Control method and device for active suspension wheeled robot and computer equipment

Abstract

The present specification provides a control method, device and computer equipment for an active suspension wheeled robot, the active suspension wheeled robot comprising a plurality of wheel hubs, a plurality of wheel hub motors, a plurality of suspension motors and a plurality of active suspension arms. The control method comprises: detecting the load torque of each wheel hub motor; determining the adjustment parameter of the suspension motor corresponding to at least part of the wheel hub motor according to a control algorithm and the load torque of each wheel hub motor; adjusting the corresponding suspension motor according to the adjustment parameter of the suspension motor corresponding to at least part of the wheel hub motor, so that the active suspension arm makes corresponding adjustment under the drive of the suspension motor, and the load torque of the wheel hub motor connected with the active suspension arm is balanced, so as to reduce the body inclination and shaking, and improve the adaptability and obstacle crossing ability of the wheeled robot to the terrain.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a control method, apparatus, and computer equipment for an active suspended wheeled robot. Background Technology

[0002] With the development of artificial intelligence technology, robots have evolved from their initial stage of simple movement to their current ability to overcome obstacles. Among them, wheeled robots are the most common type of mobile robot due to their simple structure and efficient movement, and are well-suited to open, flat environments. However, wheeled robots suffer from poor adaptability to terrain and weak obstacle-crossing ability. Summary of the Invention

[0003] This application provides a control method, device, and computer equipment for an actively suspended wheeled robot, which can improve the wheeled robot's adaptability to terrain and obstacle-crossing ability.

[0004] According to a first aspect of the embodiments of this specification, an active suspension wheeled robot is provided, comprising: multiple wheel hubs, multiple wheel hub motors, multiple suspension motors and multiple active suspension arms, wherein each wheel hub motor corresponds to one wheel hub, each suspension motor corresponds to one wheel hub motor, and an active suspension arm is disposed between each suspension motor and each wheel hub motor, wherein the suspension motor is used to drive the active suspension arm to make adjustments.

[0005] According to a second aspect of the embodiments of this specification, a control method for an actively suspended wheeled robot is provided. The actively suspended wheeled robot includes: multiple wheel hubs, multiple hub motors, multiple suspension motors, and multiple active suspension arms. Each hub motor corresponds to one hub, each suspension motor corresponds to one hub motor, and an active suspension arm is disposed between each suspension motor and each hub motor. The suspension motors are used to drive the active suspension arms to make adjustments. The control method for the actively suspended wheeled robot includes: detecting the load torque of each hub motor; determining adjustment parameters of the suspension motors corresponding to at least some of the hub motors based on a control algorithm and the load torque of each hub motor; and adjusting the corresponding suspension motors according to the adjustment parameters of the suspension motors corresponding to at least some of the hub motors, so that the active suspension arms make corresponding adjustments under the drive of the suspension motors, thereby balancing the load torque of the hub motors connected to the active suspension arms to reduce vehicle tilting and swaying.

[0006] According to a third aspect of the embodiments of this specification, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is configured to execute the program to perform the following method: detecting the load torque of each hub motor; determining adjustment parameters of suspension motors corresponding to at least some of the hub motors based on a control algorithm and the load torque of each hub motor; adjusting the corresponding suspension motors based on the adjustment parameters of the suspension motors corresponding to at least some of the hub motors, so that the active suspension arm makes corresponding adjustments under the drive of the suspension motor, thereby balancing the load torque of the hub motors connected to the active suspension arm to reduce vehicle body tilt and sway.

[0007] The technical solutions provided in the embodiments of this specification may include the following beneficial effects: The active suspension wheeled robot described in this specification can detect the load torque of the hub motor when the wheel hub traverses uneven terrain. Through a control algorithm and the load torque of the hub motor, it determines the adjustment parameters of the suspension motor. Based on these parameters, the suspension motor is dynamically adjusted, causing the active suspension arm to make corresponding adjustments under its drive. This, in turn, regulates and balances the load torque of the hub motor connected to the active suspension arm, reducing vehicle tilt and sway, thereby improving the wheeled robot's terrain adaptability and obstacle-crossing ability.

[0008] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this specification. Attached Figure Description

[0009] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this specification and, together with the description, serve to explain the principles of this specification.

[0010] Figure 1 This is a three-dimensional schematic diagram of one embodiment of an active suspension wheeled robot.

[0011] Figure 2 This is a schematic diagram of a control method used for an actively suspended wheeled robot.

[0012] Figure 3 This is a schematic diagram of another control method used for actively suspended wheeled robots.

[0013] Figure 4 This is a schematic diagram of another control method used for actively suspended wheeled robots.

[0014] Figure 5 This is a schematic diagram of another control method used for actively suspended wheeled robots.

[0015] Figure 6 This is a schematic diagram of another control method used for actively suspended wheeled robots.

[0016] Figure 7 This is a schematic diagram of a control device used for an actively suspended wheeled robot.

[0017] Figure 8 It is a hardware structure diagram of a computer device. Detailed Implementation

[0018] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this specification. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this specification as detailed in the appended claims.

[0019] The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of this specification. The singular forms “a,” “the,” and “the” as used in this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0020] It should be understood that although the terms first, second, third, etc., may be used in this specification to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this specification, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0021] The embodiments described in this specification will now be described in detail.

[0022] Mobile robots are now widely used in various fields of daily life, such as healthcare, transportation, and security. Therefore, wheeled robots, as the most common type of mobile robot, require greater emphasis on stability and the ability to overcome obstacles in complex road conditions. This application proposes a control method, device, and computer equipment for an actively suspended wheeled robot, which can improve the wheeled robot's adaptability to terrain and obstacle-crossing ability.

[0023] like Figure 1 As shown, Figure 1This is a perspective view of one embodiment of an actively suspended wheeled robot 10. In this embodiment, the actively suspended wheeled robot 10 includes a wheel hub 101, a wheel hub motor 102, an active suspension arm 103, and a suspension motor 104. In the illustrated embodiment, the wheel hub motor 102 is disposed corresponding to the wheel hub 101 and is located on the side of the wheel hub 101 facing the vehicle body. The suspension motor 104 is disposed corresponding to the wheel hub motor 102, and the active suspension arm 103 is disposed between the suspension motor 104 and the wheel hub motor 102. The suspension motor 104 is used to drive the active suspension arm 103 to make adjustments.

[0024] When the active suspension wheeled robot 10 encounters an obstacle during its movement, the suspension motor 104 will make corresponding adjustments, thereby driving the active suspension arm 103 to move. This adjusts and balances the load torque of the hub motor 102 connected to the active suspension arm 103, reducing vehicle tilt and sway, and thus improving the wheeled robot's adaptability to terrain and obstacle crossing ability.

[0025] Figure 2 It is used for Figure 1 The schematic diagram of the control method for the actively suspended wheeled robot shown includes the following steps: Step 201: Detect the load torque of each hub motor.

[0026] The load torque of the hub motor can reflect the motion state of an actively suspended wheeled robot.

[0027] When the actively suspended wheeled robot encounters a protruding obstacle during its movement, the load torque of the hub motor corresponding to the wheel hub that passes over the protruding obstacle will increase. This causes the load torque of the hub motor corresponding to that wheel hub to no longer remain in balance with that of the hub motors corresponding to the other wheel hubs. In other words, the wheel hub of the actively suspended wheeled robot no longer remains stable during movement.

[0028] When the actively suspended wheeled robot encounters a pit-type obstacle during its movement, the wheel hub that passes over the pit will be suspended in the air. The load torque of the hub motor corresponding to the wheel hub that is on the ground will increase, causing the load torque of the hub motor on that wheel hub to no longer be balanced with that of the hub motors on the other wheel hubs. In other words, the wheel hub of the actively suspended wheeled robot will no longer remain stable during movement.

[0029] Step 202: Based on the control algorithm and the load torque of each wheel hub motor, determine the adjustment parameters of the suspension motors that correspond to at least some of the wheel hub motors.

[0030] The aforementioned adjustment parameters are not fixed values ​​in this application, but rather dynamic variables. The adjustment parameters of the suspension motors corresponding to at least some of the wheel hub motors include the rotation angle of the suspension motors corresponding to at least some of the wheel hub motors.

[0031] Step 203: Adjust the corresponding suspension motor according to the adjustment parameters of the suspension motor set with respect to at least some of the wheel hub motors, so that the active suspension arm makes corresponding adjustments under the drive of the suspension motor, thereby balancing the load torque of the wheel hub motor connected to the active suspension arm, so as to reduce vehicle tilt and sway.

[0032] The corresponding suspension motors are dynamically adjusted based on the adjustment parameters of the suspension motors corresponding to at least some of the wheel hub motors. That is, the rotation angle of the suspension motors corresponding to at least some of the wheel hub motors is dynamically adjusted so that the suspension motors drive the corresponding active suspension arms to move until the load torque of the wheel hub motors connected to the active suspension arms reaches equilibrium, at which point the adjustment of the suspension motors corresponding to at least some of the wheel hub motors is terminated.

[0033] The load torque of each hub motor is detected. Based on the control algorithm and the load torque of each hub motor, the adjustment parameters of the suspension motors corresponding to at least some of the hub motors are determined. The corresponding suspension motors are dynamically adjusted according to the adjustment parameters of the suspension motors corresponding to at least some of the hub motors, so that the active suspension arm makes corresponding adjustments under the drive of the suspension motors. This adjusts and balances the load torque of the hub motors connected to the active suspension arm, thereby reducing vehicle tilt and sway, and improving the wheeled robot's adaptability to terrain and obstacle crossing ability.

[0034] Figure 3 It is used for Figure 1 The diagram illustrates another control method for an actively suspended wheeled robot, including the following steps: Step 301: Detect the load torque of each hub motor.

[0035] Step 302: Calculate the torque error of at least some of the wheel hub motors based on the control algorithm and the load torque of each wheel hub motor.

[0036] The above calculation of at least some hub motor torque error refers to the difference obtained by comparing the load torque of each hub motor with the reference torque, based on the control algorithm and the load torque of each hub motor, or by comparing the load torque of some hub motors with the load torque of a certain hub motor among the remaining hub motors.

[0037] Step 303: Determine the target speed of the suspension motor corresponding to at least some of the wheel hub motors based on the torque error of at least some of the wheel hub motors.

[0038] Based on the torque error of at least some of the hub motors, the target speed of the suspension motors corresponding to at least some of the hub motors is calculated using a proportional-integral-derivative control algorithm.

[0039] The proportional-integral-derivative (PID) control algorithm is as follows: . Indicates proportional gain. Represents the integration time constant. Represents the differential time constant. This indicates the torque error of at least one of the in-wheel motors. This represents the output of the proportional-integral-derivative (PID) control algorithm, i.e., the target speed of the suspension motor corresponding to at least one of the hub motors in the hub motors.

[0040] For example, if the torque error of a certain hub motor in at least some hub motors is x Nm, then according to the proportional-integral-derivative control algorithm, the target speed of the suspension motor corresponding to that hub motor in at least some hub motors is y rpm.

[0041] Step 304: Determine the rotation angle of the suspension motors that are set up corresponding to at least some of the wheel hub motors, based on the target rotation speed of the suspension motors that are set up corresponding to at least some of the wheel hub motors.

[0042] Optionally, the method for determining the rotation angle of the suspension motor corresponding to at least some of the wheel hub motors based on the target rotation speed of the suspension motor corresponding to at least some of the wheel hub motors is as follows: Detect the current speed of the suspension motors that are set up corresponding to at least some of the wheel hub motors; Based on the target speed and current speed of the suspension motors that are set up corresponding to at least some of the hub motors, the speed difference of the suspension motors that are set up corresponding to at least some of the hub motors is obtained. The rotation angle of the suspension motors corresponding to at least some of the wheel hub motors is determined based on the speed difference between the suspension motors corresponding to at least some of the wheel hub motors.

[0043] Optionally, the speed difference between the suspension motors corresponding to at least some of the hub motors is used to determine the rotation angle of the suspension motors corresponding to at least some of the hub motors through vector control.

[0044] For example, if the current speed of the suspension motor corresponding to one of the at least some hub motors is detected to be 'a' revolutions per second, and the target speed of the suspension motor corresponding to one of the at least some hub motors is 'b' revolutions per second, the difference between the current speed and the target speed of the suspension motor corresponding to that hub motor is calculated to be 'ab' revolutions per second. Based on this speed difference 'ab' revolutions per second, the rotation angle of the suspension motor corresponding to that hub motor can be determined to be 'c' degrees using vector control.

[0045] Step 305: Adjust the corresponding suspension motor according to the adjustment parameters of the suspension motor set with respect to at least some of the wheel hub motors, so that the active suspension arm makes corresponding adjustments under the drive of the suspension motor, thereby balancing the load torque of the wheel hub motor connected to the active suspension arm, so as to reduce vehicle body tilt and sway.

[0046] Optionally, if the torque error of at least one of the hub motors is less than 0, the suspension motor corresponding to the hub motor is adjusted so that the angle between the active suspension arm driven by the suspension motor and the vehicle body is increased.

[0047] If the torque error of at least one of the hub motors is less than 0, it indicates that the hub corresponding to that hub motor encountered a pothole-type obstacle during travel, causing the hub to lift or become suspended in the air. Adjust the suspension motor corresponding to that hub motor to increase the angle between the active suspension arm connected to the hub motor and the vehicle body, so that the hub corresponding to that hub motor touches the ground.

[0048] Optionally, if the torque error of at least one of the hub motors is greater than 0, the suspension motor corresponding to the hub motor is adjusted so that the angle between the active suspension arm driven by the suspension motor and the vehicle body is reduced.

[0049] If the torque error of at least one of the in-wheel motors is greater than 0, it indicates that the wheel hub containing that motor has encountered a protruding obstacle during travel. Adjust the suspension motor corresponding to that in-wheel motor to reduce the angle between the active suspension arm connected to that in-wheel motor and the vehicle body, thereby enabling the wheel hub corresponding to that motor to overcome the protruding obstacle.

[0050] The load torque of each wheel hub motor is detected, and the control algorithm is used to determine the load torque of each wheel hub motor. Calculate the torque error of at least some of the hub motors. Based on the torque error of at least some of the hub motors, determine the adjustment parameters of the suspension motors corresponding to those hub motors. Then, dynamically adjust the corresponding suspension motors according to their adjustment parameters, causing the active suspension arm to make corresponding adjustments under the drive of the suspension motors. This adjusts and balances the load torque of the hub motors connected to the active suspension arm, reducing vehicle tilt and sway, thereby improving the wheeled robot's terrain adaptability and obstacle-crossing ability.

[0051] The actively suspended wheeled robot of this application includes multiple wheel hubs, multiple wheel hub motors, multiple suspension motors, and multiple active suspension arms. The following embodiments use a four-wheeled robot, i.e., four wheel hubs, four wheel hub motors, four suspension motors, and four active suspension arms, as an example to illustrate this application. The four wheel hubs include a first wheel hub, a second wheel hub, a third wheel hub, and a fourth wheel hub.

[0052] Optionally, the above control algorithm includes a first control algorithm, a second control algorithm, or a third control algorithm.

[0053] The following explains how to control the actively suspended wheeled robot using the first control algorithm.

[0054] Figure 4 It is used for Figure 1 The diagram illustrates another control method for an actively suspended wheeled robot, including the following steps: Step 401: Detect the load torque of each hub motor.

[0055] Step 402: Calculate the average load torque of all hub motors to obtain the average load torque of all hub motors.

[0056] For example, the hub motor load torque for the first hub is x1 Nm, the hub motor load torque for the second hub is x2 Nm, the hub motor load torque for the third hub is x3 Nm, and the hub motor load torque for the fourth hub is x4 Nm. The average load torque of the hub motors for all hubs is (x1+x2+x3+x4) / 4 Nm.

[0057] Step 403: Calculate the difference between the load torque of each hub motor and the average load torque to obtain the torque error of each hub motor.

[0058] For example, based on the average load torque (x1+x2+x3+x4) / 4 Nm mentioned above, the torque error of the hub motor corresponding to the first hub is x1-(x1+x2+x3+x4) / 4 Nm, the torque error of the hub motor corresponding to the second hub is x2-(x1+x2+x3+x4) / 4 Nm, the torque error of the hub motor corresponding to the third hub is x3-(x1+x2+x3+x4) / 4 Nm, and the torque error of the hub motor corresponding to the fourth hub is x4-(x1+x2+x3+x4) / 4 Nm.

[0059] Step 404: Determine the target speed of the suspension motor corresponding to each wheel hub motor based on the torque error of each wheel hub motor.

[0060] Step 405: Determine the rotation angle of the suspension motor provided in correspondence with each in-wheel motor according to the target rotation speed of the suspension motor provided in correspondence with each in-wheel motor.

[0061] Step 406: Adjust the corresponding suspension motor according to the rotation angle of the suspension motor provided in correspondence with each in-wheel motor, so that the active suspension arm makes a corresponding adjustment under the drive of the suspension motor, and further the load torque of the in-wheel motor connected to the active suspension arm is balanced, so as to reduce the inclination and shaking of the vehicle body.

[0062] Detect the load torque of each in-wheel motor, and calculate the torque error of each in-wheel motor. According to the torque error of each in-wheel motor, determine the adjustment parameter of the suspension motor provided in correspondence with each in-wheel motor. And dynamically adjust the corresponding suspension motor according to the adjustment parameter of the suspension motor provided in correspondence with each in-wheel motor, so that the active suspension arm makes a corresponding adjustment under the drive of the suspension motor, further the load torque of the in-wheel motor connected to the active suspension arm is adjusted and balanced, so as to reduce the inclination and shaking of the vehicle body, thereby improving the terrain adaptability and obstacle-surmounting capability of the wheeled robot.

[0063] In the following, how to realize the control of the active suspension wheeled robot through the second control algorithm will be described.

[0064] Figure 5 is used for Figure 1 A schematic diagram of another control method for the active suspension wheeled robot shown, comprising the following steps: Step 501: Detect the load torque of each in-wheel motor.

[0065] Step 502: Calculate the maximum value of the load torque among all in-wheel motors, and determine it as the reference reference torque.

[0066] For example, the load torque of the in-wheel motor corresponding to the first hub is y1 N·m, the load torque of the in-wheel motor corresponding to the second hub is y2 N·m, the load torque of the in-wheel motor corresponding to the third hub is y3 N·m, and the load torque of the in-wheel motor corresponding to the fourth hub is y4 N·m, and y1<y2<y3<y4. The maximum value among y1, y2, y3 and y4 is y4, then the load torque y4 N·m of the in-wheel motor corresponding to the fourth hub is determined as the reference reference torque.

[0067] Step 503: Calculate the difference between the load torque of the remaining in-wheel motors other than the reference reference torque and the reference reference torque, so as to obtain the torque error of the remaining in-wheel motors other than the in-wheel motor corresponding to the reference reference torque.

[0068] For example, based on the aforementioned reference torque y4 Nm, the torque error of the hub motor corresponding to the first hub is y1-y4 Nm, the torque error of the hub motor corresponding to the second hub is x2-y4 Nm, and the torque error of the hub motor corresponding to the third hub is y3-y4 Nm.

[0069] Step 504: Based on the torque error of the hub motors other than the hub motor corresponding to the reference torque, determine the target speed of the suspension motors set for the hub motors other than the hub motor corresponding to the reference torque.

[0070] Step 505: Determine the rotation angle of the suspension motors corresponding to the wheel hub motors other than the wheel hub motors corresponding to the reference torque, based on the target speed of the suspension motors.

[0071] Step 506: Based on the rotation angle of the suspension motors corresponding to the other wheel hub motors (excluding the reference torque), adjust the corresponding suspension motors so that the active suspension arm makes corresponding adjustments under the drive of the suspension motors, thereby balancing the load torque of the wheel hub motors connected to the active suspension arm to reduce vehicle tilt and sway.

[0072] The load torque of each hub motor is detected, and the torque error of the remaining hub motors (excluding those corresponding to the reference torque) is calculated. Based on the torque errors of these hub motors, the rotation angle of the suspension motors corresponding to them is determined. The corresponding suspension motors are then dynamically adjusted based on their rotation angles, causing the active suspension arm to adjust accordingly under the drive of the suspension motors. This adjusts and balances the load torque of the hub motors connected to the active suspension arm, reducing vehicle tilt and sway, and thus improving the wheeled robot's terrain adaptability and obstacle-crossing ability.

[0073] The following explains how to control an actively suspended wheeled robot using a third control algorithm.

[0074] Figure 6 It is used for Figure 1 The diagram illustrates another control method for an actively suspended wheeled robot, including the following steps: Step 601: Detect the load torque of each hub motor.

[0075] Step 602: Group the load torque of the hub motor.

[0076] For example, the hub motor load torque corresponding to the first wheel hub is z1 Nm, the hub motor load torque corresponding to the second wheel hub is z2 Nm, the hub motor load torque corresponding to the third wheel hub is z3 Nm, and the hub motor load torque corresponding to the fourth wheel hub is z4 Nm. The hub motor load torques z1 and z2 corresponding to the first wheel hub are grouped together and determined as the first combination. The hub motor load torques z3 and z4 corresponding to the third wheel hub are grouped together and determined as the second combination.

[0077] Step 603: Select a hub motor as a backup hub motor in each combination and determine its load torque as the backup load torque.

[0078] For example, in the first combination above, the hub motor corresponding to the first hub is selected as the backup hub motor, and its load torque z1 Nm is determined as the first backup load torque. In the second combination above, the hub motor corresponding to the third hub is selected as the backup hub motor, and its load torque z3 Nm is determined as the second backup load torque.

[0079] Step 604: Calculate the difference between the load torque of the other hub motors (excluding the reserve hub motor) and the reserve load torque in each combination, and obtain the torque error of the other hub motors (excluding the reserve hub motor) in each combination.

[0080] For example, the difference between the load torque of the hub motor corresponding to the second hub in the first combination and the first pre-load torque is calculated, and the torque error of the hub motor corresponding to the second hub in the first combination is obtained as z2-z1 Nm. The difference between the load torque of the hub motor corresponding to the fourth hub in the second combination and the second pre-load torque is calculated, and the torque error of the hub motor corresponding to the fourth hub in the second combination is obtained as z4-z3 Nm.

[0081] Step 605: Based on the torque error of the other wheel hub motors in each combination (excluding the pre-set wheel hub motor), determine the target speed of the suspension motor corresponding to the other wheel hub motors in each combination.

[0082] Step 606: Determine the rotation angle of the suspension motors corresponding to the other wheel hub motors in each combination, excluding the pre-set wheel hub motor, based on the target rotation speed of the suspension motors corresponding to the other wheel hub motors in each combination.

[0083] Step 607: Based on the rotation angle of the suspension motors corresponding to the other hub motors in each combination (excluding the pre-set hub motor), adjust the corresponding suspension motors so that the active suspension arm makes corresponding adjustments under the drive of the suspension motors, thereby balancing the load torque of the hub motors connected to the active suspension arm to reduce vehicle tilt and sway.

[0084] The load torque of each hub motor is detected and grouped. The torque error of the hub motors in each group (excluding the reserve hub motor) is calculated. Based on the torque error of the hub motors in each group (excluding the reserve hub motor), the rotation angle of the suspension motor corresponding to the hub motors in each group (excluding the reserve hub motor) is determined. The corresponding suspension motor is dynamically adjusted according to the rotation angle of the suspension motors in each group (excluding the reserve hub motor), causing the active suspension arm to adjust accordingly under the drive of the suspension motor. This adjusts and balances the load torque of the hub motors connected to the active suspension arm, reducing vehicle tilt and sway, thereby improving the wheeled robot's terrain adaptability and obstacle-crossing ability.

[0085] Corresponding to the embodiments of the aforementioned methods, such as Figure 7 As shown in the diagram, this specification also provides a control device for an actively suspended wheeled robot, comprising a detection module 701, a calculation module 702, and an adjustment module 703. The detection module 701 can detect the load torque of each hub motor. The calculation module 702 can determine the adjustment parameters of the suspension motors corresponding to at least some of the hub motors based on the control algorithm and the load torque of each hub motor. The adjustment module 703 can adjust the corresponding suspension motors based on the adjustment parameters of the suspension motors corresponding to at least some of the hub motors, so that the active suspension arm makes corresponding adjustments under the drive of the suspension motors, thereby balancing the load torque of the hub motors connected to the active suspension arm to reduce vehicle tilting and swaying.

[0086] This specification also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the aforementioned control method for an actively suspended wheeled robot. Figure 8 As shown, at the hardware level, this computer device includes a processor 801, an internal bus 802, a network interface 803, memory 804, and non-volatile memory 805, and may also include other hardware required for business operations. The processor 801 reads the corresponding computer program from the non-volatile memory 805 into the memory 804 and then runs it to achieve the above-mentioned functions. Figures 2 to 6 The control method for an actively suspended wheeled robot described herein. Of course, this specification does not exclude other implementation methods besides software implementation, such as logic devices or a combination of hardware and software, etc. That is to say, the execution entity of the following processing flow is not limited to individual logic units, but can also be hardware or logic devices.

[0087] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of the solution in this specification according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0088] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0089] Other embodiments of this specification will readily occur to those skilled in the art upon consideration of the specification and practice of the invention claimed herein. This specification is intended to cover any variations, uses, or adaptations that follow the general principles of this specification and include common knowledge or customary techniques in the art not claimed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this specification are indicated by the following claims.

[0090] It should be understood that this specification is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this specification is limited only by the appended claims.

[0091] The above description is merely a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.

Claims

1. A control method for an actively suspended wheeled robot, the actively suspended wheeled robot comprising multiple wheel hubs, multiple wheel hub motors, multiple suspension motors, and multiple active suspension arms, wherein each wheel hub motor corresponds to one wheel hub, each suspension motor corresponds to one wheel hub motor, and an active suspension arm is disposed between each suspension motor and each wheel hub motor, the suspension motors being used to drive the active suspension arms to make adjustments, characterized in that, The control method includes: Detect the load torque of each wheel hub motor; Based on the control algorithm and the load torque of each hub motor, the adjustment parameters of the suspension motors corresponding to at least some of the hub motors are determined, including: calculating the torque error of at least some of the hub motors based on the control algorithm and the load torque of each hub motor; determining the target speed of the suspension motors corresponding to at least some of the hub motors based on the torque error of at least some of the hub motors; and determining the rotation angle of the suspension motors corresponding to at least some of the hub motors based on the target speed of the suspension motors corresponding to at least some of the hub motors. According to the adjustment parameters of the suspension motors that are set with at least some of the hub motors, the corresponding suspension motors are adjusted so that the active suspension arm makes corresponding adjustments under the drive of the suspension motors, thereby balancing the load torque of the hub motors connected to the active suspension arm to reduce vehicle tilt and sway.

2. The control method according to claim 1, characterized in that, When the control algorithm includes a first control algorithm, calculating the torque error of at least a portion of the wheel hub motors based on the control algorithm and the load torque of each wheel hub motor includes: Calculate the average load torque of all hub motors to obtain the average load torque of all hub motors; The difference between the load torque of each hub motor and the average load torque is calculated to obtain the torque error of each hub motor, wherein the at least some hub motors include each hub motor.

3. The control method according to claim 1, characterized in that, When the control algorithm includes a second control algorithm, the step of calculating the torque error of at least a portion of the wheel hub motors based on the control algorithm and the load torque of each wheel hub motor includes: Calculate the maximum load torque among all hub motors and determine it as the reference torque; The difference between the load torque of the other hub motors (excluding the reference torque) and the reference torque is calculated to obtain the torque error of the other hub motors (excluding the hub motor corresponding to the reference torque). The at least some hub motors include the other hub motors (excluding the hub motor corresponding to the reference torque).

4. The control method according to claim 1, characterized in that, When the control algorithm includes a third control algorithm, the step of calculating the torque error of at least a portion of the wheel hub motors based on the control algorithm and the load torque of each wheel hub motor includes: Group the load torque of the hub motor; In each combination, select one hub motor as the backup hub motor and determine its load torque as the backup load torque; Calculate the difference between the load torque of the remaining hub motors (excluding the reserve hub motor) and the reserve load torque in each combination to obtain the torque error of the remaining hub motors (excluding the reserve hub motor) in each combination, wherein the at least some hub motors include the remaining hub motors (excluding the reserve hub motor) in each combination.

5. The control method according to any one of claims 1 to 4, characterized in that, Determining the rotation angle of the suspension motors corresponding to at least a portion of the wheel hub motors based on the target rotation speed of the suspension motors corresponding to at least a portion of the wheel hub motors includes: Detect the current speed of the suspension motors that are set up corresponding to at least some of the wheel hub motors; Based on the target speed and current speed of the suspension motors that are set up corresponding to at least some of the hub motors, the speed difference of the suspension motors that are set up corresponding to at least some of the hub motors is obtained. The rotation angle of the suspension motors corresponding to at least some of the wheel hub motors is determined based on the speed difference between the suspension motors corresponding to at least some of the wheel hub motors.

6. The control method according to any one of claims 1 to 4, characterized in that, The adjustment of the corresponding suspension motor, causing the active suspension arm to make corresponding adjustments under the drive of the suspension motor, includes: When the torque error of one of the at least some hub motors is less than 0, the suspension motor corresponding to the hub motor is adjusted so that the angle between the active suspension arm driven by the suspension motor and the vehicle body increases.

7. The control method according to any one of claims 1 to 4, characterized in that, The adjustment of the corresponding suspension motor, causing the active suspension arm to make corresponding adjustments under the drive of the suspension motor, includes: If the torque error of one of the at least some hub motors is greater than 0, the suspension motor corresponding to the hub motor is adjusted so that the angle between the active suspension arm driven by the suspension motor and the vehicle body is reduced.

8. A control device for an actively suspended wheeled robot, the actively suspended wheeled robot comprising multiple wheel hubs, multiple wheel hub motors, multiple suspension motors, and multiple active suspension arms, wherein each wheel hub motor corresponds to one wheel hub, each suspension motor corresponds to one wheel hub motor, and an active suspension arm is disposed between each suspension motor and each wheel hub motor, the suspension motors being used to drive the active suspension arms to make adjustments, characterized in that, include: The detection module detects the load torque of each wheel hub motor; The calculation module determines the adjustment parameters of the suspension motors corresponding to at least a portion of the wheel hub motors based on the control algorithm and the load torque of each wheel hub motor. This includes: calculating the torque error of at least a portion of the wheel hub motors based on the control algorithm and the load torque of each wheel hub motor; determining the target speed of the suspension motors corresponding to at least a portion of the wheel hub motors based on the torque error of the wheel hub motors; and determining the rotation angle of the suspension motors corresponding to at least a portion of the wheel hub motors based on the target speed of the suspension motors. The adjustment module adjusts the corresponding suspension motors according to the adjustment parameters of the suspension motors set corresponding to at least some of the wheel hub motors, so that the active suspension arm makes corresponding adjustments under the drive of the suspension motor, thereby balancing the load torque of the wheel hub motors connected to the active suspension arm to reduce vehicle tilt and sway.

9. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the control method as described in any one of claims 1 to 7.

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