the motor controller current value, the in-wheel motor current value, the steering gear current value, the motor controller input voltage value, the in-wheel motor input voltage value, the steering gear input voltage value, whether the in-wheel motor is phase-deficient, whether the steering gear is phase-deficient, whether the motor controller current sensor is normal, whether the motor controller voltage sensor is normal, whether the in-wheel motor position sensor is normal, and whether the steering gear position sensor is normal.

[0010] In an implementation manner of the present application, when it is determined that the current control mode is the redundant standby control mode, based on the preset driving rules, the in-wheel motors in the normal state and / or the steering gears in the normal state are determined, specifically including: when it is determined that the current control mode is the redundant standby control mode, based on the operating data, determining the number and positions of the in-wheel motors in the operating fault state, the number and positions of the steering gears in the operating fault state, and the number and positions of the motor controllers in the operating fault state; based on the number and positions of the in-wheel motors in the operating fault state, the number and positions of the steering gears in the operating fault state, and the number and positions of the motor controllers in the operating fault state, determining the in-wheel motors in the normal state and / or the steering gears in the normal state.

[0011] In an implementation manner of the present application, after determining the in-wheel motors in the normal state and / or the steering gears in the normal state based on the preset driving rules, it further includes: when the in-wheel motors, the steering gears, and the motor controllers are in a fault superposition situation, adopting a differential control mode.

[0012] In an implementation manner of the present application, the reference speed and the reference angle are sent to the motor controller corresponding to the in-wheel motor in the normal state and / or the steering gear in the normal state to drive the mobile robot, specifically including: sending the reference speed and the reference angle to the motor controller through the CAN bus; comparing the reference speed with the actual speed by the motor controller to obtain the average speed deviation, and comparing the reference angle with the actual angle by the motor controller to obtain the average angle deviation; driving the mobile robot based on the average speed deviation and the average angle deviation.

[0013] In an implementation manner of the present application, the reference speed is compared with the actual speed through a motor controller to obtain the average speed deviation, which specifically includes: in the improved speed deviation coupling synchronous control mode under the speed control mode, the actual speeds respectively corresponding to each hub motor are obtained through each motor controller; the reference speed is compared with the actual speeds respectively corresponding to each hub motor through each motor controller to obtain the speed differences respectively corresponding to each hub motor, and based on the sum of the speed differences respectively corresponding to each hub motor and the number of the speed differences, the average speed deviation is determined.

[0014] In an implementation manner of the present application, the reference angle is compared with the actual angle through a motor controller to obtain the average angle deviation, which specifically includes: in the improved angle deviation coupling synchronous control mode under the position control mode, the actual angles respectively corresponding to each steering gear are obtained through each motor controller; the reference angle is compared with the actual angles respectively corresponding to each steering gear through each motor controller to obtain the angle differences respectively corresponding to each hub motor, and based on the sum of the angle differences respectively corresponding to each steering gear and the number of the angle differences, the average angle deviation is determined.

[0015] In an implementation manner of the present application, a mobile robot is driven based on the average speed deviation and the average angle deviation, which specifically includes: using the average speed deviation as the input of a synchronous error compensator to adjust the speed of the hub motor; using the average angle deviation as the input of the synchronous error compensator to adjust the angle of the steering gear; and driving the mobile robot through the adjusted speed and angle.

[0016] An embodiment of the present application provides a distributed drive device for a mobile robot, characterized in that the device includes a chassis controller, a plurality of motor controllers, a plurality of hub motors, and a plurality of servos: The chassis controller is configured to receive operation data sent by the plurality of motor controllers and determine a current control mode based on the operation data; wherein the current control mode includes a normal control mode and a redundant standby control mode; The chassis controller is further configured to, in the case of the normal control mode, send a reference rotational speed, a reference rotation angle, a first control mode command, and a second control mode command to the plurality of motor controllers to drive the mobile robot; wherein the first control mode command is an improved rotational speed deviation coupling synchronization control mode command for the hub motor operating in the rotational speed control mode, and the second control mode command is an improved rotation angle deviation coupling synchronization control mode command for the servo operating in the position control mode; The chassis controller is further configured to, in the case of the redundant standby control mode, determine the hub motors in the normal state and / or the servos in the normal state based on a preset driving rule, and send the reference rotational speed, the reference rotation angle, and a third control mode command and / or a fourth control mode command and / or a fifth control command to the motor controllers corresponding to the hub motors in the normal state and / or the servos in the normal state to drive the mobile robot; wherein the third control mode command is an improved rotational speed deviation coupling synchronization control mode for the hub motors in the normal state operating in the rotational speed control mode; the fourth control mode command is an improved rotation angle deviation coupling synchronization control mode command for the servos in the normal state operating in the position control mode; the fifth control command is that the hub motors in the normal state operate in the differential control mode.

[0017] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects: Through the improved rotational speed and rotation angle deviation synchronization control technology, the embodiments of the present application can automatically adapt to different load torques and unexpected torque disturbances formed by the load terrain on each drive wheel, solving the problem of lack of flexibility and maneuverability in previous products. At the same time, through the control algorithm, functions such as driving and steering are realized for hot standby, and a redundant switching backup control strategy is adopted to increase driving stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. In the drawings:

[0019] Figure 1 It is a schematic diagram of a distributed drive device provided by an embodiment of the present application;

[0020] Figure 2Flow chart of a distributed driving method for a mobile robot provided by an embodiment of the present application;

[0021] Figure 3 Schematic diagram of an improved rotational speed deviation coupling synchronization control method under a rotational speed control mode provided by an embodiment of the present application;

[0022] Figure 4 Schematic diagram of an improved angular deviation coupling synchronization control method under a position control mode provided by an embodiment of the present application. Detailed implementation manners

[0023] An embodiment of the present application provides a distributed driving method and device for a mobile robot.

[0024] In order to enable those skilled in the art to better understand the technical solutions in the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of this specification, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0025] With the development and progress of science and technology and economy, various dangerous environments or complex terrain environments require robots to perform remote or autonomous operations, such as life monitoring and rescue in narrow spaces, early monitoring of mountain fires, and inspection tours, etc.

[0026] Currently, outdoor robots are mostly used in fixed and relatively simple road condition closed scenarios, such as express delivery, express sorting AGVs, etc., and there are also tracked vehicles for fire fighting or rescue. In complex terrain environments, the above outdoor robots usually have various failures due to their poor flexibility, so that it is difficult for outdoor robots to drive stably.

[0027] To solve the above problems, an embodiment of the present application provides a distributed driving method and device for a mobile robot. Through the improved rotational speed and angular deviation synchronization control technology, it can automatically adapt to the different load torques and unexpected torque disturbances formed by the load terrain on each driving wheel, and solves the flexible mobility that previous products did not have. At the same time, through the control algorithm, functions such as driving and steering are realized for hot standby, and a redundant switching backup control strategy is adopted to increase the driving stability.

[0028] The following will detail the technical solutions proposed in the embodiments of the present application with reference to the accompanying drawings.

[0029] Figure 1 Schematic diagram of a distributed driving device provided by an embodiment of the present application. As Figure 1As shown in the figure, the distributed drive device of the mobile robot includes a chassis controller, motor controller 1, motor controller 2, motor controller 3, motor controller 4, hub motor 1, hub motor 2, hub motor 3, hub motor 4, servo 1, servo 2, servo 3, and servo 4.

[0030] In an embodiment of the present application, the distributed drive device includes a chassis controller, multiple motor controllers, multiple hub motors, and multiple servos: The chassis controller is configured to receive the operation data sent by the multiple motor controllers and determine the current control mode based on the operation data, where the current control mode includes a normal control mode and a redundant standby control mode. The chassis controller is further configured to, in the case of the normal control mode, send a reference speed, a reference angle, a first control mode command, and a second control mode command to the multiple motor controllers to drive the mobile robot, where the first control mode command is an improved speed deviation coupled synchronous control mode command for the hub motor to operate in the speed control mode, and the second control mode command is an improved angle deviation coupled synchronous control mode command for the servo to operate in the position control mode. The chassis controller is further configured to, in the case of the redundant standby control mode, determine the hub motors in the normal state and / or the servos in the normal state based on the preset driving rules, and send the reference speed, the reference angle, and the third control mode command and / or the fourth control mode command and / or the fifth control command to the motor controllers corresponding to the hub motors in the normal state and / or the servos in the normal state to drive the mobile robot. Among them, the third control mode command is that the hub motors in the normal state operate in the improved speed deviation coupled synchronous control mode in the speed control mode; the fourth control mode command is that the servos in the normal state operate in the improved angle deviation coupled synchronous control mode command in the position control mode; the fifth control command is that the hub motors in the normal state operate in the differential control mode.

[0031] Specifically, the chassis controller is connected to motor controller 1, motor controller 2, motor controller 3, and motor controller 4 through the CAN bus. The chassis controller collects the actual speed n reported by motor controller 1 fed1 , the actual angle θ fed1 and the operation data, and collects the actual speed n reported by motor controller 2 fed2 , the actual angle θ fed2 and the operation data, and collects the actual speed n reported by motor controller 3 fed3 , the actual angle θ fed3 and the operation data, and collects the actual speed n reported by motor controller 4 fed4 , the actual angle θ fed4 and the operation data. The chassis controller obtains the speed n ref and the direction angle θ decided by the upper-layer intelligent driving unit through the CAN bus.ref The instructions are sent to each motor controller, and its control mode M is determined according to the operating status of each motor controller. i And they are sent to each motor controller.

[0032] Specifically, motor controller 1 is connected to hub motor 1 through the UVW three-phase lines, is connected to the position sensor of hub motor 1 through the position signal interface, and receives the rotational speed n of the chassis controller through the CAN bus. ref The command is used to control the actual rotational speed n of hub motor 1 through the rotational speed control mode. fed1 Motor controller 2 is connected to hub motor 2 through the UVW three-phase lines, is connected to the position sensor of hub motor 2 through the position signal interface, and receives the rotational speed n of the chassis controller through the CAN bus. ref The command is used to control the actual rotational speed n of hub motor 2 through the rotational speed control mode. fed2 Motor controller 3 is connected to hub motor 3 through the UVW three-phase lines, is connected to the position sensor of hub motor 3 through the position signal interface, and receives the rotational speed n of the chassis controller through the CAN bus. ref The command is used to control the actual rotational speed n of hub motor 3 through the rotational speed control mode. fed3 Motor controller 4 is connected to hub motor 4 through the UVW three-phase lines, is connected to the position sensor of hub motor 4 through the position signal interface, and receives the rotational speed n of the chassis controller through the CAN bus. ref The command is used to control the actual rotational speed n of hub motor 4 through the rotational speed control mode. fed4 .

[0033] Specifically, motor controller 1 is connected to servo 1 through the UVW three-phase lines, is connected to the position sensor of servo 1 through the position signal interface, and receives the steering angle θ of the chassis controller through the CAN bus. ref The command is used to control the actual steering angle θ of servo 1 through the position control mode. fed1 Motor controller 2 is connected to servo 2 through the UVW three-phase lines, is connected to the position sensor of servo 2 through the position signal interface, and receives the steering angle θ of the chassis controller through the CAN bus. ref The command is used to control the actual steering angle θ of servo 2 through the position control mode. fed2 Motor controller 3 is connected to servo 3 through the UVW three-phase lines, is connected to the position sensor of servo 3 through the position signal interface, and receives the steering angle θ of the chassis controller through the CAN bus. ref The command is used to control the actual steering angle θ of servo 3 through the position control mode. fed3 Motor controller 4 is connected to servo 4 through the UVW three-phase lines, is connected to the position sensor of servo 4 through the position signal interface, and receives the steering angle θ of the chassis controller through the CAN bus. refCommand to control the actual rotation angle θ of the servo 4 in position control mode fed4 The rotation angle θ ref shall not exceed 90° at most.

[0034] Specifically, the hub motor 1 is the left front wheel of the mobile robot chassis, and the servo 1 is the left front wheel steering motor. The hub motor 2 is the right front wheel of the mobile robot chassis, and the servo 2 is the right front wheel steering motor. The hub motor 3 is the left rear wheel of the mobile robot chassis, and the servo 3 is the left rear wheel steering motor. The hub motor 4 is the right rear wheel of the mobile robot chassis, and the servo 4 is the right rear wheel steering motor.

[0035] Figure 2 is a flowchart of a distributed drive method for a mobile robot provided by an embodiment of the present application. As Figure 2 shown, the distributed drive method for a mobile robot includes the following steps:

[0036] S101. The chassis controller of the mobile robot distributed drive device receives the operation data sent by each motor controller, and determines the current control mode based on the operation data, where the current control mode includes a normal control mode and a redundant standby control mode.

[0037] In an embodiment of the present application, the chassis controller of the mobile robot distributed drive device receives the operation data sent by each motor controller, and determines the operation states of the motor controller, the hub motor, and the servo based on the operation data. When any one of the motor controller, the hub motor, and the servo is in an operation failure state, it is determined that the current control mode is the redundant standby control mode.

[0038] Specifically, the operation data is compared with a preset operation data threshold table to determine the operation states of the motor controller, the hub motor, and the servo, where the preset operation data threshold table includes various preset operation data and the corresponding operation states. Among them, the operation data includes at least one or more of the motor controller temperature value, the hub motor temperature value, the servo temperature value, the motor controller current value, the hub motor current value, the servo current value, the motor controller input voltage value, the hub motor input voltage value, the servo input voltage value, whether the hub motor is phase - missing, whether the servo is phase - missing, whether the motor controller current sensor is normal, whether the motor controller voltage sensor is normal, whether the hub motor position sensor is normal, and whether the servo position sensor is normal.

[0039] Specifically, the control method of the distributed drive system described in the embodiments of the present application includes two parts. The first part runs on the chassis controller, responsible for driving and steering command control, judging the motion and fault states, and implementing functional redundant hot switching. The second part mainly includes improved rotational speed and angle deviation coupling control, running on each motor controller, the load executes the commands of the chassis controller, and realizes the speed synchronization of multiple hub motors, the angle synchronization of multiple steering gears, and the load torque adaptation. Differential control of the hub motors is performed in the redundant standby control mode to achieve steering.

[0040] Further, the first part of the control method mainly includes: judging the operation fault states of the motor controller, hub motor and steering gear reported by each motor controller, and deciding to enter the normal control mode or the redundant standby control mode. Specifically, the operation data received from each motor controller is compared with the preset operation data threshold table to determine whether each data matches the data corresponding to normal operation. If it does not match the data during normal operation, it is determined that the device is in an operation fault state.

[0041] S102. When it is determined that the current control mode is the normal control mode, the chassis controller sends the reference rotational speed, reference angle, and the first control mode command and the second control mode command to each motor controller to drive the mobile robot. Among them, the first control mode command is the improved rotational speed deviation coupling synchronization control mode command when the hub motor runs in the rotational speed control mode, and the second control mode command is the improved angle deviation coupling synchronization control mode command when the steering gear runs in the position control mode.

[0042] In an embodiment of the present application, the normal control mode means that the chassis controller issues the reference rotational speed n ref , reference angle θ ref , control mode M i command and N i command to drive the mobile robot.

[0043] Further, the rotational speed n ref , angle θ ref are determined by the upper-layer intelligent driving unit, that is, the hub motor runs in the improved rotational speed deviation coupling synchronization control mode under the rotational speed control mode, and the steering gear runs in the improved angle deviation coupling synchronization control mode under the position control mode.

[0044] S103. When it is determined that the current control mode is the redundant standby control mode, based on the preset driving rules, determine the hub motors in the normal state and / or the steering gears in the normal state, and send the reference speed, reference angle, and the third control mode command and / or the fourth control mode command and / or the fifth control command to the motor controller corresponding to the hub motor in the normal state and / or the steering gear in the normal state, so as to drive the mobile robot.

[0045] Among them, the third control mode command is the improved speed deviation coupling synchronous control mode command when the hub motor in the normal state operates in the speed control mode, the fourth control mode command is the improved angle deviation coupling synchronous control mode command when the steering gear in the normal state operates in the position control mode, and the fifth control command is the differential control mode command when the hub motor in the normal state operates.

[0046] In an embodiment of the present application, when it is determined that the current control mode is the redundant standby control mode, based on the operation data, determine the number and position of the hub motors in the operation failure state, the number and position of the steering gears in the operation failure state, and the number and position of the motor controllers in the operation failure state. Based on the number and position of the hub motors in the operation failure state, the number and position of the steering gears in the operation failure state, and the number and position of the motor controllers in the operation failure state, determine the hub motors in the normal state and / or the steering gears in the normal state.

[0047] Specifically, for the redundant standby control mode, when a certain hub motor fails, the corresponding control mode M i is 1, otherwise it is 0; when a certain steering gear fails, N i is 1, otherwise it is 0; when a certain motor controller fails, M i is 1, N i is 1.

[0048] Specifically, the operation failure states of the motor controller, hub motor, and steering gear include: whether it is overheated, whether there is over-voltage or under-voltage, whether there is a phase loss, whether there is over-current, whether the sensor is normal, etc. If one of the failures occurs, a hot switch is made to enter the redundant standby control mode; when all are normal, the hub motor control mode M i is all 0, and the steering gear control mode N i is all 0.

[0049] Furthermore, taking the Figure 1 shown distributed drive system as an example, the redundant standby control mode includes:

[0050] When a fault occurs in wheel hub motor 1 or wheel hub motor 2, wheel hub motors 1 and 2 act as passive wheels; wheel hub motors 3 and 4 perform rear-wheel drive and operate in an improved speed deviation coupling synchronization control mode under speed control mode;

[0051] When a fault occurs in wheel hub motor 3 or wheel hub motor 4, wheel hub motors 3 and 4 act as passive wheels; wheel hub motors 1 and 2 perform front-wheel drive and operate in an improved speed deviation coupling synchronization control mode under speed control mode;

[0052] When a fault occurs in wheel hub motors 1 and 4, wheel hub motors 1 and 4 act as passive wheels; wheel hub motors 2 and 3 perform driving and operate in an improved speed deviation coupling synchronization control mode under speed control mode;

[0053] When a fault occurs in wheel hub motors 2 and 3, wheel hub motors 2 and 3 act as passive wheels; wheel hub motors 1 and 4 perform driving and operate in an improved speed deviation coupling synchronization control mode under speed control mode;

[0054] When a fault occurs in wheel hub motors 1 and 3, wheel hub motors 1 and 3 act as passive wheels; wheel hub motors 2 and 4 perform driving and operate in an improved speed deviation coupling synchronization control mode under speed control mode;

[0055] When a fault occurs in wheel hub motors 2 and 4, wheel hub motors 2 and 4 act as passive wheels; wheel hub motors 1 and 3 perform driving and operate in an improved speed deviation coupling synchronization control mode under speed control mode;

[0056] When any three wheel hub motors have a fault, all three wheel hub motors act as passive wheels; the normal wheel hub motor performs driving and operates in speed control mode;

[0057] When any one steering gear has a fault, the wheel hub motor operates in differential control mode; when all steering gears and motor controllers are normal, the steering gears all operate in an improved rotation angle deviation coupling synchronization control mode under position control mode; before a certain motor controller or steering gear enters the third-level fault, it will enter the second-level alarm in advance according to the fault threshold. At this time, the steering gear needs to be returned to the straight position to prevent being unable to control when entering the third-level fault;

[0058] When motor controller 1 or motor controller 2 has a fault, wheel hub motors 1 and 2 act as passive wheels, and wheel hub motors 3 and 4 operate in differential control mode;

[0059] When motor controller 3 or motor controller 4 has a fault, wheel hub motors 3 and 4 act as passive wheels, and wheel hub motors 1 and 2 operate in differential control mode;

[0060] When the motor controllers 1 and 4 fail, the in-wheel motors 1 and 4 act as passive wheels, and the in-wheel motors 2 and 3 operate in the differential control mode;

[0061] When the motor controllers 2 and 3 fail, the in-wheel motors 2 and 3 act as passive wheels, and the in-wheel motors 1 and 4 operate in the differential control mode;

[0062] The redundant standby control mode further includes: in the case of failure of the remaining motor controllers, an alarm is required and waiting for rescue.

[0063] The redundant standby control mode further includes: in the case of superposition of failures of the in-wheel motors, the steering gears, and the motor controllers, the differential control mode is adopted.

[0064] It should be noted that the above redundant standby control modes are all Figure 1 explained by way of example. In actual applications, the number of motor controllers, the number of in-wheel motors, and the number of steering gears can all be adjusted, and the embodiments of the present application do not limit this.

[0065] In an embodiment of the present application, the reference rotational speed and the reference rotation angle are sent to the motor controller through the CAN bus. The motor controller compares the reference rotational speed with the actual rotational speed to obtain the average rotational speed deviation, and the motor controller compares the reference rotation angle with the actual rotation angle to obtain the average rotation angle deviation. The mobile robot is driven based on the average rotational speed deviation and the average rotation angle deviation.

[0066] Specifically, the second part of the control method mainly includes: the improved rotational speed deviation coupled synchronization control of the in-wheel motors 1, 2, 3, and 4 in the rotational speed control mode. The improved rotation angle deviation coupled synchronization control of the steering gears 1, 2, 3, and 4 in the position control mode. And the differential control performed in the redundant standby control mode. In addition, according to the control modes M i 、N i enable / disable the relevant motors.

[0067] Further, in the improved rotational speed deviation coupled synchronization control mode in the rotational speed control mode, the actual rotational speed corresponding to each in-wheel motor is obtained through each motor controller. Each motor controller compares the reference rotational speed with the actual rotational speed corresponding to each in-wheel motor to obtain the rotational speed difference corresponding to each in-wheel motor, and based on the sum of the rotational speed differences corresponding to each in-wheel motor and the number of rotational speed differences, the average rotational speed deviation is determined.

[0068] Specifically, the improved rotational speed deviation coupled synchronization control in the rotational speed control mode Figure 3Schematic diagram of an improved rotational speed deviation coupling synchronization control method under a rotational speed control mode provided by an embodiment of the present application. As Figure 3 shown: Each motor controller receives the same rotational speed n ref command through the CAN bus and obtains the actual rotational speed n of the in-wheel motor from the CAN bus fedi . Each motor controller compares the rotational speed command n ref with the actual rotational speed n of each in-wheel motor fedi to obtain the rotational speed difference, and determines the average rotational speed deviation based on the sum of the rotational speed differences corresponding to each in-wheel motor and the number of rotational speed differences.

[0069] Specifically, in the improved angular deviation coupling synchronization control mode under the position control mode, each motor controller obtains the actual angle corresponding to each steering gear. Each motor controller compares the reference angle with the actual angle corresponding to each steering gear to obtain the angular difference corresponding to each in-wheel motor, and determines the average angular deviation based on the sum of the angular differences corresponding to each steering gear and the number of angular differences.

[0070] Specifically, the improved angular deviation coupling synchronization control under the position control mode Figure 4 is a schematic diagram of an improved angular deviation coupling synchronization control method under a position control mode provided by an embodiment of the present application. As Figure 4 shown: Each motor controller receives the same angle θ ref command through the CAN bus and obtains the actual angle θ of the steering gear from the CAN bus refi ; each motor controller compares the angle command θ ref with the actual angle θ of each steering gear refi to obtain the angular difference, and determines the average angular deviation based on the sum of the angular differences corresponding to each steering gear and the number of angular differences.

[0071] Furthermore, the average rotational speed deviation is used as the input of the synchronization error compensator to adjust the rotational speed of the in-wheel motor. The average angular deviation is used as the input of the synchronization error compensator to adjust the angle of the steering gear. The mobile robot is driven by the adjusted rotational speed and angle.

[0072] Specifically, the average rotational speed deviation is used as the input of the synchronization error compensator. The synchronization error compensator is a PI controller. Compared with the traditional deviation coupling control, it does not depend on the parameters of each in-wheel motor and has stronger robustness. The rotational speed synchronization deviation directly enters the current loop to participate in the FOC vector control. And, the average angular deviation is used as the input of the synchronization error compensator. The synchronization error compensator is a PI controller. Compared with the traditional deviation coupling control, it does not depend on the parameters of each steering gear and has stronger robustness; the angular synchronization deviation directly enters the speed loop to participate in the FOC vector control.

[0073] In the embodiments of the present application, through the improved synchronous control technology for rotational speed and angular deviation, it can automatically adapt to the different load torques formed by the load terrain on each driving wheel and unexpected torque disturbances, solving the flexible maneuverability that previous products did not have. At the same time, functions such as driving and steering can be realized as hot spares through control algorithms, and a redundant switching backup control strategy can be adopted to increase driving stability.

[0074] The various embodiments in the present application are all described in a progressive manner. For the same or similar parts among the various embodiments, reference can be made to each other. The key point of each embodiment is to illustrate the differences from other embodiments. In particular, for the embodiments of the device, equipment, and non-volatile computer storage medium, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiments.

[0075] The specific embodiments of the present application are described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be executed in a different order from that in the embodiments and still achieve the desired results. Additionally, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0076] The above description is only for the embodiments of the present application and is not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the embodiments of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the embodiments of the present application shall be included within the scope of the claims of the present application.

Claims

1. A distributed driving method for a mobile robot, characterized in that, The method is executed by a distributed driving device of a mobile robot, and the method includes: A chassis controller of the distributed driving device of the mobile robot receives operation data sent by each motor controller, and determines a current control mode based on the operation data; wherein, the current control mode includes a normal control mode and a redundant standby control mode; When it is determined that the current control mode is the normal control mode, the chassis controller sends a reference speed, a reference angle, a first control mode command, and a second control mode command to each motor controller to drive the mobile robot; wherein the first control mode command is an improved speed deviation coupled synchronous control mode command for the hub motor operating in the speed control mode, and the second control mode command is an improved angle deviation coupled synchronous control mode command for the steering gear operating in the position control mode; When it is determined that the current control mode is the redundant standby control mode, based on a preset driving rule, a hub motor in a normal state and / or a steering gear in a normal state are determined, and the reference speed, the reference angle, a third control mode command, and / or a fourth control mode command, and / or a fifth control command are sent to the motor controller corresponding to the hub motor of the normal state and / or the steering gear in the normal state to drive the mobile robot; wherein, the third control mode command is an improved speed deviation coupled synchronous control mode command for the hub motor in the normal state operating in the speed control mode; the fourth control mode command is an improved angle deviation coupled synchronous control mode command for the steering gear in the normal state operating in the position control mode; the fifth control command is a differential control mode command for the hub motor in the normal state; Sending the reference speed and the reference angle to the motor controller corresponding to the hub motor of the normal state and / or the steering gear in the normal state to drive the mobile robot specifically includes: Sending the reference speed and the reference angle to the motor controller through a CAN bus; Comparing the reference speed with the actual speed through the motor controller to obtain an average speed deviation, and comparing the reference angle with the actual angle through the motor controller to obtain an average angle deviation; Driving the mobile robot based on the average speed deviation and the average angle deviation.

2. The distributed driving method for a mobile robot according to claim 1, characterized in that, The chassis controller of the distributed driving device of the mobile robot receives operation data sent by each motor controller, and determining the current control mode based on the operation data specifically includes: The chassis controller of the distributed driving device of the mobile robot receives operation data sent by each motor controller, and determines the operation states of the motor controller, the hub motor, and the steering gear based on the operation data; When any one of the motor controller, the hub motor, and the steering gear is in an operation failure state, it is determined that the current control mode is the redundant standby control mode.

3. The distributed driving method for a mobile robot according to claim 2, characterized in that, Determining the operating states of the motor controller, the in-wheel motor, and the steering gear based on the operating data specifically includes: Comparing the operating data with a pre-set operating data threshold table to determine the operating states of the motor controller, the in-wheel motor, and the steering gear; wherein, the pre-set operating data threshold table includes multiple pre-set operating data and the corresponding operating states respectively corresponding to the multiple pre-set operating data; Wherein, the operating data includes at least one or more of the motor controller temperature value, the in-wheel motor temperature value, the steering gear temperature value, the motor controller current value, the in-wheel motor current value, the steering gear current value, the motor controller input voltage value, the in-wheel motor input voltage value, the steering gear input voltage value, whether the in-wheel motor is phase-loss, whether the steering gear is phase-loss, whether the motor controller current sensor is normal, whether the motor controller voltage sensor is normal, whether the in-wheel motor position sensor is normal, and whether the steering gear position sensor is normal.

4. The distributed driving method for a mobile robot according to claim 1, characterized in that, When it is determined that the current control mode is the redundant standby control mode, determining the in-wheel motor and / or the steering gear in the normal state based on the pre-set driving rules specifically includes: When it is determined that the current control mode is the redundant standby control mode, determining the number and position of the in-wheel motors in the operating fault state, the number and position of the steering gears in the operating fault state, and the number and position of the motor controllers in the operating fault state based on the operating data; Determining the in-wheel motor and / or the steering gear in the normal state based on the number and position of the in-wheel motors in the operating fault state, the number and position of the steering gears in the operating fault state, and the number and position of the motor controllers in the operating fault state.

5. The distributed driving method for a mobile robot according to claim 1, characterized in that, After determining the in-wheel motor and / or the steering gear in the normal state based on the pre-set driving rules, the method further includes: When the in-wheel motor, the steering gear, and the motor controller are in a fault superposition situation, adopting a differential control mode.

6. The distributed driving method for a mobile robot according to claim 1, characterized in that, Comparing the reference speed with the actual speed by the motor controller to obtain the average speed deviation specifically includes: In the improved speed deviation coupled synchronization control mode in the speed control mode, obtaining the actual speed corresponding to each in-wheel motor through each motor controller; Comparing the reference speed with the actual speed corresponding to each in-wheel motor through each motor controller to obtain the speed difference corresponding to each in-wheel motor, and determining the average speed deviation based on the sum of the speed differences corresponding to each in-wheel motor and the number of the speed differences.

7. The distributed driving method for a mobile robot according to claim 1, characterized in that, Comparing the reference angle with the actual angle by the motor controller to obtain the average angle deviation specifically includes: In the improved angle deviation coupled synchronization control mode in the position control mode, obtaining the actual angle corresponding to each steering gear through each motor controller; Compare the reference rotation angle with the actual rotation angles corresponding to the respective steering gears through each of the motor controllers to obtain the rotation angle differences corresponding to the respective in-wheel motors, and determine the average rotation angle deviation based on the sum of the rotation angle differences corresponding to the respective steering gears and the number of the rotation angle differences.

8. The distributed driving method for a mobile robot according to claim 1, characterized in that, Driving the mobile robot based on the average rotational speed deviation and the average rotation angle deviation specifically includes: Using the average rotational speed deviation as the input of a synchronous error compensator to adjust the rotational speed of the in-wheel motor; Using the average rotation angle deviation as the input of a synchronous error compensator to adjust the rotation angle of the steering gear; Driving the mobile robot with the adjusted rotational speed and rotation angle.

9. A distributed drive device for a mobile robot, characterized in that The device includes a chassis controller, multiple motor controllers, multiple in-wheel motors, and multiple steering gears: The chassis controller is configured to receive the operation data sent by the multiple motor controllers and determine the current control mode based on the operation data; wherein, the current control mode includes a normal control mode and a redundant standby control mode; The chassis controller is further configured to, in the case of the normal control mode, send a reference rotational speed, a reference rotation angle, a first control mode command, and a second control mode command to the multiple motor controllers to drive the mobile robot; wherein the first control mode command is an improved rotational speed deviation coupled synchronous control mode command for the in-wheel motor operating in a rotational speed control mode, and the second control mode command is an improved rotation angle deviation coupled synchronous control mode command for the steering gear operating in a position control mode; The chassis controller is further configured to, in the case of the redundant standby control mode, determine the in-wheel motors in a normal state and / or the steering gears in a normal state based on a preset driving rule, and send the reference rotational speed, the reference rotation angle, and a third control mode command and / or a fourth control mode command and / or a fifth control command to the motor controllers corresponding to the in-wheel motors in the normal state and / or the steering gears in a normal state to drive the mobile robot; wherein, the third control mode command is an improved rotational speed deviation coupled synchronous control mode for the in-wheel motors in the normal state operating in a rotational speed control mode; the fourth control mode command is an improved rotation angle deviation coupled synchronous control mode command for the steering gears in the normal state operating in a position control mode; the fifth control command is that the in-wheel motors in the normal state operate in a differential control mode; Sending the reference rotational speed and the reference rotation angle to the motor controllers corresponding to the in-wheel motors in the normal state and / or the steering gears in a normal state to drive the mobile robot specifically includes: Sending the reference rotational speed and the reference rotation angle to the motor controller through a CAN bus; Comparing the reference rotational speed with the actual rotational speed through the motor controller to obtain an average rotational speed deviation, and comparing the reference rotation angle with the actual rotation angle through the motor controller to obtain an average rotation angle deviation; Drive the mobile robot based on the average rotational speed deviation and the average angular deviation.

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