Anti-interference control method for mobile robot

Abstract

The application provides an anti-interference control method of a mobile robot, comprising: acquiring a moving track of the mobile robot in a working area and a relative distance with other mobile robots, and determining an anti-interference performance parameter of the mobile robot; designing a moving interference model of the mobile robot based on the moving track, the relative distance and the anti-interference performance parameter; simulating theoretical interference information of the mobile robot based on the moving interference model, and determining a first interference compensation for the mobile robot based on the theoretical interference information; acquiring actual interference information of the mobile robot within a preset time, and designing an interference observer based on the theoretical interference information and the actual interference information to obtain a second interference compensation, and obtaining a target interference compensation for the mobile robot based on the first interference compensation and the second interference compensation; and the application realizes accurate control of the robot through the interference compensation, and realizes effective cooperation of multiple mobile robots.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot control, in particular to an anti-interference control method of mobile robot. BACKGROUND

[0002] At present, the coordination control method of mobile robot system composed of multiple mobile robots has been more and more widely applied in practical problems. This is mainly because more and more practical tasks are complex, and it is difficult for a single mobile robot to complete the task, but the task can be completed through the cooperation between multiple mobile robots.

[0003] In the process of cooperation of multiple mobile robots to complete the task, since multiple mobile robots move and control in the same area, interference exists between two or more mobile robots, which leads to inaccurate control of the mobile robots and cannot realize effective cooperation of multiple mobile robots. SUMMARY

[0004] The present application provides an anti-interference control method of mobile robot, which realizes accurate control of the robot through interference compensation and effective cooperation of multiple mobile robots.

[0005] An anti-interference control method of mobile robot, comprising:

[0006] S1: obtaining the moving track of the mobile robot in the working area and the relative distance with other mobile robots, and determining the anti-interference performance parameters of the mobile robot;

[0007] S2: designing the moving interference model of the mobile robot based on the moving track, the relative distance and the anti-interference performance parameters;

[0008] S3: simulating the theoretical interference information of the mobile robot based on the moving interference model, and determining the first interference compensation for the mobile robot based on the theoretical interference information;

[0009] S4: obtaining the actual interference information of the mobile robot within a preset time, designing the interference observer based on the theoretical interference information and the actual interference information to obtain the second interference compensation, and obtaining the target interference compensation for the mobile robot based on the first interference compensation and the second interference compensation.

[0010] Preferably, in S1, the moving track of the mobile robot in the working area and the relative distance with other mobile robots are obtained, and the anti-interference performance parameters of the mobile robot are determined, comprising:

[0011] According to the working task, the moving trajectory of the mobile robot in the working area is determined, the moving trajectories of all the mobile robots are dynamically simulated, and the relative distances between the mobile robot and other mobile robots at each sampling time point are determined.

[0012] The anti-interference performance parameters of the mobile robot in the working state are collected.

[0013] Preferably, in S2, based on the moving trajectory, the relative distance and the anti-interference performance parameters, a moving interference model of the mobile robot is designed, including:

[0014] According to the parameter attributes of the anti-interference performance parameters of the mobile robot, the attribute association between the anti-interference performance parameters is determined, based on the parameter values of the anti-interference performance parameters, the numerical association characteristics of the anti-interference performance parameters are determined in combination with the attribute association, and based on the numerical association characteristics, a performance association matrix of the anti-interference performance parameters is established;

[0015] When the control signals of the mobile robot are the same, the performance association matrix is evaluated using the preset distance, the critical distance based on the performance association matrix that can completely realize anti-interference is determined, and the critical performance parameter value set of the performance association matrix under the critical distance is determined;

[0016] Under the critical distance, the performance association matrix is evaluated using the control signal of the mobile robot, the first control signal set based on the performance association matrix that can completely realize anti-interference is determined, and the other control signals are taken as the second control signal set;

[0017] The first set difference between the first performance parameter value set corresponding to the first control signal set and the critical performance parameter value set is obtained, and the target parameter attribute and the first parameter value difference with the critical performance parameter value set that exist difference are obtained from the first set difference;

[0018] The reference parameter value corresponding to the target parameter attribute is obtained from the second performance parameter value set corresponding to the second control signal set, and the second parameter value difference between the reference parameter value and the critical performance parameter value set is determined;

[0019] Based on the first parameter value difference, the first association weight of the numerical association characteristics is determined, based on the second parameter value difference, the second association weight of the numerical association characteristics is determined, and the weighted association matrix is obtained by weighting the performance association matrix using the first association weight and the second association weight;

[0020] The moving interference model of the mobile robot is designed using the weighted association matrix.

[0021] Preferably, the moving interference model of the mobile robot is designed using the weighted association matrix, including:

[0022] The weighted association matrix is evaluated by using the control signal of the mobile robot and the preset distance, and a set of values of the weighted critical performance parameters under different control signals is determined;

[0023] Based on the set of values of the weighted critical performance parameters, the movement interference characteristics of the mobile robot are determined, and a movement interference model is established by using the movement interference characteristics.

[0024] Preferably, in S3, based on the movement interference model, the theoretical interference information of the mobile robot is simulated, including:

[0025] The relative distance corresponding to the movement trajectory of the mobile robot and the target control signal are input into the movement interference model, and the movement trajectory subjected to interference is extracted according to the interference result;

[0026] The relative distance and the target control signal of the movement trajectory subjected to interference, and the corresponding interference result are used as the theoretical interference information of the mobile robot.

[0027] Preferably, in S3, based on the theoretical interference information, the first interference compensation for the mobile robot is determined, including:

[0028] The movement trajectory subjected to interference of the mobile robot is obtained from the theoretical interference information, and the target control signal corresponding to the movement trajectory subjected to interference and the other control signals interfering with the target control signal are obtained;

[0029] The target control signal is subjected to Fourier transform to obtain the frequency domain characteristics of the target control signal, the abnormal frequency domain characteristics not satisfying the preset frequency domain characteristic range are selected, the reference frequency domain characteristics of the other control signals corresponding to the abnormal frequency domain characteristics at the same time are obtained;

[0030] The first compensation signal is obtained from the compensation signal library based on the abnormal frequency domain characteristics, and the second compensation signal eliminating the reference frequency domain characteristics is obtained from the compensation signal library, the first compensation signal and the second compensation signal are superimposed to obtain the initial compensation signal;

[0031] The initial anti-interference performance parameter of the mobile robot subjected to interference is obtained, the parameter value difference between the initial anti-interference parameter and the target anti-interference parameter is determined, the amplitude adjustment coefficient of the initial compensation signal is determined based on the size of the parameter value difference, and the target compensation signal is obtained;

[0032] The target compensation signal is used to perform the first interference compensation on the mobile robot.

[0033] Preferably, in S4, the actual interference information of the mobile robot is obtained within a preset time, including:

[0034] acquire actual anti-interference performance parameters of the mobile robot within a preset time after the mobile robot starts the working task, compare the actual anti-interference performance parameters with target anti-interference performance parameters, and obtain actual anti-interference performance parameters that do not meet anti-interference requirements;

[0035] acquire a moving track of the mobile robot with actual anti-interference performance parameters that do not meet anti-interference requirements and a relative distance from other mobile robots.

[0036] Preferably, in S4, based on the theoretical interference information and the actual interference information, an interference observer is designed to obtain a second interference compensation, including:

[0037] acquire interference information differences between the theoretical interference information and the actual interference information, and acquire capability differences between theoretical anti-interference capabilities and actual anti-interference capabilities from the interference information differences;

[0038] determine whether the capability differences are less than a preset capability difference;

[0039] if yes, determine that the first interference compensation meets compensation requirements, and do not perform the second interference compensation on the mobile robot;

[0040] otherwise, acquire interference signals generated by the mobile robot within a preset time from the interference information differences, and perform signal feature analysis on the interference signals to divide the interference signals into multiple groups of feature signals;

[0041] based on signal strengths of each group of feature signals, determine model interference parameters of a mobile interference model, and based on the model interference parameters, determine a reference gain of the interference observer;

[0042] based on signal occurrence frequencies of each group of feature signals, determine adaptive fault-tolerant parameters of the interference observer, and based on the adaptive fault-tolerant parameters, determine an adaptive gain of the interference observer;

[0043] based on the reference gain and the adaptive gain, design the interference observer;

[0044] based on signal waveform features of the multiple groups of feature signals, determine an initial anti-interference strategy of the interference observer, determine actual anti-interference performance parameters of the mobile robot under the initial anti-interference strategy, and determine whether a numerical difference between the actual anti-interference performance parameters and target anti-interference performance parameters is within a preset difference range;

[0045] if yes, take the initial anti-interference strategy as the target anti-interference strategy;

[0046] otherwise, redesign the anti-interference strategy until the preset difference range is met, and take it as the target anti-interference strategy;

[0047] and associate the feature signals with the target anti-interference strategy to establish an association database;

[0048] Real-time detection of the signal waveform characteristics of the interference signal, determination of the target anti-interference strategy of the interference observer based on the correlation database, and second interference compensation for the mobile robot.

[0049] Preferably, based on the first interference compensation and the second interference compensation, the target interference compensation for the mobile robot is obtained, comprising:

[0050] The first interference compensation and the second interference compensation are decomposed according to the preset dimension to obtain compensation values in the preset dimension;

[0051] The interference compensations in the same compensation dimension and in the same direction are superimposed, and the interference compensations in the same compensation dimension and in opposite directions are cancelled out to finally obtain the target interference compensation.

[0052] Preferably, after obtaining the target interference compensation, it further comprises:

[0053] Based on the target interference compensation, the control signal of the mobile robot in operation is compensated in real time, and the working parameters of the mobile robot after the interference compensation of the control signal are recorded.

[0054] Compared with the prior art, the present application has the following beneficial effects:

[0055] By obtaining the moving track of the mobile robot in the working area and the relative distance from other mobile robots, and determining the anti-interference performance parameters of the mobile robot, the information of the mobile robot in the working state is obtained, which provides a data set basis for the control compensation of the mobile robot, and then based on the moving track, the relative distance and the anti-interference performance parameters, the moving interference model of the mobile robot is designed, the interference simulation of the mobile robot is realized, and based on the moving interference model, the theoretical interference information of the mobile robot is simulated, and based on the theoretical interference information, the first interference compensation for the mobile robot is determined, the interference compensation in the general direction of the mobile robot is determined before the mobile robot starts working, the compensation strategy for the first interference compensation is designed in advance, the interference compensation efficiency is improved, then the actual interference information of the mobile robot is obtained within a preset time, and based on the theoretical interference information and the actual interference information, the interference observer is designed to obtain the second interference compensation, the signal characteristics in the time period when the mobile robot just starts working are used to further optimize the interference compensation, eliminate the error caused by the moving interference model itself, ensure the accuracy of the target interference compensation, realize the accurate control of the mobile robot in the working environment of multiple mobile robots, and realize the effective cooperation of multiple mobile robots.

[0056] Additional features and advantages of the present application will be set forth in the description that follows, and in part will be apparent from the description, or can be learned by practice of the application. The objectives and other advantages of the present application will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

[0057] The technical solutions of the present application are described in further detail below with reference to the accompanying drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0058] The accompanying drawings are included to provide a further understanding of the present application and are incorporated in and constitute a part of the specification, illustrate embodiments of the present application and are used to explain the present application, but do not limit the present application. In the drawings:

[0059] Figure 1 A flowchart of an anti-interference control method for a mobile robot in an embodiment of the present application;

[0060] Figure 2 A flowchart of determining an anti-interference performance parameter in an embodiment of the present application;

[0061] Figure 3 A flowchart of determining a first interference compensation in an embodiment of the present application. DETAILED DESCRIPTION

[0062] The preferred embodiments of the present application are described below with reference to the accompanying drawings, and it should be understood that the preferred embodiments described herein are only used to explain and illustrate the present application, and do not limit the present application.

[0063] Embodiment 1:

[0064] An anti-interference control method for a mobile robot is provided in an embodiment of the present application, as shown in the figure, comprising: Figure 1

[0065] S1: obtaining the moving trajectory of the mobile robot in the working area and the relative distance from other mobile robots, and determining the anti-interference performance parameter of the mobile robot;

[0066] S2: designing a moving interference model of the mobile robot based on the moving trajectory, the relative distance and the anti-interference performance parameter;

[0067] S3: simulating the theoretical interference information of the mobile robot based on the moving interference model, and determining the first interference compensation for the mobile robot based on the theoretical interference information;

[0068] S4: obtaining the actual interference information of the mobile robot within a preset time, and designing an interference observer based on the theoretical interference information and the actual interference information to obtain the second interference compensation, and obtaining the target interference compensation for the mobile robot based on the first interference compensation and the second interference compensation.​

[0069] In this embodiment, the anti-interference performance parameter includes power transient sensitivity, repetitive impulse sensitivity, noise suppression sensitivity, etc.

[0070] In this embodiment, the first interference compensation is determined according to the model simulation of the mobile robot before working.

[0071] In this embodiment, the preset time is a time period when the mobile robot just starts working, and the specific time value is determined according to actual conditions.

[0072] In this embodiment, the second interference compensation is determined according to the analysis of the mobile robot in the time period when the mobile robot just starts working.

[0073] In this embodiment, the mobile interference model is used to simulate the interference and anti-interference of the mobile robot.

[0074] In this embodiment, the interference observer is used to eliminate the interference compensation error caused by the mobile interference model.

[0075] The beneficial effects of the above design scheme are: by obtaining the moving track of the mobile robot in the working area and the relative distance with other mobile robots, and determining the anti-interference performance parameter of the mobile robot, the information of the mobile robot in the working state is obtained, which provides a data set basis for the control compensation of the mobile robot, then based on the moving track, the relative distance and the anti-interference performance parameter, the mobile interference model of the mobile robot is designed, the interference simulation of the mobile robot is realized, and based on the mobile interference model, the theoretical interference information of the mobile robot is simulated, and based on the theoretical interference information, the first interference compensation of the mobile robot is determined, the interference compensation of the mobile robot in the general direction is determined before the mobile robot starts working, the compensation strategy for the first interference compensation is designed in advance, the interference compensation efficiency is improved, then the actual interference information of the mobile robot is obtained within the preset time, and based on the theoretical interference information and the actual interference information, the interference observer is designed, the second interference compensation is obtained, the signal characteristics in the time period when the mobile robot just starts working are used to further optimize the interference compensation, the error caused by the mobile interference model itself is eliminated, the accuracy of the obtained target interference compensation is ensured, the precise control of the mobile robot in the multi-mobile robot working environment is realized, and the effective cooperation of multiple mobile robots is realized.

[0076] Embodiment 2:

[0077] Based on the basis of embodiment 1, the anti-interference control method of the mobile robot provided by the embodiment of the application is as follows: Figure 2As shown, in S1, the moving trajectory of the mobile robot in the working area and the relative distance with other mobile robots are acquired, and the anti-interference performance parameters of the mobile robot are determined, including:

[0078] S201: According to the working task, the moving trajectory of the mobile robot in the working area is determined, the moving trajectory of all mobile robots is dynamically simulated, and the relative distance of the mobile robot and other mobile robots at each sampling time point is determined;

[0079] S202: The anti-interference performance parameters of the mobile robot in the working state are collected.

[0080] In this embodiment, the sampling time point is designed according to the control signal of the mobile robot.

[0081] The beneficial effects of the above design scheme are: by acquiring the moving trajectory of the mobile robot in the working area and the relative distance with other mobile robots, and determining the anti-interference performance parameters of the mobile robot, the information of the mobile robot in the working state is obtained, which provides a data set basis for the control compensation of the mobile robot.

[0082] Embodiment 3:

[0083] Based on the basis of embodiment 1, the anti-interference control method of the mobile robot is provided, in S2, based on the moving trajectory, the relative distance and the anti-interference performance parameters, the moving interference model of the mobile robot is designed, including:

[0084] According to the parameter attribute of the anti-interference performance parameters of the mobile robot, the attribute association between the anti-interference performance parameters is determined, based on the parameter value of the anti-interference performance parameters, the numerical association characteristics of the anti-interference performance parameters are determined in combination with the attribute association, and based on the numerical association characteristics, the performance association matrix of the anti-interference performance parameters is established;

[0085] When the control signal of the mobile robot is the same, the performance association matrix is evaluated by using the preset distance, the critical distance based on the performance association matrix is determined, which can completely realize anti-interference, and the critical performance parameter value set of the performance association matrix under the critical distance is determined;

[0086] Under the critical distance, the performance association matrix is evaluated by using the control signal of the mobile robot, the first control signal set based on the performance association matrix is determined, which can completely realize anti-interference, and the other control signal is taken as the second control signal set;

[0087] The first set difference between the first performance parameter value set corresponding to the first control signal set and the critical performance parameter value set is acquired, and the target parameter attribute existing difference and the first parameter value difference with the critical performance parameter value set are acquired from the first set difference.

[0088] obtaining a reference parameter value corresponding to the target parameter attribute from a second performance parameter value set corresponding to the second control signal set, and determining a second parameter value difference between the reference parameter value and the critical performance parameter value set;

[0089] determining a first association weight for the value association feature based on the first parameter value difference, determining a second association weight for the value association feature based on the second parameter value difference, and performing weighted processing on the performance association matrix by using the first association weight and the second association weight to obtain a weighted association matrix;

[0090] designing a mobile robot movement interference model by using the weighted association matrix.

[0091] In this embodiment, the parameter attribute is, for example, a suppression sensitive attribute, a transient current attribute, etc.

[0092] In this embodiment, the attribute association is, for example, a nonlinear or linear influence of movement on the suppression sensitivity of the transient current.

[0093] In this embodiment, the performance association matrix is used to represent the association of the parameter attributes.

[0094] In this embodiment, the critical distance is a reference distance for whether interference is generated, and when the distance is greater than the critical distance, the mobile robots do not interfere with each other, and when the distance is less than the critical distance, the mobile robots interfere with each other.

[0095] In this embodiment, the critical performance parameter value set is a performance parameter combination under a plurality of combinations, which can reflect that the mobile robots do not interfere with each other.

[0096] In this embodiment, the first control signal set corresponds to no interference, and the second control signal set corresponds to interference.

[0097] In this embodiment, the greater the first parameter value difference, the greater the corresponding first association weight, and the smaller the second parameter value difference, the greater the corresponding second association weight.

[0098] In this embodiment, the weighted association matrix is obtained by further correcting and weighting the performance association matrix after analysis, which can more accurately represent the association between the parameter attributes.

[0099] The beneficial effects of the above design scheme are: by determining the attribute association between the anti-interference performance parameters according to the parameter attributes of the anti-interference performance parameters of the mobile robot, determining the numerical association feature of the anti-interference performance parameters based on the parameter values of the anti-interference performance parameters and in combination with the attribute association, establishing the performance association matrix of the anti-interference performance parameters based on the numerical association feature, the association between the determined parameter attributes provides a basis for the determination of the anti-interference performance, when the control signals of the mobile robot are the same, the performance association matrix is evaluated using the preset distance, the critical distance based on the performance association matrix is determined at which the anti-interference can be completely realized, and the critical performance parameter value set of the performance association matrix at the critical distance is determined; at the critical distance, the performance association matrix is evaluated using the control signal of the mobile robot, the first control signal set based on the performance association matrix at which the anti-interference can be completely realized is determined, and the other control signals are taken as the second control signal set; the first set difference between the first performance parameter value set corresponding to the first control signal set and the critical performance parameter value set is obtained, and the target parameter attribute having the difference and the first parameter value difference with the critical performance parameter value set are obtained from the first set difference; the reference parameter value corresponding to the target parameter attribute is obtained from the second performance parameter value set corresponding to the second control signal set, and the second parameter value difference between the reference parameter value and the critical performance parameter value set is determined; based on the first parameter value difference, the first association weighting of the numerical association feature is determined, based on the second parameter value difference, the second association weighting of the numerical association feature is determined, and the weighted association matrix is obtained by weighting the performance association matrix using the first association weighting and the second association weighting; the association between the parameter attributes is further accurately determined from the relative distance of the control signal, the weighted association matrix is obtained, the association between the determined parameter attributes is more accurate, an accurate data basis is provided for designing the mobile interference model of the mobile robot, and finally, the mobile interference model of the mobile robot is designed using the weighted association matrix, so that the obtained mobile interference model can better realize more accurate interference simulation of the mobile robot.

[0100] Embodiment 4:

[0101] Based on the basis of embodiment 3, the anti-interference control method of the mobile robot is provided, the mobile interference model of the mobile robot is designed using the weighted association matrix, comprising:

[0102] The weighted association matrix is evaluated using the control signal of the mobile robot and the preset distance, and the weighted critical performance parameter value set under different control signals is determined.

[0103] Based on the weighted critical performance parameter value set, the mobile interference feature of the mobile robot is determined, and the mobile interference model is established using the mobile interference feature.

[0104] In this embodiment, the mobile interference feature includes relative distance, moving track, anti-interference performance parameter and the anti-interference situation derived therefrom.

[0105] The beneficial effects of the above design scheme are that the mobile robot moving interference model is designed by using the weighted association matrix, so that the obtained mobile robot moving interference model can better realize more accurate interference simulation of the mobile robot.

[0106] Embodiment 5:

[0107] Based on the basis of embodiment 1, the anti-interference control method of the mobile robot provided by the embodiment of the application comprises the following steps:

[0108] The relative distance corresponding to the moving track of the mobile robot and the target control signal are input into the mobile interference model, and the moving track interfered is extracted according to the interference result;

[0109] The relative distance of the moving track interfered, the target control signal and the corresponding interference result are taken as the theoretical interference information of the mobile robot.

[0110] The beneficial effects of the above design scheme are that the working condition of the mobile robot is simulated by using the mobile interference model, and the theoretical interference information of the robot is obtained by simulation, thereby providing a basis for determining the first interference compensation.

[0111] Embodiment 6:

[0112] Based on the basis of embodiment 1, the anti-interference control method of the mobile robot provided by the embodiment of the application comprises the following steps: Figure 3 As shown in FIG. 6, in S3, the first interference compensation for the mobile robot is determined based on the theoretical interference information, comprising:

[0113] S301: obtaining the moving track of the mobile robot interfered from the theoretical interference information, and obtaining the target control signal corresponding to the moving track interfered and the other control signal interfering with the target control signal;

[0114] S302: performing Fourier transform on the target control signal to obtain the frequency domain feature of the target control signal, selecting an abnormal frequency domain feature not satisfying a preset frequency domain feature range, and obtaining the reference frequency domain feature of the other control signal corresponding to the abnormal frequency domain feature at the same time;

[0115] S303: obtaining the first compensation signal from the compensation signal library based on the abnormal frequency domain feature, and obtaining the second compensation signal eliminating the reference frequency domain feature from the compensation signal library, superimposing the first compensation signal and the second compensation signal to obtain the initial compensation signal;

[0116] S304: Obtain the initial anti-interference performance parameter of the mobile robot subjected to interference, determine the parameter value difference between the initial anti-interference parameter and the target anti-interference parameter, determine the amplitude adjustment coefficient of the initial compensation signal based on the size of the parameter value difference, and obtain the target compensation signal;

[0117] S305: Compensate the first interference of the mobile robot by using the target compensation signal.

[0118] In this embodiment, the abnormal frequency domain feature is caused after the interference.

[0119] In this embodiment, the reference frequency domain feature is determined by other control signals causing the abnormal frequency domain feature.

[0120] In this embodiment, the target anti-interference parameter is a parameter corresponding to the safe implementation of anti-interference.

[0121] In this embodiment, the greater the parameter value difference, the greater the corresponding amplitude adjustment coefficient, and the adjustment of the initial compensation signal does not change the waveform characteristics.

[0122] The beneficial effects of the above design scheme are: according to the signal processing analysis of the target control signal in the theoretical interference information and the parameter value difference between the initial anti-interference parameter and the target anti-interference parameter, the target compensation signal is designed to realize the first interference compensation of the mobile robot, realize the interference compensation of the general direction of the mobile robot before the mobile robot starts working, design the compensation strategy for the first interference compensation in advance, and improve the interference compensation efficiency.

[0123] Embodiment 7:

[0124] Based on the basis of embodiment 1, the anti-interference control method of the mobile robot provided by the embodiment of the application is provided, and in S4, the actual interference information of the mobile robot is obtained within a preset time, including:

[0125] Obtain the actual anti-interference performance parameter within a preset time after the mobile robot starts working, compare the actual anti-interference performance parameter with the target anti-interference performance parameter, and obtain the actual anti-interference performance parameter that does not meet the anti-interference requirement;

[0126] Obtain the moving track of the mobile robot that does not meet the anti-interference requirement and the relative distance from other mobile robots.

[0127] The beneficial effects of the above design scheme are: obtaining actual anti-interference performance parameters of the mobile robot within a preset time after starting a work task, comparing the actual anti-interference performance parameters with target anti-interference performance parameters to obtain actual anti-interference performance parameters that do not meet anti-interference requirements; obtaining a moving track of the actual anti-interference performance parameters that do not meet the anti-interference requirements and a relative distance from other mobile robots, to ensure the completeness and accuracy of the obtained actual interference information of the mobile robot.

[0128] Embodiment 8:

[0129] Based on the basis of Embodiment 7, the anti-interference control method of the mobile robot is provided, in S4, based on the theoretical interference information and the actual interference information, a disturbance observer is designed to obtain a second disturbance compensation, including:

[0130] Obtaining a disturbance information difference between the theoretical interference information and the actual interference information, and obtaining a capability difference between the theoretical anti-interference capability and the actual anti-interference capability from the disturbance information difference;

[0131] Judging whether the capability difference is less than a preset capability difference;

[0132] If yes, it is determined that the first disturbance compensation meets the compensation requirement, and the second disturbance compensation is not performed on the mobile robot;

[0133] Otherwise, a disturbance signal generated by the mobile robot within a preset time is obtained from the disturbance information difference, and a signal feature analysis is performed on the disturbance signal, and the disturbance signal is divided into a plurality of groups of feature signals;

[0134] Based on the signal strength of each group of feature signals, a model disturbance parameter of a mobile disturbance model is determined, and a reference gain of the disturbance observer is determined based on the model disturbance parameter;

[0135] Based on the signal occurrence frequency of each group of feature signals, an adaptive fault-tolerant parameter of the disturbance observer is determined, and an adaptive gain of the disturbance observer is determined based on the adaptive fault-tolerant parameter;

[0136] Based on the reference gain and the adaptive gain, the disturbance observer is designed;

[0137] Based on the signal waveform features of the plurality of groups of feature signals, an initial anti-interference strategy of the disturbance observer is determined, actual anti-interference performance parameters of the mobile robot under the initial anti-interference strategy are determined, and it is judged whether a numerical difference between the actual anti-interference performance parameters and target anti-interference performance parameters is within a preset difference range;

[0138] If yes, the initial anti-interference strategy is taken as the target anti-interference strategy;

[0139] Otherwise, redesign the anti-interference strategy until the preset difference range is met, and take it as the target anti-interference strategy;

[0140] And the characteristic signal is associated with the target anti-interference strategy to establish an association database;

[0141] Real-time detection of the signal waveform characteristics of the interference signal, determination of the target anti-interference strategy of the interference observer based on the association database, and second interference compensation for the mobile robot.

[0142] In this embodiment, whether the capability difference is less than the preset capability difference indicates that the first interference compensation can achieve complete anti-interference performance requirements.

[0143] In this embodiment, the model interference parameter is used to represent the difference between the simulation by the mobile interference model and the actual detection.

[0144] In this embodiment, the greater the signal generation frequency, the greater the corresponding adaptive fault tolerance parameter.

[0145] In this embodiment, the interference observer reference gain and the adaptive gain are used to determine the compensation gain of the second interference compensation.

[0146] In this embodiment, the initial anti-interference strategy is pre-designed, and different signal waveform characteristics correspond to different initial anti-interference strategies.

[0147] The beneficial effects of the above design scheme are: the ability difference between the theoretical anti-interference ability and the actual anti-interference ability is determined according to the interference information difference between the theoretical interference information and the actual interference information, and it is judged whether the ability difference is less than the preset ability difference; if yes, it is determined that the first interference compensation meets the compensation requirement, and the second interference compensation is not performed on the mobile robot, by first judging whether the second interference compensation is needed, unnecessary interference compensation is avoided, and resource waste is avoided, otherwise, the interference signal generated by the mobile robot within the preset time is obtained from the interference information difference, and signal feature analysis is performed on the interference signal, the interference signal is divided into a plurality of groups of feature signals, the signal features of each group of feature signals are the same, grouping the signals facilitates classified interference compensation, improves the precision of interference compensation, based on the signal strength of each group of feature signals, the model interference parameter of the mobile interference model is determined, and the reference gain of the disturbance observer is determined based on the model interference parameter; based on the signal occurrence frequency of each group of feature signals, the adaptive fault-tolerant parameter of the disturbance observer is determined, and the adaptive gain of the disturbance observer is determined based on the adaptive fault-tolerant parameter; the disturbance observer is designed based on the reference gain and the adaptive gain; based on the signal waveform features of the plurality of groups of feature signals, the initial anti-interference strategy of the disturbance observer is determined, the actual anti-interference performance parameter of the mobile robot under the initial anti-interference strategy is determined, and it is judged whether the numerical difference between the actual anti-interference performance parameter and the target anti-interference performance parameter is within the preset difference range; if yes, the initial anti-interference strategy is taken as the target anti-interference strategy; otherwise, the anti-interference strategy is redesigned until the preset difference range is met, and the anti-interference strategy is taken as the target anti-interference strategy, the target anti-interference strategy is obtained by analyzing the signal occurrence frequency, the signal waveform feature and the signal strength of each group of feature signals, the accuracy of the target anti-interference strategy for each time period control signal is ensured, the feature signal is associated with the target anti-interference strategy, an association database is established, and the corresponding target anti-interference strategy is retrieved according to the signal features of the collected control signal, the efficiency of interference compensation is improved, and finally, the second interference compensation of the mobile robot is realized, the signal features of the mobile robot at the beginning of the work period are further optimized for interference compensation, the error caused by the mobile interference model itself is eliminated, the accuracy of the obtained target interference compensation is ensured, the precise control of the mobile robot in the working environment of multiple mobile robots is realized, and the effective cooperation of multiple mobile robots is realized.

[0148] Embodiment 9:

[0149] Based on the basis of embodiment 1, the anti-interference control method of the mobile robot provided by the embodiment of the application is based on the first interference compensation and the second interference compensation to obtain the target interference compensation of the mobile robot, comprising:

[0150] The first interference compensation and the second interference compensation are decomposed according to a preset dimension to obtain compensation values in the preset dimension.

[0151] The interference compensation in the same compensation dimension and the same interference compensation direction is superimposed, the interference compensation in the same compensation dimension and the opposite interference compensation direction is cancelled, and finally the target interference compensation is obtained.

[0152] The beneficial effects of the above design scheme are: by integrating the first interference compensation and the second interference compensation in the preset dimension, the accuracy and efficiency of the interference compensation process of the control signal of the mobile robot are ensured, and finally the precise control of the mobile robot is realized.

[0153] Embodiment 10:

[0154] Based on the basis of embodiment 1, the application provides an anti-interference control method of a mobile robot, after obtaining the target interference compensation, further comprising:

[0155] Based on the target interference compensation, the control signal of the mobile robot in work is compensated in real time, and the working parameters of the mobile robot after the interference compensation of the control signal are recorded.

[0156] In this embodiment, the working parameters of the mobile robot after the interference compensation of the control signal are recorded to provide data basis for subsequent detection and analysis.

[0157] The beneficial effects of the above design scheme are: by compensating the control signal of the mobile robot in work in real time based on the target interference compensation, the precise control of the mobile robot in the common working environment of multiple mobile robots is realized, and the effective cooperation of multiple mobile robots is realized.

[0158] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application belong to the scope of the claims of the present application and their equivalent technologies, the present application also intends to include these modifications and variations.

Claims

1. A jamming-resistant control method of a mobile robot, characterized by, Comprise: S1: obtain the moving trajectory of the mobile robot in the working area and the relative distance with other mobile robots, and determine the anti-interference performance parameters of the mobile robot; S2: based on the moving trajectory, the relative distance and the anti-interference performance parameters, design the moving interference model of the mobile robot; S3: based on the moving interference model, simulate the theoretical interference information of the mobile robot, and based on the theoretical interference information, determine the first interference compensation for the mobile robot; S4: obtain the actual interference information of the mobile robot within a preset time, and based on the theoretical interference information and the actual interference information, design an interference observer to obtain the second interference compensation, and based on the first interference compensation and the second interference compensation, obtain the target interference compensation for the mobile robot; In this embodiment, the anti-interference performance parameters include: power transient sensitivity, repetitive pulse sensitivity, noise suppression sensitivity, etc.

2. The anti-interference control method of a mobile robot according to claim 1, wherein, In S1, the moving trajectory of the mobile robot in the working area and the relative distance with other mobile robots are obtained, and the anti-interference performance parameters of the mobile robot are determined, comprising: According to the working task, the moving trajectory of the mobile robot in the working area is determined, the moving trajectory of all mobile robots is dynamically simulated, and the relative distance between the mobile robot and other mobile robots at each sampling time point is determined; Collect the anti-interference performance parameters of the mobile robot in the working state.

3. The anti-interference control method of a mobile robot according to claim 1, wherein In S2, based on the moving trajectory, the relative distance and the anti-interference performance parameters, the moving interference model of the mobile robot is designed, comprising: According to the parameter attribute of the anti-interference performance parameters of the mobile robot, the attribute association between the anti-interference performance parameters is determined, based on the parameter value of the anti-interference performance parameters, the value association feature of the anti-interference performance parameters is determined combined with the attribute association, and based on the value association feature, the performance association matrix of the anti-interference performance parameters is established; When the control signal of the mobile robot is the same, the performance association matrix is evaluated by using the preset distance, the critical distance based on the performance association matrix that can completely realize anti-interference is determined, and the critical performance parameter value set of the performance association matrix under the critical distance is determined; Under the critical distance, the performance association matrix is evaluated by using the control signal of the mobile robot, the first control signal set based on the performance association matrix that can completely realize anti-interference is determined, and the other control signal is taken as the second control signal set; Obtain the first set difference between the first performance parameter value set corresponding to the first control signal set and the critical performance parameter value set, and obtain the target parameter attribute and the first parameter value difference with the critical performance parameter value set from the first set difference; From the second performance parameter value set corresponding to the second control signal set, obtain the reference parameter value corresponding to the target parameter attribute, and determine the second parameter value difference between the reference parameter value and the critical performance parameter value set; Based on the first parameter value difference, the first association weight of the value association feature is determined, based on the second parameter value difference, the second association weight of the value association feature is determined, and the weighted association matrix is obtained by weighting the performance association matrix using the first association weight and the second association weight; A mobile robot movement interference model is designed by using a weighted correlation matrix.

4. The anti-interference control method of a mobile robot according to claim 3, wherein A mobile robot movement interference model is designed by using a weighted correlation matrix, including: A weighted correlation matrix is evaluated by using a control signal of a mobile robot and a preset distance, to determine a set of values of a weighted critical performance parameter under different control signals; Based on the set of values of the weighted critical performance parameter, a movement interference feature of the mobile robot is determined, and a movement interference model is established by using the movement interference feature.

5. The anti-interference control method of a mobile robot according to claim 1, wherein In S3, based on the movement interference model, theoretical interference information of the mobile robot is simulated, including: The relative distance corresponding to the movement trajectory of the mobile robot and the target control signal are input into the movement interference model, and the movement trajectory interfered is extracted according to the interference result; The relative distance and the target control signal of the movement trajectory interfered, and the corresponding interference result are taken as the theoretical interference information of the mobile robot.

6. The anti-interference control method of a mobile robot according to claim 1, wherein In S3, based on the theoretical interference information, a first interference compensation for the mobile robot is determined, including: The movement trajectory of the mobile robot interfered is obtained from the theoretical interference information, and the target control signal corresponding to the movement trajectory interfered and other control signals interfering the target control signal are obtained; The target control signal is subjected to Fourier transform to obtain a frequency domain feature of the target control signal, and an abnormal frequency domain feature not satisfying a preset frequency domain feature range is selected, to obtain a reference frequency domain feature of the other control signal corresponding to the abnormal frequency domain feature at the same time; A first compensation signal is obtained from a compensation signal library based on the abnormal frequency domain feature, and a second compensation signal eliminating the reference frequency domain feature is obtained from the compensation signal library, and the first compensation signal and the second compensation signal are superimposed to obtain an initial compensation signal; An initial anti-interference performance parameter of the mobile robot is obtained, a parameter value difference between the initial anti-interference parameter and a target anti-interference parameter is determined, an amplitude adjustment coefficient of the initial compensation signal is determined based on the size of the parameter value difference, and a target compensation signal is obtained; The target compensation signal is used to perform the first interference compensation on the mobile robot.

7. The anti-interference control method of a mobile robot according to claim 1, wherein In S4, actual interference information of the mobile robot is obtained within a preset time, including: Actual anti-interference performance parameters within a preset time after the mobile robot starts a work task are obtained, the actual anti-interference performance parameters are compared with the target anti-interference performance parameters, and actual anti-interference performance parameters not satisfying an anti-interference requirement are obtained; Movement trajectories of the actual anti-interference performance parameters not satisfying the anti-interference requirement and relative distances from other mobile robots are obtained.

8. The anti-interference control method of a mobile robot according to claim 7, wherein, In S4, based on the theoretical interference information and the actual interference information, an interference observer is designed to obtain a second interference compensation, including: An interference information difference between the theoretical interference information and the actual interference information is obtained, and an ability difference between a theoretical anti-interference ability and an actual anti-interference ability is obtained from the interference information difference; It is judged whether the ability difference is less than a preset ability difference; If yes, it is determined that the first interference compensation satisfies a compensation requirement, and the second interference compensation is not performed on the mobile robot; Otherwise, the interference signal generated by the mobile robot within the preset time is obtained from the interference information difference, and signal feature analysis is performed on the interference signal, and the interference signal is divided into multiple groups of feature signals; Based on the signal strength of each group of feature signals, the model interference parameter of the mobile interference model is determined, and the reference gain of the interference observer is determined based on the model interference parameter; Based on the signal occurrence frequency of each group of feature signals, the adaptive fault-tolerant parameter of the interference observer is determined, and the adaptive gain of the interference observer is determined based on the adaptive fault-tolerant parameter; Based on the reference gain and the adaptive gain, the interference observer is designed; Based on the signal waveform characteristics of the multiple groups of feature signals, the initial anti-interference strategy of the interference observer is determined, the actual anti-interference performance parameter of the mobile robot under the initial anti-interference strategy is determined, and it is judged whether the numerical difference between the actual anti-interference performance parameter and the target anti-interference performance parameter is within the preset difference range; If yes, the initial anti-interference strategy is taken as the target anti-interference strategy; Otherwise, the anti-interference strategy is redesigned until the preset difference range is met, and it is taken as the target anti-interference strategy; And the feature signal is associated with the target anti-interference strategy to establish an association database; Real-time detection of the signal waveform characteristics of the interference signal, determination of the target anti-interference strategy of the interference observer based on the association database, and second interference compensation for the mobile robot.

9. The anti-interference control method of a mobile robot according to claim 1, wherein, Based on the first interference compensation and the second interference compensation, the target interference compensation for the mobile robot is obtained, including: Decompose the first interference compensation and the second interference compensation according to the preset dimension to obtain the compensation value in the preset dimension; The interference compensation in the same compensation dimension and in the same direction is superimposed, and the interference compensation in the same compensation dimension and in the opposite direction is counteracted, and finally the target interference compensation is obtained.

10. The anti-interference control method of a mobile robot according to claim 1, wherein After obtaining the target interference compensation, it also includes: Based on the target interference compensation, the control signal of the mobile robot in work is compensated in real time, and the working parameters of the mobile robot after the interference compensation of the control signal are recorded.

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