Simulation method, device and electronic equipment for mobile robot

Abstract

The present application relates to the technical field of robot simulation, and particularly relates to a simulation method and device of a mobile robot and electronic equipment. The simulation method of the mobile robot comprises the following steps: constructing a mobile robot model according to structural parameters of the mobile robot; constructing a forward kinematics model of the mobile robot model; performing inverse operation on the forward kinematics model to determine an inverse kinematics model of the mobile robot model; determining a simulation data set, wherein the simulation data set comprises a set rotation center, a speed component of the mobile robot and position parameters of each steering wheel; and simulating steering movement of the mobile robot based on the simulation data set, the forward kinematics model and the inverse kinematics model. The steering movement of the robot is predicted through simulation, which effectively reduces the test difficulty of subsequent entity tests and improves test efficiency.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of robot simulation, and in particular to a simulation method and device for a mobile robot and an electronic device. BACKGROUND

[0002] With the increasing application of mobile robots, the adaptability and requirements of robots to the environment are also increasing. For robots working in outdoor environments, the ability to adapt to various complex road conditions is becoming a necessary ability. In the prior art, various robot research and development enterprises and manufacturers mostly use a non-complete omnidirectional motion structure composed of four standard steering wheels independently driven when designing robots, and the motion performance of the robot in the outdoor environment is continuously tested and iterated. The motion performance test behavior of the robot in the outdoor environment is not only time-consuming and laborious, but also low in efficiency, and is easily affected by bad weather and other factors, thereby causing damage to the robot. SUMMARY

[0003] Embodiments of the present application provide a simulation method and device for a mobile robot and an electronic device, which simulate the steering motion of the mobile robot.

[0004] In a first aspect, embodiments of the present application provide a simulation method for a mobile robot, which is applied to an upper computer, and the method comprises:

[0005] constructing a mobile robot model according to the structural parameters of the mobile robot, wherein the mobile robot model comprises a robot main body, a chassis and a plurality of steering wheels;

[0006] constructing a forward kinematics model of the mobile robot model, wherein the forward kinematics model is used to describe the velocity component and the angular velocity of the mobile robot;

[0007] performing inverse operation on the forward kinematics model to determine an inverse kinematics model of the mobile robot model, wherein the inverse kinematics model is used to describe the velocity and steering angle of each steering wheel included in the mobile robot;

[0008] determining a simulation data set, wherein the simulation data set comprises a set rotation center, a velocity component of the robot and a position parameter of each steering wheel;

[0009] simulating the steering motion of the mobile robot based on the simulation data set, the forward kinematics model and the inverse kinematics model.

[0010] In one possible implementation, the mobile robot is a mobile robot with four steering wheels independently driven and independently steered.

[0011] In one possible implementation, the method further includes:

[0012] establishing a chassis coordinate system according to a plane in which the chassis of the mobile robot is located, the chassis coordinate system taking a center of the area surrounded by the steering wheels as an origin of coordinates, taking a direction parallel to a width direction of the mobile robot as an X axis, and taking a direction parallel to a length direction of the mobile robot as a Y axis;

[0013] determining position coordinates of the steering wheels based on the chassis coordinate system;

[0014] determining a rotation radius of the steering wheels relative to a rotation center of the mobile robot according to the position coordinates of the steering wheels;

[0015] determining an angular velocity of the mobile robot according to the rotation radius of the steering wheels relative to the rotation center of the mobile robot and the speed of the steering wheels;

[0016] determining a velocity component of the mobile robot including a velocity component of the mobile robot in the X axis direction and a velocity component of the mobile robot in the Y axis direction according to the angular velocity of the mobile robot and the rotation radius of the center of the area surrounded by the steering wheels relative to the rotation center of the mobile robot.

[0017] In one possible implementation, the method further includes:

[0018] determining a steering angle of the steering wheels according to the position coordinates of the steering wheels and the rotation center of the mobile robot;

[0019] determining an angular velocity of the mobile robot according to the velocity component of the mobile robot and the rotation radius of the center of the area surrounded by the steering wheels relative to the rotation center of the mobile robot;

[0020] determining the speed of the steering wheels according to the angular velocity of the mobile robot and the rotation radius of the steering wheels relative to the rotation center of the mobile robot.

[0021] In one possible implementation, the method further includes:

[0022] obtaining a velocity component and an angular velocity of the mobile robot when the mobile robot performs the steering motion based on the simulation data set and the forward kinematics model;

[0023] generate a corresponding steering motion trajectory based on the simulation data set, the speed component and the angular velocity of the mobile robot when performing the steering motion;

[0024] present the steering motion trajectory in an image form.

[0025] In one possible implementation, the simulating the steering motion of the mobile robot further includes:

[0026] obtaining the speed and the steering angle of each steering wheel of the mobile robot when performing the steering motion according to the simulation data set and the inverse kinematics model.

[0027] In one possible implementation, the simulating the steering motion of the mobile robot further includes:

[0028] obtaining the speed and the steering angle of each steering wheel of the mobile robot when performing the steering motion according to the simulation data set and the inverse kinematics model.

[0029] presenting the speed and the steering angle of each steering wheel of the mobile robot when performing the steering motion in an image form.

[0030] In the second aspect, an embodiment of the present application provides a simulation device of a mobile robot, which comprises:

[0031] a model establishing module, configured to construct a mobile robot model according to structural parameters of the mobile robot, the mobile robot model comprising a robot body, a chassis and a plurality of steering wheels; construct a forward kinematics model of the mobile robot model, the forward kinematics model being used to describe a speed component and an angular velocity of the mobile robot; and perform inverse operation on the forward kinematics model to determine an inverse kinematics model of the mobile robot model, the inverse kinematics model being used to describe the speed and the steering angle of each steering wheel included in the mobile robot;

[0032] a data determining module, configured to determine a simulation data set, the simulation data set comprising a set rotation center, a speed component of the mobile robot and position parameters of each steering wheel;

[0033] a simulation module, configured to simulate the steering motion of the mobile robot based on the simulation data set, the forward kinematics model and the inverse kinematics model.

[0034] In one possible implementation, the simulation module is specifically configured to: obtain a velocity component and an angular velocity of the mobile robot when performing a turning motion based on the simulation data set and the forward kinematics model; generate a corresponding turning motion trajectory based on the simulation data set, the velocity component and the angular velocity of the mobile robot when performing the turning motion; present the turning motion trajectory in an image form; obtain a velocity and a turning angle of each turning angle of the mobile robot when performing the turning motion according to the simulation data set and the inverse kinematics model; and obtain a relationship between the velocity and the turning angle of each turning wheel of the mobile robot when performing the turning motion according to the turning motion trajectory based on the inverse kinematics model; and present the relationship between the velocity and the turning angle of each turning wheel and time in an image form.

[0035] In a third aspect, an electronic device is provided, including:

[0036] at least one processor; and

[0037] at least one memory connected with the processor, wherein:

[0038] The memory stores program instructions executable by the processor, and the processor invoking the program instructions can execute the method provided in the first aspect.

[0039] The simulation method of the mobile robot provided in the embodiments can predict the turning motion trajectory of the mobile robot when performing the turning motion and the velocity and the turning angle of each turning wheel, thereby effectively reducing the test cost and the test difficulty of subsequent mobile robot entity tests and improving the test efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0041] Figure 1 A flow chart of a simulation method of a mobile robot provided in the embodiments of the present application;

[0042] Figure 2 A schematic diagram of a mobile robot model provided in the embodiments of the present application;

[0043] Figure 3 A schematic diagram of a turning motion trajectory obtained based on a forward kinematics model simulation provided in the embodiments of the present application;

[0044] Figure 4 A schematic diagram illustrating a simulation based on an inverse kinematics model provided in an embodiment of the present invention;

[0045] Figures 5(a)-(b) are schematic diagrams of the actual motion of a mobile robot obtained by joint simulation based on an inverse kinematics model according to another embodiment of the present invention;

[0046] Figure 6 This is a schematic diagram of the structure of a mobile robot simulation device provided in an embodiment of the present invention;

[0047] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

Detailed Implementation Methods

[0048] To better understand the technical solutions of the embodiments of the present invention, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0049] It should be understood that the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0050] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the embodiments of this invention. The singular forms “a,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0051] In existing technologies, determining the steering performance of mobile robots in complex road conditions requires continuous testing and iteration under such conditions. This testing process not only consumes significant human and material resources but also carries the risk of damaging the mobile robot.

[0052] To address the aforementioned problems, this invention provides a simulation method for a mobile robot. By simulating the robot's body and steering wheels, the method simulates or predicts the robot's steering performance. This reduces the difficulty and cost of subsequent physical testing of the mobile robot, improving testing efficiency. Optionally, predicting the robot's steering performance may include, for example, predicting the robot's steering trajectory during steering movements, as well as the speed and steering angle of each steering wheel.

[0053] Figure 1 This invention provides a simulation method for a mobile robot. For example... Figure 1 As shown, the simulation method for the mobile robot described above may include:

[0054] Step 101: Construct a mobile robot model based on the structural parameters of the mobile robot.

[0055] Specifically, the mobile robot in this embodiment of the invention has a rigid body structure. The aforementioned structural parameters may include parameters such as the length of the mobile robot body, the width of the body, and the relative positions of the various steering wheels.

[0056] The mobile robot model mentioned above refers to a physical model used to simulate the structure of a mobile robot. For example... Figure 2 As shown, the mobile robot model includes a robot body, a chassis, and four steering wheels. The four steering wheels are symmetrically distributed on the same plane. Furthermore, it should be noted that the mobile robot in this embodiment of the invention is a mobile robot with four independently driven and independently steered steering wheels.

[0057] Step 102: Construct the forward kinematics model of the mobile robot model.

[0058] In this embodiment of the invention, the forward kinematics model is used to determine the velocity components and angular velocity of the mobile robot based on the speed and steering angle of each steering wheel.

[0059] Specifically, constructing the forward kinematics model of the mobile robot includes: establishing a chassis coordinate system based on the plane where the chassis of the mobile robot model is located. For example... Figure 2 In the chassis coordinate system, the origin is the center of the area enclosed by each steering wheel, the X-axis is the direction parallel to the width of the mobile robot, and the Y-axis is the direction parallel to the length of the mobile robot. Based on the chassis coordinate system, the position coordinates of each steering wheel are determined, with (x... i ,y i In this embodiment of the invention, i = 1 represents the left front steering wheel A of the mobile robot. i = 2 represents the right front steering wheel B of the mobile robot. i = 3 represents the left rear steering wheel C of the mobile robot. i = 4 represents the right rear steering wheel D of the mobile robot.

[0060] Based on the position coordinates of each steering wheel, determine the radius of rotation R of each steering wheel relative to the rotation center of the mobile robot. i This can be represented as:

[0061]

[0062] In formula (1), a and b are the horizontal and vertical coordinates of the rotation center of the mobile robot, respectively.

[0063] Based on the rotation radius R of each steering wheel relative to the rotation center of the mobile robot mentioned above i and the speed V of each steering wheeli , determine the angular velocity w of the mobile robot. It can be expressed as:

[0064]

[0065] According to the angular velocity w of the mobile robot and the rotation radius R of the center of the area surrounded by each steering wheel relative to the rotation center of the mobile robot, determine the velocity component of the mobile robot. Wherein, the rotation radius R of the center of the area surrounded by each steering wheel relative to the rotation center of the mobile robot can be expressed as:

[0066]

[0067] Express the velocity component of the mobile robot in the form of wR, which can be expressed as:

[0068] V px = 0

[0069]

[0070] Wherein, V px represents the velocity component of the mobile robot along the X-axis direction. V py represents the velocity component of the mobile robot along the Y-axis direction.

[0071] According to the above formula (2) and formula (4), determine the positive kinematics model, which can be expressed as:

[0072]

[0073] Step 103, inverse operation is performed on the positive kinematics model to determine the inverse kinematics model of the mobile robot model. In the embodiment of the present application, the inverse kinematics model is used to determine the velocity V i and steering angle θ i of each steering wheel contained in the mobile robot according to the velocity component of the mobile robot and the rotation center of the area surrounded by each steering wheel relative to the rotation center of the mobile robot.

[0074] Specifically, determining the inverse kinematics model of the mobile robot model comprises: determining the steering angle θ i of each steering wheel according to the position coordinates (x i , y i ) of each steering wheel and the rotation center of the mobile robot. As Figure 2 in the description, the steering angle θ i of each steering wheel is the included angle between the direction of the velocity V i of each steering wheel and the direction parallel to the Y-axis. The steering angle θ i of each steering wheel can be expressed as:

[0075]

[0076] According to the angular velocity w of the mobile robot and the rotation radius R of each steering wheel relative to the rotation center of the mobile robot i , the speed of each steering wheel is determined. It can be expressed as:

[0077] V i = ω * R i Equation (7)

[0078] Further, according to the above equation (5), the angular velocity w of the mobile robot is converted to:

[0079]

[0080] According to equation (1), equation (7) and equation (8), the speed V of each steering wheel is determined, which can be expressed as: i

[0081]

[0082] According to the above equation (6) and equation (9), the inverse kinematics model is determined, which can be expressed as:

[0083]

[0084] Step 104, determine the simulation data set. The simulation data set contains the set rotation center, the speed component of the robot and the position parameters of each steering wheel.

[0085] Step 105, based on the simulation data set, the forward kinematics model and the inverse kinematics model, simulate the steering motion of the mobile robot.

[0086] Specifically, simulating the steering motion of the mobile robot includes: based on the above forward kinematics model, simulating the steering motion of the mobile robot. Specifically, given the set rotation center of the mobile robot, the speed component of the robot, and the position parameters of each steering wheel. According to the above forward kinematics model, the angular velocity of the mobile robot when steering is calculated. Based on the speed component and the angular velocity of the robot, the corresponding steering motion trajectory is generated. And the steering motion trajectory is presented in the form of image.

[0087] For example, the coordinates of the above rotation center are set to (1, 1), the speed component of the robot is V py = 1, and the position parameters of each steering wheel are A(-0.257, 0.314), B(0.257, 0.314), C(-0.257, -0.314), and D(0.257, -0.314), respectively. Based on the above forward kinematics model, the angular velocity of the mobile robot when steering is obtained. As shown in​Figure 3 As shown, the steering trajectory generated based on the forward kinematics model simulation is displayed in a graphical form. Optionally, such as... Figure 3 In the image, the mobile robot model is displayed as a "dot" on the generated turning trajectory.

[0088] Specifically, simulating the turning motion of a mobile robot also includes: simulating the turning motion of the mobile robot based on the aforementioned inverse motion model. For example... Figure 4 As shown, given the rotation center of the mobile robot, the velocity components of the mobile robot, and the position parameters of each steering wheel, the velocity V of each steering wheel is output according to the above inverse kinematics model when the mobile robot performs a turning motion. i and steering angle θ i .

[0089] For example, the x-coordinate 'a' of the rotation center can be set to -1.96, the y-coordinate range can be [-3, 3], and the velocity component of the mobile robot can be V. py =1, and the position parameters of each steering wheel are A(-0.257,0.314), B(0.257,0.314), C(-0.257,-0.314), and D(0.257,-0.314), respectively. Based on the above inverse kinematics model, the velocity V of each steering wheel when the mobile robot performs a turning motion can be output. i and steering angle θ i

[0090] Specifically, simulating the turning motion of the mobile robot also includes: performing a joint simulation of the turning motion of the mobile robot based on an inverse kinematics model to obtain the actual motion of the mobile robot. It should be noted that the aforementioned actual motion includes, but is not limited to, the changes in the speed and turning angle of each steering wheel over time when the mobile robot is turning. Specifically, according to the aforementioned inverse kinematics model, the changes in the speed and turning angle of each steering wheel over time are obtained when the mobile robot turns according to the generated turning trajectory. These changes are then presented graphically. It should be noted that A, B, C, and D in Figures 5(a)-(b) represent the left front steering wheel A, right front steering wheel B, left rear steering wheel C, and right rear steering wheel D of the mobile robot, respectively.

[0091] Figure 6 This is a schematic diagram of the structure of a mobile robot simulation device provided in an embodiment of the present invention. Figure 6 As shown, the aforementioned mobile robot simulation device may include:

[0092] The model establishing module 61 is specifically configured to construct a mobile robot model according to the structural parameters of the mobile robot. The mobile robot model comprises a robot body, a chassis and a plurality of steering wheels. A forward kinematics model of the mobile robot model is constructed. The forward kinematics model is used to describe the velocity component and the angular velocity of the mobile robot. The inverse kinematics model of the mobile robot model is determined by performing inverse operation on the forward kinematics model. The inverse kinematics model is used to describe the velocity and the steering angle of each steering wheel included in the mobile robot.

[0093] The data determining module 62 is specifically configured to determine a simulation data set, wherein the simulation data set comprises a set rotation center, the velocity component of the mobile robot and the position parameters of each steering wheel.

[0094] The simulation module 63 is specifically configured to simulate the steering motion of the mobile robot based on the simulation data set, the forward kinematics model and the inverse kinematics model.

[0095] Specifically, the simulation module 63 is specifically configured to obtain the velocity component and the angular velocity of the mobile robot during the steering motion based on the simulation data set and the forward kinematics model. The corresponding steering motion trajectory is generated based on the simulation data set and the angular velocity of the mobile robot during the steering motion. The steering motion trajectory is presented in the form of images. The velocity and the steering angle of each steering wheel of the mobile robot during the steering motion are obtained according to the simulation data set and the inverse kinematics model. The velocity and the steering angle of each steering wheel of the mobile robot during the steering motion along the steering motion trajectory are obtained based on the inverse kinematics model. The velocity and the steering angle of each steering wheel of the mobile robot during the steering motion along the steering motion trajectory are presented in the form of images.

[0096] Figure 6 The simulation device of the mobile robot provided by the embodiment shown in the figure can be used to execute the simulation method of the mobile robot provided by the embodiment of the application Figure 1 The technical scheme of the method embodiment shown in FIG. 5 can further refer to the related description in the method embodiment for the implementation principle and technical effects.

[0097] The simulation method of the mobile robot provided by the embodiment of the application can predict the steering motion trajectory of the mobile robot during the steering motion and the velocity and the steering angle of each steering wheel, thereby effectively reducing the test cost and the test difficulty of the subsequent mobile robot entity test and improving the test efficiency.

[0098] Figure 7 A structural schematic diagram of an embodiment of the electronic device of the embodiment of the application is shown in FIG. Figure 7As shown in the above, the electronic device can include at least one processor; and at least one memory connected with the processor in communication, wherein: the memory stores program instructions executable by the processor, and the processor calling the program instructions can execute the embodiments of the application Figure 1 The simulation method of the mobile robot provided by the embodiment shown in FIG. 5 is provided.

[0099] The electronic device can be a device capable of simulating the steering motion of the mobile robot. The embodiments of the application do not limit the specific form of the electronic device. It can be understood that the electronic device herein is the robot mentioned in the method embodiment.

[0100] Figure 7 A block diagram of an exemplary electronic device suitable for implementing an embodiment of the present application is shown. Figure 7 The electronic device shown is only an example and should not limit the function and use range of the embodiments of the application.

[0101] As shown in the above, Figure 7 The electronic device is in the form of a general computing device. The components of the electronic device can include but are not limited to: one or more processors 410, memory 430, and a communication bus 440 connecting different system components, including memory 430 and processing unit 410.

[0102] The communication bus 440 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of a variety of bus architectures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0103] The electronic device typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device, including volatile and non-volatile media, removable and non-removable media.

[0104] The memory 430 can include a computer system readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory. The electronic device can further include other removable / non-removable, volatile / non-volatile computer system storage media. The memory 430 can include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the application.

[0105] The program / utility, having a set (at least one) of program modules, can be stored in the memory 430 by example, and includes an operating system, one or more application programs, other program modules, and program data, each or some combination thereof, which can include implementation of a network environment. The program modules commonly execute the functions and / or methods of embodiments of the application as described herein.

[0106] The processor 410 performs functions of various embodiments of the application by executing program code stored in the memory 430. The program code can include one or more of an operating system, one or more applications, other program modules, and program data. Figure 1 - the simulation method of the mobile robot provided by the embodiment shown in Fig. 5.

[0107] In the description of embodiments of the application, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the application. In the description of embodiments of the application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the embodiments of the application and the features of the different embodiments or examples, without contradiction.

[0108] In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of embodiments of the application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0109] Any processes or methods described in the flowcharts or elsewhere herein can be understood as representing one or more modules, segments, or portions of code that include executable instructions for performing specific logical functions or steps in the processes, and the various embodiments of the present application can include additional or fewer steps performing the same or equivalent functions in the same or equivalent order as those described herein, as appropriate, and the scope of the present application should not be limited to the exact sequence of processes described herein.

[0110] Depending on the context, the word "if" can be interpreted to mean "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [a stated condition or event] is detected" can be interpreted to mean "upon determining" or "in response to determining" or "upon detecting [the stated condition or event]" or "in response to detecting [the stated condition or event]," depending on the context.

[0111] It should be noted that the terminal involved in the embodiments of the present application can include, but is not limited to, a personal computer (PC), a personal digital assistant (PDA), a wireless handheld device, a tablet computer, a mobile phone, an MP3 player, an MP4 player, and the like.

[0112] In several embodiments provided by the embodiments of the present application, it should be understood that the disclosed system, device, and method can be implemented in other manners. For example, the described device embodiments are merely schematic. For example, the division of the units is only a logical function division. There can be another division manner for the actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices, or units, and can be electrical, mechanical, or in other forms.

[0113] In addition, each functional unit in the various embodiments of the present application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware, or in the form of hardware plus software function units.

[0114] The integrated unit in the form of the software function unit can be stored in a computer readable storage medium. The software function unit is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute part of steps of the method according to the embodiments of the present application. The storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various storage medium capable of storing program codes.

[0115] The above merely describes preferred embodiments 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 simulation method of a mobile robot characterized by, The method is applied to a host computer, and the method comprises: According to the structural parameters of the mobile robot, a mobile robot model is constructed, the mobile robot model comprising a robot body, a chassis and a plurality of steering wheels; A forward kinematics model of the mobile robot model is constructed, the forward kinematics model being used to describe the velocity component and the angular velocity of the mobile robot; Inverse operation is performed on the forward kinematics model to determine an inverse kinematics model of the mobile robot model, the inverse kinematics model being used to describe the velocity and the steering angle of each steering wheel comprised by the mobile robot; A simulation data set is determined, the simulation data set comprising a set rotational center, the velocity component of the robot and the position parameters of each steering wheel; Based on the simulation data set, the forward kinematics model and the inverse kinematics model, the steering motion of the mobile robot is simulated; The construction of the forward kinematics model of the mobile robot model comprises: According to the plane on which the chassis of the mobile robot model is located, a chassis coordinate system is established, the chassis coordinate system taking the center of the area surrounded by the steering wheels as the coordinate origin, taking the direction parallel to the width direction of the body of the mobile robot as the X axis, and taking the direction parallel to the length direction of the body of the mobile robot as the Y axis; Based on the chassis coordinate system, the position coordinates of each steering wheel are determined respectively; According to the position coordinates of each steering wheel, the rotational radius of each steering wheel relative to the rotational center of the mobile robot is determined; According to the rotational radius of each steering wheel relative to the rotational center of the mobile robot and the velocity of each steering wheel, the angular velocity of the mobile robot is determined; According to the angular velocity of the mobile robot and the rotational radius of the center of the area surrounded by the steering wheels relative to the rotational center of the mobile robot, the velocity component of the mobile robot is determined, the velocity component of the mobile robot comprising the velocity component of the mobile robot along the X axis direction and the velocity component of the mobile robot along the Y axis direction.

2. The method of claim 1, wherein, The mobile robot is a mobile robot with four steering wheels driven independently and steered independently.

3. The method of claim 1, wherein, The inverse operation on the forward kinematics model to determine the inverse kinematics model of the mobile robot model comprises: According to the position coordinates of each steering wheel and the rotational center of the mobile robot, the steering angle of each steering wheel is determined; According to the velocity component of the mobile robot and the rotational radius of the center of the area surrounded by the steering wheels relative to the rotational center of the mobile robot, the angular velocity of the mobile robot is determined; According to the angular velocity of the mobile robot and the rotational radius of each steering wheel relative to the rotational center of the mobile robot, the velocity of each steering wheel is determined.

4. The method of claim 1, wherein, The simulation of the steering motion of the mobile robot comprises: Based on the simulation data set and the forward kinematics model, the angular velocity of the mobile robot when performing the steering motion is obtained; Based on the simulation data set and the angular velocity of the mobile robot when performing the steering motion, a corresponding steering motion trajectory is generated; The steering motion trajectory is presented in the form of images.

5. The method of claim 3, wherein, The simulation of the steering motion of the mobile robot further comprises: According to the simulation data set and the inverse kinematics model, the speed and steering angle of each steering wheel of the mobile robot during the steering motion are obtained.

6. The method of claim 4, wherein, The simulation of the steering motion of the mobile robot further comprises: According to the simulation data set and the inverse kinematics model, the speed and steering angle of each steering wheel of the mobile robot during the steering motion are obtained. According to the simulation data set and the inverse kinematics model, the speed and steering angle of each steering wheel of the mobile robot during the steering motion are obtained.

7. A simulation device of a mobile robot characterized by comprising: Comprise: The model establishing module is used for constructing a mobile robot model according to the structural parameters of the mobile robot, the mobile robot model comprising a robot body, a chassis and a plurality of steering wheels; a forward kinematics model of the mobile robot model is constructed, the forward kinematics model being used for describing the speed component and angular velocity of the mobile robot; The inverse operation is performed on the forward kinematics model to determine an inverse kinematics model of the mobile robot model, the inverse kinematics model being used for describing the speed and steering angle of each steering wheel included in the mobile robot; The data determining module is used for determining a simulation data set, the simulation data set comprising a set rotation center, a speed component of the mobile robot and position parameters of each steering wheel; The simulation module is used for simulating the steering motion of the mobile robot based on the simulation data set, the forward kinematics model and the inverse kinematics model; The construction of the forward kinematics model of the mobile robot model comprises: According to the plane where the chassis of the mobile robot model is located, a chassis coordinate system is established, the chassis coordinate system taking the center of the area surrounded by the steering wheels as the coordinate origin, taking the direction parallel to the width direction of the vehicle body of the mobile robot as the X axis and taking the direction parallel to the length direction of the vehicle body of the mobile robot as the Y axis; Based on the chassis coordinate system, the position coordinates of each steering wheel are determined respectively; According to the position coordinates of each steering wheel, the rotation radius of each steering wheel relative to the rotation center of the mobile robot is determined; According to the rotation radius of each steering wheel relative to the rotation center of the mobile robot and the speed of each steering wheel, the angular velocity of the mobile robot is determined; According to the angular velocity of the mobile robot and the rotation radius of the center of the area surrounded by the steering wheels relative to the rotation center of the mobile robot, the speed component of the mobile robot is determined, the speed component of the mobile robot comprising the speed component of the mobile robot along the X axis and the speed component of the mobile robot along the Y axis.

8. The apparatus of claim 7, wherein The simulation module is specifically configured to: acquire an angular velocity of the mobile robot when performing a turning motion based on the simulation data set and the forward kinematics model; generate a corresponding turning motion trajectory based on the simulation data set and the angular velocity of the mobile robot when performing the turning motion; present the turning motion trajectory in an image form; and acquire the speed and turning angle of each turning wheel of the mobile robot when performing the turning motion according to the simulation data set and the inverse kinematics model. In addition, the inverse kinematics model is used to acquire the changing relationship between the speed and turning angle of each turning wheel of the mobile robot and time when the mobile robot performs the turning motion according to the turning motion trajectory; and the relationship between the speed and turning angle of each turning wheel and time is presented in an image form.

9. An electronic device, comprising: The method comprises: at least one processor; and at least one memory connected to the processor in communication, wherein: the memory stores program instructions executable by the processor, and the processor calling the program instructions can execute the method according to any one of claims 1 to 6.

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