A method for controlling vehicle motion, a circuit, and a control system for a robot chassis.

Abstract

This invention discloses a vehicle motion control method, circuit, and robot chassis control system. The method includes acquiring the number of pulses between the zero position and the number of pulses in the first cycle for each steering motor, and calculating the current steering angle of each steering motor. The steering motors are used to control wheel steering. The method also acquires the number of pulses in the second cycle for each running motor and calculates the current walking speed of each running motor. The running motors are used to control wheel movement. The method acquires the relative position of each wheel to the vehicle body, and combines the current steering angle of each steering motor with the current walking speed of each running motor to acquire the real-time attitude and speed of the vehicle body. It also acquires environmental road condition information and switches the vehicle's walking mode based on the real-time attitude and speed of the vehicle body to achieve motion control of the vehicle body and improve the flexibility and stability of robot movement.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a vehicle motion control method, circuit, and control system for a robot chassis. Background Technology

[0002] In the development of robotics technology, the robot control system, as a key component of the robot, has a decisive influence on the robot's performance and application range. In robot design, robots are mainly controlled based on differential drive and Ackerman steering systems. Among them, the differential drive system is relatively simple to control, but it faces the problem of insufficient traction in complex terrain or low-friction environments. At the same time, its large minimum turning radius limits the robot's maneuverability in narrow spaces. While the Ackerman steering system provides better steering accuracy, its complex structure and mechanical wear problems under heavy load or high-speed conditions limit its effectiveness in specific applications.

[0003] With technological advancements, four-wheel drive and four-steering systems are increasingly being applied to robot chassis design. These systems improve the flexibility and precision of robot chassis movement by independently controlling the drive and steering of each wheel, enabling robots to work effectively in more complex and dynamic environments. However, existing four-wheel drive and four-steering systems require complex control algorithms in practical applications, placing high demands on processors and increasing the overall cost and energy consumption of the robot chassis control system. This complexity may also affect the system's response speed and reliability. Furthermore, existing four-wheel drive and four-steering systems have shortcomings in real-time response, especially when rapid adaptation to environmental changes or emergency operations are required, due to the impact of steering motor response time and the synchronization issues of multiple device controls.

[0004] Furthermore, existing four-wheel drive and four-steering control systems are insufficient in maintaining the accuracy and stability of the robot's driving path and direction, especially in complex or changing terrains, such as when turning, climbing slopes, or dealing with slippery surfaces. At the same time, the control system is not sufficient to effectively adapt to changing environmental conditions, such as different ground friction, slopes, or irregular ground, which limits the robot's application efficiency and reliability in various scenarios. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention discloses a vehicle motion control method, circuit, and robot chassis control system, which improves the flexibility and accuracy of vehicle motion.

[0006] To achieve the above objectives, in a first aspect, the present invention discloses a vehicle motion control method, comprising:

[0007] The number of pulses from zero position and the number of pulses in the first cycle are obtained for each steering motor, and the current steering angle of each steering motor is calculated; the steering motor is used to control the steering of the wheels.

[0008] The number of pulses in the second cycle for each traveling motor is obtained, and the current traveling speed of each traveling motor is calculated; the traveling motor is used to control the movement of the wheels.

[0009] The relative position of each wheel to the vehicle body is obtained, and combined with the current steering angle of each steering motor and the current travel speed of each travel motor, the real-time attitude and speed of the vehicle body are obtained.

[0010] It acquires environmental road condition information and switches the vehicle's walking mode based on the vehicle's real-time attitude and speed to achieve vehicle motion control.

[0011] This invention discloses a vehicle motion control method that calculates the steering angle and travel speed of the steering motor by acquiring the number of pulses in the vehicle's steering motor and travel motor, and simultaneously acquires the relative position of each wheel within the vehicle body relative to the vehicle body. By combining the relative position, steering angle, and travel speed, the accuracy of calculating the vehicle's real-time attitude and speed is improved, thereby enhancing the accuracy of motion control. After generating the real-time attitude and speed, the steering mode of the vehicle is switched according to the current environmental road conditions to improve the stability and flexibility of the vehicle's movement.

[0012] As a preferred example, the step of acquiring environmental road condition information and switching the vehicle's walking mode based on the vehicle's real-time attitude and speed to achieve vehicle motion control includes:

[0013] Based on the vehicle's speed and a preset speed threshold, the current speed level of the vehicle is obtained;

[0014] Based on the vehicle's current speed level, the vehicle's driving mode is switched between a front and rear wheel reverse steering mode and a front and rear wheel same-direction steering mode.

[0015] This invention switches the vehicle's steering mode based on the vehicle's speed and a preset speed threshold to achieve optimal steering effect and driving stability at different speeds, thereby improving the stability of the vehicle's movement.

[0016] As a preferred example, obstacle avoidance control and braking control of the vehicle are performed based on the environmental road condition information.

[0017] Based on the aforementioned environmental road condition information, this invention enables obstacle detection, and then deeply integrates the obstacle detection with motion control. By real-time detection of the vehicle's operating environment, it achieves safe obstacle avoidance and braking, thereby improving the vehicle's movement flexibility.

[0018] As a preferred example, the real-time attitude and speed of the vehicle body are integrated over time to obtain the first path of the vehicle body.

[0019] This invention calculates the first path of the vehicle body based on its real-time attitude and speed, so as to provide more accurate data for subsequent motion control of the vehicle body, thereby improving the accuracy and flexibility of the motion control of the vehicle body.

[0020] As a preferred example, the switching of the vehicle's walking mode based on the vehicle's real-time attitude and speed to achieve vehicle motion control includes:

[0021] Based on the first path and the environmental road condition information, the target path of the vehicle body is obtained;

[0022] Based on the target path, obtain the target adjustment parameters for each wheel;

[0023] The parameters are adjusted according to the target to control each wheel, thereby achieving motion control of the vehicle body.

[0024] This invention acquires historical first path and environmental road condition information, obtains the target path of the vehicle body in the next form, improves the accuracy of vehicle body movement, then converts the target path into target adjustment parameters of the wheels, and then uses the target adjustment parameters to control the wheels to achieve precise motion control of the vehicle body.

[0025] Secondly, this invention discloses a vehicle motion control circuit, including a main control module, a real-time processing module, a sensor module, and a drive module; wherein:

[0026] The main control module and the real-time processing module are electrically connected to enable information interaction.

[0027] The sensor module is electrically connected to the real-time processing module and is used to collect environmental road condition information of the vehicle body and the relative position of each wheel relative to the vehicle body in real time, and send the environmental road condition information and the relative position to the real-time processing module.

[0028] The drive module is electrically connected to the real-time processing module and is used to collect the number of zero-position phase difference pulses and the number of first-cycle pulses of each steering motor of the vehicle body and the number of second-cycle pulses of each running motor, and send the number of zero-position phase difference pulses, the number of first-cycle pulses and the number of second-cycle pulses to the real-time processing module.

[0029] The real-time processing module sends the number of phase difference pulses from zero, the number of pulses in the first cycle, the number of pulses in the second cycle, the relative position, and the environmental road condition information to the main control module, so that the main control module performs the following operations:

[0030] The current steering angle of each steering motor is calculated based on the number of phase difference pulses from zero and the number of pulses in the first cycle.

[0031] Calculate the current walking speed of each walking motor based on the number of pulses in the second cycle;

[0032] Based on the relative position, combined with the current steering angle of each steering motor and the current travel speed of each travel motor, the real-time attitude and speed of the vehicle body are obtained;

[0033] Based on the environmental road condition information, and based on the vehicle's real-time attitude and speed, the vehicle's walking mode is switched;

[0034] The main control module sends the real-time attitude, speed, and walking mode of the vehicle body to the real-time processing module, so that the real-time processing module controls the drive module to drive the steering motor and running motor of the vehicle body according to the real-time attitude, speed, and walking mode, thereby realizing the motion control of the vehicle body.

[0035] This invention discloses a vehicle motion control circuit. First, a drive module connected to a real-time processing module acquires the pulse counts from the steering motor and travel motor related to vehicle motion, and sends these pulse counts to a main control module electrically connected to the real-time processing module. This allows the main control module to accurately calculate the vehicle's current steering angle and travel speed, thereby improving control accuracy. Next, the real-time processing module sends environmental road condition information acquired by a sensor module to the main control module. This allows the main control module to combine the environmental road condition information with the steering angle and travel speed to calculate the vehicle's real-time attitude and speed, further improving motion control accuracy.

[0036] Furthermore, the main control module of the present invention also switches the steering mode of the vehicle body according to the real-time attitude and speed, so as to achieve the best steering effect and driving stability of the vehicle body under different speeds and real-time attitudes.

[0037] As a preferred example, the real-time processing module is also used to perform obstacle avoidance control and braking control on the vehicle body based on the environmental road condition information.

[0038] This invention combines the environmental road condition information to perform obstacle avoidance and braking on the vehicle, improving the flexibility of robot motion control and adapting to different motion scenario requirements.

[0039] As a preferred example, the main control module obtains the current speed level of the vehicle body based on the vehicle body's speed and a preset speed threshold, and switches the vehicle body's driving mode between a front and rear wheel reverse steering mode and a front and rear wheel same-direction steering mode based on the current speed level.

[0040] This invention switches the vehicle's steering mode based on the vehicle's speed and a preset speed threshold to achieve optimal steering effect and driving stability at different speeds, thereby improving the stability of the vehicle's movement.

[0041] As a preferred example, the vehicle's driving modes include a front and rear wheel reverse steering mode and a front and rear wheel same-direction steering mode.

[0042] The present invention provides different steering modes to ensure the stability of vehicle movement.

[0043] As a preferred example, the sensor module further includes an inertial sensor, which is electrically connected to the real-time processing module and is used to acquire the rotation angle of the vehicle body.

[0044] The present invention uses an inertial sensor to acquire the rotation angle of the vehicle body, thereby improving the accuracy of vehicle body attitude calculation and thus improving the accuracy of vehicle body motion control.

[0045] As a preferred example, the sensor module is configured with a redundant structure.

[0046] This invention utilizes a redundant structure to configure the sensor module, ensuring that a malfunction in one sensor module will not affect the vehicle's motion control, thus improving control stability.

[0047] Thirdly, the present invention discloses a control system for a robot chassis, the control system of which includes a vehicle motion control circuit as described in the second aspect, for implementing a vehicle motion control method as described in the first aspect. Attached Figure Description

[0048] Figure 1 This is a schematic flowchart of a vehicle motion control method disclosed in an embodiment of the present invention.

[0049] Figure 2 This is a schematic diagram of the structure of a vehicle motion control circuit disclosed in an embodiment of the present invention;

[0050] Figure 3 This is a schematic diagram of the control system for a robot chassis disclosed in an embodiment of the present invention;

[0051] Figure 4 This is a schematic diagram of the communication structure between a main control board and a real-time processing unit disclosed in an embodiment of the present invention.

[0052] The components are as follows: 201, Main control module; 202, Real-time processing module; 203, Sensor module; 204, Drive module; 301, Main control board; 302, Real-time processing unit; 303, Sensor assembly; 304, Drive assembly; 305, Travel motor; 306, Steering motor; 3031, Ultrasonic sensor; 3032, Anti-fall sensor; 3033, Depth camera; 3034, Two-dimensional laser; 3041, Steering motor driver; 3042, Travel motor driver. Detailed Implementation

[0053] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] Example 1

[0055] This embodiment discloses a vehicle motion control method. For the specific implementation process of the control method, please refer to... Figure 1 It mainly includes steps 101 to 104, and the steps are mainly as follows:

[0056] Step 101: Obtain the number of pulses from zero position and the number of pulses in the first cycle for each steering motor, and calculate the current steering angle of each steering motor; the steering motor is used to control the steering of the wheels.

[0057] Step 102: Obtain the number of pulses in the second cycle for each traveling motor and calculate the current traveling speed of each traveling motor; the traveling motor is used to control the movement of the wheels.

[0058] Step 103: Obtain the relative position of each wheel with respect to the vehicle body, and combine the current steering angle of each steering motor and the current travel speed of each travel motor to obtain the real-time attitude and speed of the vehicle body.

[0059] Step 104: Obtain environmental road condition information and switch the vehicle's walking mode based on the vehicle's real-time attitude and speed to achieve vehicle motion control.

[0060] In this embodiment, the vehicle motion control method further includes obstacle avoidance control and braking control of the vehicle based on the environmental road condition information, and integrating the real-time attitude and speed of the vehicle over time to obtain the first path of the vehicle.

[0061] In this embodiment, step 104 further includes: obtaining the target path of the vehicle body based on the first path and the environmental road condition information; obtaining the target adjustment parameters of each wheel body based on the target path; and controlling each wheel body according to the target adjustment parameters, thereby realizing motion control of the vehicle body.

[0062] On the other hand, this embodiment also discloses a vehicle motion control circuit. For the specific structural composition of the vehicle motion control circuit, please refer to... Figure 2 The system includes a main control module 201, a real-time processing module 202, a sensor module 203, and a drive module 204. The main control module 201 and the real-time processing module are electrically connected to enable information interaction. The sensor module 203 is electrically connected to the real-time processing module 202 and is used to collect real-time environmental road condition information of the vehicle body and the relative position of each wheel relative to the vehicle body, and send the environmental road condition information and the relative position to the real-time processing module 202. The drive module 204 is electrically connected to the real-time processing module 202 and is used to collect the number of zero-position phase difference pulses and the number of first-cycle pulses for each steering motor of the vehicle body, and the number of second-cycle pulses for each running motor, and send the number of zero-position phase difference pulses, the number of first-cycle pulses, and the number of second-cycle pulses to the real-time processing module 202.

[0063] The real-time processing module 202 sends the number of phase difference pulses from zero, the number of pulses in the first cycle, the number of pulses in the second cycle, the relative position, and the environmental road condition information to the main control module 201, so that the main control module 201 performs the following operations:

[0064] The current steering angle of each steering motor is calculated based on the number of phase difference pulses from zero and the number of pulses in the first cycle.

[0065] Calculate the current walking speed of each walking motor based on the number of pulses in the second cycle;

[0066] Based on the relative position, combined with the current steering angle of each steering motor and the current travel speed of each travel motor, the real-time attitude and speed of the vehicle body are obtained;

[0067] Based on the environmental road condition information, and based on the vehicle's real-time attitude and speed, the vehicle's walking mode is switched;

[0068] The main control module 201 sends the real-time attitude, speed and walking mode of the vehicle body to the real-time processing module 202, so that the real-time processing module 202 controls the drive module 204 to drive the steering motor and running motor of the vehicle body according to the real-time attitude, speed and walking mode, thereby realizing the motion control of the vehicle body.

[0069] In this embodiment, the real-time processing module 202 is also used to perform obstacle avoidance control and braking control on the vehicle body based on the environmental road condition information. The main control module 201 obtains the current speed level of the vehicle body according to the vehicle body speed and the preset speed threshold, and switches the vehicle body's driving mode between the front and rear wheel reverse steering mode and the front and rear wheel same steering mode based on the current speed level of the vehicle body. The vehicle's driving mode includes the front and rear wheel reverse steering mode and the front and rear wheel same steering mode.

[0070] In this embodiment, the sensor module 203 further includes an inertial sensor, which is electrically connected to the real-time processing module 202 and is used to obtain the rotation angle of the vehicle body. The sensor module 203 is configured with a redundant structure.

[0071] Based on the above-described vehicle motion control method and circuit, this embodiment also discloses a control system for a robot chassis. The control system of the chassis includes a vehicle motion control circuit as described in this embodiment, used to implement the vehicle motion control method described in this embodiment.

[0072] Specifically, in one embodiment, this embodiment discloses a control system for a robot chassis. The specific structural composition of the control system for the chassis is described in reference to... Figure 3 ,like Figure 3 As shown, the system includes a main control board 301, a real-time processing unit 302, a sensor assembly 303, a drive assembly 304, a walking motor 305, and a steering motor 306. In this embodiment, the walking motor 305 controls the movement of the robot chassis, and the steering motor 306 controls the steering of the robot chassis.

[0073] Specifically, refer to Figure 3 The main control board 301 is electrically connected to the real-time processing unit 302 for information interaction. Optionally, refer to... Figure 4 This embodiment discloses a communication structure between a main control board 301 and a real-time processing unit 302. Multiple communication serial ports, such as a first communication serial port and a second communication serial port, are respectively provided on the main control board 301 and the real-time processing unit 302. Furthermore, a communication unit is provided between the main control board 301 and the real-time processing unit 302 to facilitate information exchange between them.

[0074] Specifically, refer to Figure 3The sensor assembly 303 includes an ultrasonic sensor 3031, a fall protection sensor 3032, a depth camera 3033, and a two-dimensional laser 3034. The depth camera 3033 and the two-dimensional laser 3034 are used to acquire the current spatial position of the robot and the relative position of each wheel of the robot relative to the robot body, and send the relative position and the spatial position to the real-time processing unit 302. The ultrasonic sensor 3031 and the fall protection sensor 3032 are used to acquire obstacle information during the robot's movement and send the obstacle information to the real-time processing unit 302. The real-time processing unit 302 then sends the obstacle information, the relative position, and the spatial position to the main control board 301.

[0075] Optionally, in this embodiment, refer to Figure 4 It is understood that the real-time processing unit 302 is equipped with multiple communication serial ports that are respectively connected to the CAN bus, serial port line, IO control line and IO acquisition line. Then, it is connected to the interface unit through the CAN bus, serial port line, IO control line and IO acquisition line, and then electrically connected to the sensor component 303 through the interface unit, so as to receive the obstacle information, relative position and spatial position fed back by the sensor component 303.

[0076] In one embodiment, multiple ultrasonic sensors 3031, fall protection sensors 3032, depth cameras 3033, and two-dimensional lasers 3034 are arranged in multiple directions on the robot. The ultrasonic sensors 3031 and the fall protection sensors 3032 detect obstacle information in real time during the robot's movement and send the obstacle information to the robot's real-time processing unit 302 in real time. Meanwhile, the depth camera 3033 and the two-dimensional laser 3034 detect the robot's spatial position in real time and collect the relative position of each wheel of the robot with respect to the robot body, and send the relative position and the spatial position to the real-time processing unit 302.

[0077] Specifically, refer to Figure 3 The drive component 304 includes a steering motor driver 3041 and a traveling motor driver 3042, wherein the steering motor driver 3041 and the traveling motor driver 3042 are respectively connected to the real-time processing unit 302. The steering motor driver 3041 collects the number of zero-position phase difference pulses and the number of first-cycle pulses of each steering motor in the robot, and sends the number of zero-position phase difference pulses and the number of first-cycle pulses to the real-time processing module 302. The traveling motor driver 3042 collects the number of second-cycle pulses of each traveling motor and sends the number of second-cycle pulses to the real-time processing module 302.

[0078] Specifically, refer to Figure 4 The real-time processing unit 302 communicates with the steering motor driver 3041 and the running motor driver 3042 via the CAN bus to receive the number of phase difference pulses from zero position, the number of pulses in the first cycle, and the number of pulses in the second cycle.

[0079] Reference Figure 3 The main control board 301 receives the number of zero-position phase difference pulses, the number of first-cycle pulses, and the number of second-cycle pulses sent by the real-time processing unit 302, and calculates the current steering angle of the steering motor based on the number of zero-position phase difference pulses and the number of first-cycle pulses, and calculates the movement speed of the travel motor based on the number of second-cycle pulses.

[0080] The main control board 301 receives the relative position of each wheel to the robot body sent by the real-time processing unit 302, and calculates the attitude, linear velocity, and angular velocity of each wheel mapped to the geometric center of the robot through geometric relationships, in conjunction with the steering angle and the motion speed. Then, it averages and fuses the attitude, linear velocity, and angular velocity of each wheel in the robot to calculate the current real-time attitude and real-time velocity of the robot, and performs integral calculation on the real-time attitude and real-time velocity to obtain the first motion trajectory of the robot, wherein the first motion trajectory is the planar displacement accumulated by the robot after initial startup.

[0081] In one embodiment, when the robot is a four-wheel drive robot, the four-wheel drive robot includes wheels disposed in four directions of the robot. The four-wheel drive robot is also equipped with four independent steering motors and four independent traversing motors, each steering motor and traversing motor corresponding to one wheel. In this embodiment, the main control board 301 calculates the real-time attitude and speed of each wheel in the four-wheel drive robot, combines the relative position of each wheel with the robot body, and then calculates the attitude and speed mapped to the robot by each wheel based on the relative position. The attitude and speed mapped to the robot by the four wheels are then fused to obtain the real-time attitude and speed of the four-wheel drive robot. Finally, the real-time attitude and speed are integrated over time to generate the historical motion trajectory of the four-wheel drive robot.

[0082] The main control board 301 calculates the target path for the robot to travel on the required path based on the first motion trajectory and the spatial position sent by the real-time processing unit 302. The target path is the turning angle and speed that the robot needs to move. The main control board 301 switches the robot's turning mode according to the turning angle and speed. The turning mode includes a front and rear wheel opposite turning mode and a front and rear wheel same-direction turning mode.

[0083] A path planning device is provided according to the implementation method provided in this embodiment. The path planning device is connected to the main control board 301. The main control board 301 sends the spatial position and the first motion trajectory to the upper-level path planning device. The path planning device calculates the motion speed and angular velocity of the robot when it moves next based on the target path, the spatial position and the upper-level path planning device, and sends the motion speed and the angular velocity to the main control board 301 of the robot.

[0084] Furthermore, after calculating the motion speed and the motion angular velocity, the upper-level path planning device sets a control algorithm to realize the robot's steering control. The control algorithm can switch between a front and rear wheel counter-rotating mode and a front and rear wheel unidirectional steering mode based on parameters such as the robot's speed level, steering angle, turning radius, and lateral acceleration.

[0085] Specifically, the robot's movement speed is the primary basis for switching modes, but the steering mode can also be switched based on the robot's actual movement. In particular, the switching mode can include multiple criteria:

[0086] Among them, the basis 1 is: set a low speed threshold and a high speed threshold. When the speed is lower than the low speed threshold, the upper path planning device tends to select the front and rear wheels reverse steering mode. When the speed is higher than or equal to the high speed threshold, the path planning device tends to select the front and rear wheels in the same direction steering mode.

[0087] According to criterion 2: the path planning device obtains the robot's steering angle and turning radius. At low speeds, if the steering angle is large or the turning radius is small, the path planning device may tend to select a front and rear wheel steering mode that reverses direction to achieve a smaller turning radius. At high speeds, the path planning device may tend to select a front and rear wheel steering mode that reverses direction to maintain stability.

[0088] According to criterion 3: The path planning device can also monitor the robot's lateral acceleration. At low speeds, if higher lateral acceleration is required to complete the turn, the path planning device may choose a front and rear wheel reversing steering mode. At high speeds, the path planning device may choose a front and rear wheel reversing steering mode to reduce the impact of lateral acceleration on the robot's stability.

[0089] Furthermore, a rear-wheel non-steering mode can be added as an intermediate state. This rear-wheel non-steering mode, as an intermediate state between the two steering modes mentioned above, can buffer the sudden changes in the robot's state caused by the switching between the two.

[0090] The upper-level path planning device sends the switched steering mode, the movement speed, and the movement angular velocity to the main control board 301. The main control board 301 calculates the target travel speed and target steering angle of each wheel based on the movement speed and the movement angular velocity, and generates control signals corresponding to the target travel speed, target steering angle, and steering mode, which are then sent to the real-time processing unit 302. This enables the real-time processing unit 302 to generate control commands for the driver of each steering motor and the driver of each travel motor based on the control signals, and then controls the driver to drive the steering motor and travel motor according to the control commands.

[0091] During the movement of the robot, the implementation processing unit 302 acquires obstacle information fed back by the sensor components in real time, and controls the robot to brake or continue moving based on the obstacle information.

[0092] Specifically, referring to the implementation method provided in this embodiment, the robot is equipped with 8 ultrasonic sensors and 8 anti-fall sensors, which are respectively deployed in 4 directions of the robot. The ultrasonic sensors and the anti-fall sensors detect obstacle information in real time during the robot's walking process and send the obstacle information to the robot's real-time processing unit 302 in real time.

[0093] The real-time processing unit 302 determines whether the robot should continue walking based on the detected distance between the obstacle and the robot, as well as the received movement speed and turning angle. If it is determined that the robot cannot continue walking, the real-time processing unit 302 controls the robot's braking motor to stop the robot. If it is determined that the robot can continue walking, the real-time processing unit 302 controls the steering motor and the walking motor to continue moving or controls the robot's braking motor to disengage.

[0094] Furthermore, in this embodiment, an inertial sensor can also be provided in the sensor assembly 303. The inertial sensor can measure the angle of rotation of the robot relative to the initial position through a high-precision sensor, and perform real-time calibration of the robot's posture through inertial navigation, which can ensure that the current robot posture error is within a certain range and effectively improve the accuracy of robot motion control.

[0095] This embodiment discloses a motion control method for a robot, employing a dual-redundancy structure consisting of a main control board and a real-time processing unit. If either module malfunctions, the robot enters a safe stopping mode, ensuring operational safety. Furthermore, the use of dual processors improves computational speed while maintaining real-time performance. Redundant safety sensors, including ultrasonic anti-collision sensors and anti-fall sensors, ensure that even if individual sensors malfunction, the robot's safety is not compromised. Each wheel in the robot can rotate up to 360°, enabling the robot to support multiple walking modes, including differential mode, Ackerman mode, dual Ackerman mode, lateral walking, and diagonal straight walking. These modes can be implemented using different algorithm modules, and switching between modules can be achieved via a host computer.

[0096] Furthermore, in terms of control algorithms, the robot can switch between a front-to-rear wheel counter-steering mode and a front-to-rear wheel unidirectional steering mode based on different speed levels. The advantage of the front-to-rear wheel counter-steering mode is a sufficiently small turning radius, resulting in high turning flexibility; however, when the speed exceeds a critical value, it can lead to robot instability. The advantage of the front-to-rear wheel unidirectional steering mode is higher stability at high speeds, but its turning flexibility is insufficient. Switching between these two modes based on different travel speeds can fully meet the robot's driving needs under various speed conditions. A feedback control mechanism is introduced into the control strategy. The robot can calculate mileage information, including linear and angular velocities from the previous control cycle, based on the steering and travel speed of each wheel using a physical geometric model. This information is then used as the response input for the current control cycle to achieve motion-state-based feedback control, significantly improving the robot's robustness. Even under conditions of significant wheel friction and wind resistance, the control requirements can be well met. Regarding safety protection, the system fully considers how to deeply integrate safety protection based on ultrasonic and fall-prevention sensors with the robot control.

[0097] Because the robot is highly flexible in turning, sensors are used to monitor the robot's operating environment in real time, thereby enabling safe braking and de-braking of the robot, ensuring both flexible operation and robot safety.

[0098] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A method for controlling vehicle motion, characterized in that, The following steps are involved: Obtain the number of pulses from zero position and the number of pulses in the first cycle for each steering motor, and calculate the current steering angle for each steering motor; The steering motor is used to control the steering of the wheels; Obtain the number of pulses in the second cycle for each traveling motor and calculate the current traveling speed of each traveling motor; The traveling motor is used to control the movement of the wheels; The relative position of each wheel to the vehicle body is obtained, and combined with the current steering angle of each steering motor and the current travel speed of each travel motor, the real-time attitude and speed of the vehicle body are obtained. It acquires environmental road condition information and switches the vehicle's walking mode based on the vehicle's real-time attitude and speed to achieve vehicle motion control.

2. The vehicle motion control method according to claim 1, characterized in that, The process of acquiring environmental road condition information and switching the vehicle's walking mode based on the vehicle's real-time attitude and speed to achieve vehicle motion control includes: Based on the vehicle's speed and a preset speed threshold, the current speed level of the vehicle is obtained; Based on the vehicle's current speed level, the vehicle's driving mode is switched between a front and rear wheel reverse steering mode and a front and rear wheel same-direction steering mode.

3. The vehicle motion control method according to claim 1, characterized in that, It also includes obstacle avoidance control and braking control of the vehicle body based on the environmental road condition information.

4. The vehicle motion control method according to claim 1, characterized in that, It also includes integrating the real-time attitude and speed of the vehicle body over time to obtain the first path of the vehicle body.

5. The vehicle motion control method according to claim 4, characterized in that, The method of switching the vehicle's walking mode based on the vehicle's real-time attitude and speed to achieve motion control of the vehicle includes: Based on the first path and the environmental road condition information, the target path of the vehicle body is obtained; Based on the target path, obtain the target adjustment parameters for each wheel; The parameters are adjusted according to the target to control each wheel, thereby achieving motion control of the vehicle body.

6. A vehicle motion control circuit, characterized in that, It includes a main control module, a real-time processing module, a sensor module, and a drive module; among which: The main control module and the real-time processing module are electrically connected to enable information interaction. The sensor module is electrically connected to the real-time processing module and is used to collect environmental road condition information of the vehicle body and the relative position of each wheel relative to the vehicle body in real time, and send the environmental road condition information and the relative position to the real-time processing module. The drive module is electrically connected to the real-time processing module and is used to collect the number of zero-position phase difference pulses and the number of first-cycle pulses of each steering motor of the vehicle body and the number of second-cycle pulses of each running motor, and send the number of zero-position phase difference pulses, the number of first-cycle pulses and the number of second-cycle pulses to the real-time processing module. The real-time processing module sends the number of phase difference pulses from zero, the number of pulses in the first cycle, the number of pulses in the second cycle, the relative position, and the environmental road condition information to the main control module, so that the main control module performs the following operations: The current steering angle of each steering motor is calculated based on the number of phase difference pulses from zero and the number of pulses in the first cycle. Calculate the current walking speed of each walking motor based on the number of pulses in the second cycle; Based on the relative position, combined with the current steering angle of each steering motor and the current travel speed of each travel motor, the real-time attitude and speed of the vehicle body are obtained; Based on the environmental road condition information, and based on the vehicle's real-time attitude and speed, the vehicle's walking mode is switched; The main control module sends the real-time attitude, speed, and walking mode of the vehicle body to the real-time processing module, so that the real-time processing module controls the drive module to drive the steering motor and running motor of the vehicle body according to the real-time attitude, speed, and walking mode, thereby realizing the motion control of the vehicle body.

7. A vehicle motion control circuit according to claim 6, characterized in that, The real-time processing module is also used to perform obstacle avoidance control and braking control on the vehicle body based on the environmental road condition information.

8. A vehicle motion control circuit according to claim 6, characterized in that, The main control module obtains the current speed level of the vehicle body based on the vehicle body speed and a preset speed threshold, and switches the vehicle body's driving mode between a front and rear wheel reverse steering mode and a front and rear wheel same steering mode based on the current speed level.

9. A vehicle motion control circuit according to claim 8, characterized in that, The vehicle's driving modes include front and rear wheel steering in opposite directions and front and rear wheel steering in the same direction.

10. A vehicle motion control circuit according to claim 6, characterized in that, The sensor module also includes an inertial sensor, which is electrically connected to the real-time processing module and is used to acquire the rotation angle of the vehicle body.

11. A vehicle motion control circuit according to claim 6, characterized in that, The sensor module is configured with a redundant structure.

12. A control system for a robot chassis, characterized in that, The chassis control system includes a vehicle motion control circuit as described in any one of claims 6-11, used to implement a vehicle motion control method as described in any one of claims 1-5.

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