Control method and control system for self-reconfigurable modular carrying unit cluster configuration

Abstract

The invention provides a control method and a control system for a self-reconfiguration modular carrying unit cluster configuration. The control method for the self-reconfiguration modular carrying unit cluster configuration comprises the following steps: building the self-reconfiguration modular carrying unit cluster configuration around an object expected to be carried; wherein the self-reconfiguration modular carrying unit cluster configuration comprises more than two self-reconfiguration modular carrying units, and the self-reconfiguration modular carrying units are connected in a magnetic attraction mode; the self-reconfiguration modularized carrying unit cluster configuration is integrally controlled, and the self-reconfiguration modularized carrying unit cluster configuration can move in all directions. According to the modular carrying unit cluster structure, the multiple modular carrying units before connection can be independently controlled, and the modular carrying unit cluster structure after connection can be integrally controlled, so that a target object is well surrounded, and the task of carrying the object is completed.

Description

Technical Field

[0001] The present application belongs to the field of cluster configuration control, and specifically relates to a control method and control system for a self-reconfigurable modular carrier unit cluster configuration. Background Art

[0002] In recent years, with the rapid development of science and technology, modular transport units have been widely used in production, medical treatment, education, security and other fields. Among them, self-reconfigurable modular transport units have become one of the research hotspots. The self-reconfigurable modular transport unit cluster configuration includes multiple identical modular transport units, each of which has the same shape and size. It can be assembled autonomously as needed to complete different tasks. However, the control of the self-reconfigurable modular transport unit cluster configuration still faces certain challenges. Summary of the invention

[0003] In order to overcome the problems existing in the related art at least to a certain extent, the present application provides a control method and a control system for a self-reconfigurable modular carrier unit cluster configuration.

[0004] According to a first aspect of an embodiment of the present application, the present application provides a method for controlling a self-reconfigurable modular carrier unit cluster configuration, which comprises the following steps:

[0005] A self-reconfigurable modular carrier unit cluster configuration is built around the object to be transported; wherein the self-reconfigurable modular carrier unit cluster configuration includes more than two self-reconfigurable modular carrier units, and each of the self-reconfigurable modular carrier units is connected by magnetic attraction;

[0006] The self-reconfigurable modular carrier unit cluster configuration is controlled as a whole, and the self-reconfigurable modular carrier unit cluster configuration is capable of omnidirectional movement.

[0007] In the above-mentioned control method of the self-reconfigurable modular carrier unit cluster configuration, the process of building the self-reconfigurable modular carrier unit cluster configuration around the object to be transported is:

[0008] According to the self-reconfigurable modular carrier unit cluster configuration to be built and the actual position of the object to be transported, the target movement position of each modular carrier unit is obtained.

[0009] According to the starting position of each modular carrier unit and target motion position Generate the desired motion trajectory of the modular carrier unit And the corresponding expected forward speed Angular velocity Wherein, t represents time;

[0010] According to the desired motion trajectory of the modular carrier unit Corresponding expected forward linear speed Angular velocity and the actual position x of the modular carrier unit i (t),y i (t),θ i (t), calculate the actual control linear speed of the modular carrier unit and angular velocity

[0011]

[0012] In the formula, e ix (t) represents the difference between the desired motion trajectory of the modular carrier unit in the x direction and its actual position, e iy (t) represents the difference between the desired motion trajectory of the modular carrier unit in the y direction and its actual position e iθ (t) represents the difference between the expected motion trajectory of the modular carrier unit and its actual position in terms of orientation k s1 ,k s2 ,k s3 All represent weight coefficients;

[0013] Control angular velocity Perform integral operation to obtain the control direction of the modular carrier unit

[0014]

[0015] According to the actual control line speed of the modular carrier unit and control orientation The wheel rotation angular velocity and direction of the modular transport unit in the decomposed mode are controlled so that each modular transport unit moves to the target movement position, and adjacent modular transport units are attracted to each other to complete the construction of the self-reconstructive modular transport unit cluster configuration.

[0016] Furthermore, the wheel rotation angular velocity of the modular carrier unit in the decomposed mode is:

[0017]

[0018] Where R is the radius of the wheel in the modular transport unit; ω i (t) represents the angular velocity of the wheels of the modular carrier unit in the disassembled mode.

[0019] Furthermore, the process of controlling the self-reconfigurable modular carrier unit cluster configuration as a multi-wheel carrier unit capable of omnidirectional movement is:

[0020] Based on the starting position of the object to be transported and the location of the target transport destination Generating the desired motion trajectory of a self-reconfigurable modular carrier unit cluster configuration And the expected movement speed corresponding to the x direction Expected speed in the y direction and angular velocity Wherein, t represents time;

[0021] Expected motion trajectory based on the self-reconfigurable modular carrier unit cluster configuration Expected speed in the x direction Expected speed in the y direction Angular velocity and the actual position x of the center of the self-reconfigurable modular carrier cluster configuration s (t),y s (t),θ s (t), calculate the actual control motion speed of the self-reconfigurable modular carrier unit cluster configuration in the x direction Actual controlled motion speed of the self-reconfigurable modular carrier unit cluster configuration in the y direction and angular velocity

[0022]

[0023] In the formula, e sx (t) represents the difference between the expected motion trajectory of the self-reconfigurable modular carrier unit cluster configuration in the x direction and the actual position of the cluster configuration center, e sy (t) represents the difference between the expected motion trajectory of the self-reconfigurable modular carrier cluster configuration in the y direction and the actual position of the cluster configuration center e sθ (t) represents the difference between the expected motion trajectory of the self-reconfigurable modular carrier cluster configuration and the actual position of the cluster configuration center in terms of orientation. k x1 ,k x2 ,k y1 ,k y2 ,k θ1 ,k θ2 All represent weight coefficients;

[0024] The kinematic equation of the self-reconfigurable modular carrier unit cluster configuration is expressed as the relationship between the angular velocity of each modular carrier unit and the motion velocity of the self-reconfigurable modular carrier unit cluster configuration:

[0025] Ω=MV;

[0026] Where Ω represents the wheel rotation angular velocity matrix of each modular transport unit, V represents the motion velocity matrix of the self-reconfigurable modular transport unit cluster configuration, and M represents the configuration matrix of the self-reconfigurable modular transport unit cluster configuration;

[0027] The actual control motion speed of the self-reconfigurable modular carrier unit cluster configuration in the x direction is calculated. Actual controlled motion speed of the self-reconfigurable modular carrier unit cluster configuration in the y direction and angular velocity Substitute the wheel rotation angular velocity of each modular transport unit into the relationship between the motion speed of the self-reconfigurable modular transport unit cluster configuration, and obtain the wheel rotation angular velocity matrix Ω of each modular transport unit in the self-reconfigurable modular transport unit cluster configuration;

[0028] Each modular carrier unit in the self-reconfigurable modular carrier unit cluster configuration is controlled according to the wheel rotation angular velocity matrix Ω of each modular carrier unit.

[0029] Furthermore, the wheel rotation angular velocity matrix Ω of each modular carrier unit is expressed as:

[0030]

[0031] In the formula, ω' i represents the wheel rotation angular velocity of the i-th modular carrier unit in the self-reconfigurable modular carrier unit cluster configuration in the adsorption mode, i=1,…n.

[0032] Furthermore, the motion speed matrix V of the self-reconfigurable modular carrier unit cluster configuration is expressed as:

[0033]

[0034] In the formula, v sx represents the linear velocity of the self-reconfigurable modular carrier cluster configuration in the x direction, v sy represents the linear velocity of the self-reconfigurable modular carrier unit cluster configuration in the y direction, Represents the angular velocity of the self-reconfigurable modular carrier unit cluster configuration.

[0035] Furthermore, the configuration matrix M of the self-reconfigurable modular carrier unit cluster configuration is expressed as:

[0036]

[0037] Where R represents the radius of the wheel in the modular transport unit, θ i represents the orientation of the ith modular carrier unit, r i,x represents the relative position of each modular transport unit relative to the geometric center of the self-reconfigurable modular transport unit cluster configuration in the x direction, r i,y Represents the relative position of each modular carrier unit in the y direction relative to the geometric center of the self-reconfigurable modular carrier unit cluster configuration.

[0038] In the control method of the above-mentioned self-reconfigurable modular transport unit cluster configuration, the modular transport unit includes a docking base, a steering mechanism, a traveling mechanism and a control mechanism; the steering mechanism and the traveling mechanism are arranged in the docking base; the steering mechanism and the traveling mechanism are both connected to the control mechanism, and the control mechanism is used to drive the steering mechanism to drive the docking base to turn, and is also used to drive the traveling mechanism to drive the docking base to move in a desired direction.

[0039] Furthermore, the docking base includes an annular gear and a base body, the annular gear is arranged on the inner wall of the base body along the circumference of the base body; a magnet array is arranged between the inner wall and the outer wall of the base body along the circumference of the base body; a spring plunger is arranged at the bottom of the base body, the spring plunger is used to suspend and support the base body, and is also used to adjust the friction between the base body and the travel mechanism; the steering mechanism drives the docking base to turn by meshing with the annular gear.

[0040] According to the second aspect of an embodiment of the present application, the present application also provides a control system for a self-reconfigurable modular transport unit cluster configuration, which includes a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor processes the computer program, it implements the control method of the self-reconfigurable modular transport unit cluster configuration described in any one of the above items.

[0041] According to the above-mentioned specific implementation methods of the present application, it can be known that there are at least the following beneficial effects: the control method of the self-reconfigurable modular carrier unit cluster configuration provided in the present application can not only individually control multiple modular carrier units before connection, but also control the modular carrier unit cluster configuration after connection as a whole, thereby completing tasks such as object transportation.

[0042] It should be understood that the above general description and the following specific embodiments are only exemplary and illustrative and do not limit the scope of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The attached drawings below are part of the specification of the present application, which illustrate embodiments of the present application. The attached drawings together with the description of the specification are used to explain the principles of the present application.

[0044] Figure 1 This is one of the structural schematic diagrams of a modular single-wheel robot in a control method for a self-reconfigurable modular carrier unit cluster configuration provided in an embodiment of the present application.

[0045] Figure 2 The second structural schematic diagram of a modular single-wheel robot in a control method of a self-reconfigurable modular carrier unit cluster configuration provided in an embodiment of the present application.

[0046] Figure 3 A partial structural diagram of a modular single-wheel robot in a control method for a self-reconfigurable modular carrier unit cluster configuration provided in an embodiment of the present application.

[0047] Figure 4 A flowchart of a control method for a self-reconfigurable modular carrier unit cluster configuration provided in an embodiment of the present application.

[0048] Figure 5 A schematic diagram of the application status of a self-reconfigurable modular carrier unit cluster configuration in a control method for a self-reconfigurable modular carrier unit cluster configuration provided in an embodiment of the present application.

[0049] Description of reference numerals:

[0050] 1. Docking base; 11. Ring gear; 12. Base body; 13. Magnet array; 14. Spring plunger;

[0051] 2. Steering mechanism;

[0052] 3. Traveling mechanism. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solutions and advantages of the embodiments of the present application more clearly understood, the spirit of the contents disclosed in the present application will be clearly explained with the accompanying drawings and detailed descriptions below. After understanding the embodiments of the contents of the present application, any technician in the relevant technical field can change and modify them according to the techniques taught by the contents of the present application without departing from the spirit and scope of the contents of the present application.

[0054] The exemplary embodiments and descriptions of the present application are used to explain the present application, but are not intended to limit the present application. In addition, elements / components with the same or similar reference numerals used in the drawings and embodiments are used to represent the same or similar parts.

[0055] The terms “first”, “second”, etc. used in this document do not particularly refer to an order or sequence, nor are they used to limit this application. They are only used to distinguish elements or operations described with the same technical terms.

[0056] The words “include,” “including,” “have,” “contain,” etc. used in this document are open-ended terms, meaning including but not limited to.

[0057] As used herein, "and / or" includes any or all combinations of the items described.

[0058] As used herein, “plurality” includes “two” and “more than two”; as used herein, “plurality groups” includes “two groups” and “more than two groups”.

[0059] Certain terms used to describe the present application are discussed below or elsewhere in this specification to provide additional guidance to those skilled in the art regarding the description of the present application.

[0060] The control method of the self-reconfigurable modular carrier unit cluster configuration provided in the present application is used to control the self-reconfigurable modular carrier unit cluster configuration. The self-reconfigurable modular carrier unit cluster configuration is composed of more than two modular carrier units, and adjacent modular carrier units are connected by magnetic attraction, so that self-reconfiguration can be completed.

[0061] Specifically, the modular carrier unit may adopt a modular single-wheel robot.

[0062] like Figures 1 to 3 As shown, the modular carrier unit includes a docking base 1, a steering mechanism 2, a traveling mechanism 3 and a control mechanism (not shown in the figure). The docking base 1 is provided with the steering mechanism 2 and the traveling mechanism 3, and the control mechanism can be arranged at the top of the docking base 1.

[0063] The steering mechanism 2 and the traveling mechanism 3 are both connected to the control mechanism, and the control mechanism is used to drive the steering mechanism 2 to drive the docking base 1 to turn, and is also used to drive the traveling mechanism 3 to drive the docking base 1 to move in a desired direction.

[0064] The docking base 1 can be connected to the docking bases 1 in other modular carrier units by magnetic attraction, so that the multiple modular carrier units form a modular carrier unit cluster configuration.

[0065] The modular transport unit provided in the embodiment of the present application becomes a two-degree-of-freedom transport unit by configuring a steering mechanism 2 and a traveling mechanism 3, so that the modular transport unit can flexibly self-organize, self-form and self-reconfigure.

[0066] Specifically, the modular carrier unit may adopt a modular single-wheel robot.

[0067] In a specific embodiment, the docking base 1 includes a ring gear 11 and a base body 12, wherein the ring gear 11 is arranged on the inner wall of the base body 12 along the circumference of the base body 12. A magnet array 13 is arranged between the inner wall and the outer wall of the base body 12 along the circumference of the base body 12, so that the docking base 1 can be magnetically connected with other docking bases 1. A spring plunger 14 is arranged at the bottom of the base body 12, and the spring plunger 14 is used to suspend and support the base body 12. The steering mechanism 2 drives the docking base 1 to steer by meshing with the ring gear 11.

[0068] In a specific embodiment, the base body 12 can adopt a cylindrical structure, and the ring gear 11 is arranged on the inner wall of the cylindrical structure. Along the circumference of the cylindrical structure, 2m rectangular plates are arranged on the outer wall of the cylindrical structure, where m is a natural number greater than or equal to 2, so that the cross-section of the outer wall of the cylindrical structure constitutes a regular 2m-sided polygon. Along the circumference of the cylindrical structure, a magnet array 13 is arranged between the inner wall and the outer wall of the cylindrical structure. Each magnet in the magnet array 13 is arranged at the connection between two adjacent rectangular plates, and the directions of adjacent magnets are opposite.

[0069] It is understandable that the base body 12 can also directly use 2m rectangular plates to enclose a cylinder with a cross section of a regular 2m polygon. Along the circumference of the cylinder, the ring gear 11 is arranged on the inner wall of the cylinder. The magnet array 13 is arranged between the inner wall and the outer wall of the cylinder. Each magnet in the magnet array 13 is arranged at the connection between two adjacent rectangular plates, and the directions of adjacent magnets are opposite.

[0070] Due to the same diameter and magnet arrangement, the fewer the number of rectangular plates, the greater the docking strength (specifically expressed as shear force) of the modular carrier unit, but the continuity of the docking position and the flexibility of the formation are worse. Therefore, the number of rectangular plates can be adjusted according to mission requirements.

[0071] In a specific embodiment, m is set to m=12, and the cross section of the outer contour of the base body 12 is a regular 24-gon. Based on the polygonal contour design of the base body 12, the modular carrier unit can be flexibly docked while increasing the shear strength; and the docking is done in the form of surface contact, and the docking is strong, so that the modular robot cluster configuration composed of modular single-wheel robots can surround a target object with a complex shape and firmly surround it.

[0072] like Figure 4 As shown, the control method of the self-reconfigurable modular carrier unit cluster configuration provided by the present application includes the following steps:

[0073] S1. Build a self-reconfigurable modular transport unit cluster configuration around the object to be transported. The specific process is as follows:

[0074] S11. According to the self-reconfigurable modular transport unit cluster configuration to be built and the actual position of the object to be transported, the target movement position of each modular transport unit is obtained.

[0075] S12, according to the starting position of each modular carrier unit and target motion position Generate desired motion trajectories for modular delivery units using a polynomial-based path planner And the corresponding expected forward speed Angular velocity Here, t represents time.

[0076] S13, according to the expected motion trajectory of the modular carrier unit The corresponding expected forward speed Angular velocity and the actual position x of the modular carrier unit i (t),y i (t),θ i (t), calculate the actual control linear speed of the modular carrier unit and angular velocity

[0077]

[0078] In formula (1), e ix (t) represents the difference between the desired motion trajectory of the modular carrier unit in the x direction and its actual position, e iy (t) represents the difference between the desired motion trajectory of the modular carrier unit in the y direction and its actual position e iθ (t) represents the difference between the expected motion trajectory of the modular carrier unit and its actual position in terms of orientation k s1 ,k s2 ,k s3 Both represent weight coefficients.

[0079] S14, control angular velocity Perform integral operation to obtain the control direction of the modular carrier unit

[0080]

[0081] S15, the bottom controller of the modular carrier unit controls the linear speed according to the actual control of the modular carrier unit and control orientation The wheel rotation angular velocity and direction of the modular transport unit in the decomposed mode are controlled so that each modular transport unit moves to the target movement position, and adjacent modular transport units are attracted to each other to complete the construction of the self-reconstructive modular transport unit cluster configuration.

[0082] Among them, the wheel rotation angular velocity ω of the modular carrier unit in the decomposed mode is i (t) is:

[0083]

[0084] In formula (3), R represents the wheel radius of the modular transport unit.

[0085] S2. Overall control of the self-reconfigurable modular carrier unit cluster configuration, wherein the self-reconfigurable modular carrier unit cluster configuration may be composed of two or more modular carrier units adsorbed together, and the self-reconfigurable modular carrier unit cluster configuration can perform omnidirectional movement, and the specific process is as follows:

[0086] S21, according to the starting position of the object to be transported and the location of the target transport destination Generating desired motion trajectories for a self-reconfigurable modular vehicle cluster configuration using a polynomial-based path planner And the expected movement speed corresponding to the x direction Expected speed in the y direction and angular velocity Here, t represents time.

[0087] S22. Expected motion trajectory according to the self-reconfigurable modular carrier unit cluster configuration Expected speed in the x direction Expected speed in the y direction Angular velocity and the actual position x of the center of the self-reconfigurable modular carrier cluster configuration s (t),y s (t),θ s (t), calculate the actual control motion speed of the self-reconfigurable modular carrier unit cluster configuration in the x direction Actual controlled motion speed of the self-reconfigurable modular carrier unit cluster configuration in the y direction and angular velocity

[0088]

[0089] In formula (4), e sx(t) represents the difference between the expected motion trajectory of the self-reconfigurable modular carrier unit cluster configuration in the x direction and the actual position of the cluster configuration center, e sy (t) represents the difference between the expected motion trajectory of the self-reconfigurable modular carrier cluster configuration in the y direction and the actual position of the cluster configuration center e sθ (t) represents the difference between the expected motion trajectory of the self-reconfigurable modular carrier cluster configuration and the actual position of the cluster configuration center in terms of orientation. k x1 ,k x2 ,k y1 ,k y2 ,k θ1 ,k θ2 Both represent weight coefficients.

[0090] S23, the kinematic equation of the self-reconfigurable modular transport unit cluster configuration is expressed as the relationship between the wheel rotation angular velocity of each modular transport unit and the motion speed of the self-reconfigurable modular transport unit cluster configuration, specifically expressed as:

[0091] Ω=MV (5)

[0092] In formula (5), Ω represents the wheel rotation angular velocity matrix of each modular transport unit, V represents the motion velocity matrix of the self-reconfigurable modular transport unit cluster configuration, and M represents the configuration matrix of the self-reconfigurable modular transport unit cluster configuration.

[0093]

[0094] In formula (6), ω' i (i=1,…n) represents the wheel rotation angular velocity of the i-th modular carrier unit in the self-reconfigurable modular carrier unit cluster configuration in the adsorption mode.

[0095]

[0096] In formula (7), v sx represents the linear velocity of the self-reconfigurable modular carrier cluster configuration in the x direction, v sy represents the linear velocity of the self-reconfigurable modular carrier unit cluster configuration in the y direction, ω s Represents the angular velocity of the self-reconfigurable modular carrier unit cluster configuration.

[0097]

[0098] In formula (8), R represents the wheel radius of the modular transport unit, θ i (i=1,…n) represents the orientation of the ith modular carrier unit, r i,xrepresents the relative position of each modular transport unit relative to the geometric center of the self-reconfigurable modular transport unit cluster configuration in the x direction, r i,y Represents the relative position of each modular carrier unit in the y direction relative to the geometric center of the self-reconfigurable modular carrier unit cluster configuration.

[0099] S24, the actual control motion speed of the self-reconfigurable modular carrier unit cluster configuration in the x direction obtained by calculation Actual controlled motion speed of the self-reconfigurable modular carrier unit cluster configuration in the y direction and angular velocity Substituting into equation (5), we can obtain the wheel rotation angular velocity matrix Ω of each modular transport unit in the self-reconfigurable modular transport unit cluster configuration in the adsorption mode.

[0100] S25. Control each modular carrier unit in the self-reconfigurable modular carrier unit cluster configuration according to the wheel rotation angular velocity matrix Ω of each modular carrier unit in the adsorption mode to complete the task of transporting the object.

[0101] In an exemplary embodiment, based on the control method of the self-reconfigurable modular carrier unit cluster configuration provided in the embodiments of the present application, the embodiments of the present application also provide a control system for the self-reconfigurable modular carrier unit cluster configuration, which includes a memory and a processor coupled to the memory, and the processor is configured to execute the control method of the self-reconfigurable modular carrier unit cluster configuration in any embodiment of the present application based on instructions stored in the memory.

[0102] The memory may be a system memory or a fixed non-volatile storage medium, etc. The system memory may store an operating system, an application program, a boot loader, a database, and other programs, etc.

[0103] It should be noted that the control system of the self-reconfigurable modular transport unit cluster configuration provided in the above embodiment and the control method embodiment of the self-reconfigurable modular transport unit cluster configuration belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0104] In an exemplary embodiment, the present application also provides a computer storage medium, which is a computer-readable storage medium, for example, a memory including a computer program, and the above-mentioned computer program can be executed by a processor to complete the control method of the self-reconfigurable modular transport unit cluster configuration in any embodiment of the present application.

[0105] The above-mentioned embodiments of the present application can be implemented in various hardware, software coding or a combination of the two. For example, the embodiments of the present application can also represent the program code for executing the above-mentioned method in a data signal processor. The present application can also relate to the various functions performed by a computer processor, a digital signal processor, a microprocessor or a field programmable gate array. The above-mentioned processor can be configured according to the present application to perform specific tasks, which are completed by executing machine-readable software code or firmware code that defines the specific method disclosed by the present application. The software code or firmware code development can represent different programming languages ​​and different formats or forms. Different target platform compiled software codes can also be represented. However, the different code styles, types and languages ​​of the software code for performing tasks according to the present application and other types of configuration codes do not depart from the spirit and scope of the present application.

[0106] The above description is only an illustrative specific implementation manner of the present application. Without departing from the concept and principle of the present application, any equivalent changes and modifications made by any technician in the field should fall within the scope of protection of the present application.

Claims

1. A control method for a self-reconfigurable modular carrier unit cluster configuration, characterized in that: The following steps are involved: A self-reconfigurable modular carrier unit cluster configuration is built around the object to be transported; wherein the self-reconfigurable modular carrier unit cluster configuration includes more than two self-reconfigurable modular carrier units, and each of the self-reconfigurable modular carrier units is connected by magnetic attraction; The self-reconfigurable modular carrier unit cluster configuration is controlled as a whole, and the self-reconfigurable modular carrier unit cluster configuration is capable of omnidirectional movement.

2. The control method of the self-reconfigurable modular carrier unit cluster configuration according to claim 1, characterized in that: The process of building a self-reconfigurable modular carrier unit cluster configuration around the object to be transported is as follows: According to the self-reconfigurable modular carrier unit cluster configuration to be built and the actual position of the object to be transported, the target movement position of each modular carrier unit is obtained. According to the starting position of each modular carrier unit and target motion position Generate the desired motion trajectory of the modular carrier unit And the corresponding expected forward linear speed Angular velocity Wherein, t represents time; According to the desired motion trajectory of the modular carrier unit Corresponding expected forward linear speed Angular velocity and the actual position x of the modular carrier unit i (t),y i (t),θ i (t), calculate the actual control linear speed of the modular carrier unit and angular velocity In the formula, e ix (t) represents the difference between the desired motion trajectory of the modular carrier unit in the x direction and its actual position, e iy (t) represents the difference between the desired motion trajectory of the modular carrier unit in the y direction and its actual position e iθ (t) represents the difference between the expected motion trajectory of the modular carrier unit and its actual position in terms of orientation k s1 ,k s2 ,k s3 All represent weight coefficients; Control angular velocity Perform integral operation to obtain the control direction of the modular carrier unit According to the actual control line speed of the modular carrier unit and control orientation The wheel rotation angular velocity and direction of the modular transport unit in the disassembled mode are controlled so that each modular transport unit moves to the target movement position, completing the construction of the self-reconfigurable modular transport unit cluster configuration.

3. The control method of the self-reconfigurable modular carrier unit cluster configuration according to claim 2, characterized in that: The wheel rotation angular velocity of the modular carrier unit in the decomposed mode is: Where R represents the wheel radius of the modular transport unit; ω i (t) represents the angular velocity of the wheels of the modular carrier unit in the disassembled mode.

4. The control method of the self-reconfigurable modular carrier unit cluster configuration according to claim 2, characterized in that: The process of controlling the self-reconfigurable modular carrier unit cluster configuration as a multi-wheeled carrier unit capable of omnidirectional movement is as follows: Based on the starting position of the object to be transported and the location of the target transport destination Generating the desired motion trajectory of a self-reconfigurable modular carrier unit cluster configuration And the expected movement speed corresponding to the x direction Expected speed in the y direction and angular velocity Wherein, t represents time; Expected motion trajectory based on the self-reconfigurable modular carrier unit cluster configuration Expected speed in the x direction Expected speed in the y direction Angular velocity and the actual position x of the center of the self-reconfigurable modular carrier cluster configuration s (t),y s (t),θ s (t), calculate the actual control motion speed of the self-reconfigurable modular carrier unit cluster configuration in the x direction Actual controlled motion speed of the self-reconfigurable modular carrier unit cluster configuration in the y direction and angular velocity In the formula, e sx (t) represents the difference between the expected motion trajectory of the self-reconfigurable modular carrier unit cluster configuration in the x direction and the actual position of the cluster configuration center, e sy (t) represents the difference between the expected motion trajectory of the self-reconfigurable modular carrier cluster configuration in the y direction and the actual position of the cluster configuration center e sθ (t) represents the difference between the expected motion trajectory of the self-reconfigurable modular carrier cluster configuration and the actual position of the cluster configuration center in terms of orientation. k x1 ,k x2 ,k y1 ,k y2 ,k θ1 ,k θ2 All represent weight coefficients; The kinematic equation of the self-reconfigurable modular carrier unit cluster configuration is expressed as the relationship between the angular velocity of each modular carrier unit and the motion velocity of the self-reconfigurable modular carrier unit cluster configuration: Ω=MV; Where Ω represents the wheel rotation angular velocity matrix of each modular transport unit, V represents the motion velocity matrix of the self-reconfigurable modular transport unit cluster configuration, and M represents the configuration matrix of the self-reconfigurable modular transport unit cluster configuration; The actual control motion speed of the self-reconfigurable modular carrier unit cluster configuration in the x direction is calculated. Actual controlled motion speed of the self-reconfigurable modular carrier unit cluster configuration in the y direction and angular velocity Substitute the angular velocity of each modular carrier unit into the relationship between the angular velocity of each modular carrier unit and the motion velocity of the self-reconfigurable modular carrier unit cluster configuration to obtain the wheel rotation angular velocity matrix Ω of each modular carrier unit in the self-reconfigurable modular carrier unit cluster configuration; Each modular carrier unit in the self-reconfigurable modular carrier unit cluster configuration is controlled according to the wheel rotation angular velocity matrix Ω of each modular carrier unit.

5. The control method of the self-reconfigurable modular carrier unit cluster configuration according to claim 4, characterized in that: The wheel rotation angular velocity matrix Ω of each modular carrier unit in the adsorption mode is expressed as: In the formula, ω' i represents the wheel rotation angular velocity of the i-th modular carrier unit in the self-reconfigurable modular carrier unit cluster configuration in the adsorption mode, i=1,…n.

6. The control method of the self-reconfigurable modular carrier unit cluster configuration according to claim 5, characterized in that: The motion speed matrix V of the self-reconfigurable modular carrier unit cluster configuration is expressed as: In the formula, v sx represents the linear velocity of the self-reconfigurable modular carrier cluster configuration in the x direction, v sy represents the linear velocity of the self-reconfigurable modular carrier unit cluster configuration in the y direction, Represents the angular velocity of the self-reconfigurable modular carrier unit cluster configuration.

7. The control method of the self-reconfigurable modular carrier unit cluster configuration according to claim 6, characterized in that: The configuration matrix M of the self-reconfigurable modular carrier unit cluster configuration is expressed as: Where R represents the wheel radius of the modular carrier unit, θ i represents the orientation of the ith modular carrier unit, r i,x represents the relative position of each modular transport unit relative to the geometric center of the self-reconfigurable modular transport unit cluster configuration in the x direction, r i,y Represents the relative position of each modular carrier unit in the y direction relative to the geometric center of the self-reconfigurable modular carrier unit cluster configuration.

8. The control method of the self-reconfigurable modular carrier unit cluster configuration according to claim 1, characterized in that: The modular transport unit includes a docking base, a steering mechanism, a traveling mechanism and a control mechanism; the steering mechanism and the traveling mechanism are arranged in the docking base; the steering mechanism and the traveling mechanism are both connected to the control mechanism, and the control mechanism is used to drive the steering mechanism to drive the docking base to turn, and is also used to drive the traveling mechanism to drive the docking base to move in a desired direction.

9. The control method of the self-reconfigurable modular carrier unit cluster configuration according to claim 8, characterized in that: The docking base includes an annular gear and a base body, wherein the annular gear is arranged on the inner wall of the base body along the circumference of the base body; a magnet array is arranged between the inner wall and the outer wall of the base body along the circumference of the base body; a spring plunger is arranged at the bottom of the base body, and the spring plunger is used to suspend and support the base body and to adjust the friction between the base body and the travel mechanism; the steering mechanism drives the docking base to turn by meshing with the annular gear.

10. A control system for a self-reconfigurable modular carrier unit cluster configuration, characterized in that: It comprises a memory, a processor and a computer program stored in the memory and running on the processor, and when the processor processes the computer program, it implements the control method of the self-reconfigurable modular carrier unit cluster configuration as described in any one of claims 1 to 9.

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