Dual-motor robot motion control method based on new wireless remote controller model

Abstract

The invention relates to the technical field of robot control, in particular to a dual-motor robot motion control method based on a new wireless remote controller model, which comprises the following steps: starting a tracked robot and a wireless remote controller; an operator operates a left rocker and a right rocker of the wireless remote controller to obtain a remote control instruction; the tracked robot receives a remote control instruction in real time and calculates remote control data to obtain the rotating speed of left and right wheels; according to the control method, the action of a rocker of a wireless remote controller is accurately distinguished and controlled, the remote control instruction is generated, the remote control instruction is converted based on the control technology of double-motor same-speed straight line and differential orientation, linear speed and angular speed information is calculated, and the action is executed. The robot can be accurately controlled to advance, retreat, turn left and turn right, and advance or retreat while turning, the problem that a traditional single rocker controls multiple actions is tedious in control is solved, and the robot can be controlled to move more accurately and more stably.

Description

Technical Field

[0001] The invention relates to the technical field of robot control, and in particular to a dual-motor robot motion control method based on a new model of a wireless remote controller. Background Art

[0002] Currently, most robot remote controls on the market use directional joysticks, which simply map the joystick data to the rotation speed of the robot's left and right wheels. They can only achieve simple control of the front, back, left, and right directions, but cannot match and follow the direction angle and speed. They require real-time manual control and the operator must have extremely high operating skills.

[0003] Traditional control methods have low precision in robot motion control. During remote control walking, the robot is prone to sudden changes in speed, walking in a straight line, lack of sensitivity in turning, and overshoot and jitter in motion. As a result, in actual application, it is easy to burn out components such as the electric drive and have the risk of excessive peak load. Summary of the invention

[0004] The purpose of the present invention is to provide a dual-motor robot motion control method based on a new model of a wireless remote controller, aiming to solve the problem that the traditional control method has low precision in robot motion control.

[0005] To achieve the above object, the present invention provides a dual-motor robot motion control method based on a new model of a wireless remote controller, comprising the following steps:

[0006] Turn on the crawler robot and wireless remote control;

[0007] The operator operates the left joystick and the right joystick of the wireless remote controller to obtain remote control instructions;

[0008] The crawler robot receives the remote control command in real time, calculates the remote control data, and obtains the rotation speeds of the left and right wheels;

[0009] The crawler robot performs movement based on the remote control command and the rotation speeds of the left and right wheels.

[0010] The remote control instructions include four instructions: forward and backward, turn left and right, forward while turning, and backward while turning.

[0011] The operator operates the left joystick and the right joystick of the wireless remote controller to obtain the specific manner of the remote control command:

[0012] Operate the left joystick of the wireless remote controller up and down to control the crawler robot to move forward and backward;

[0013] Operate the right joystick of the wireless remote controller to the left and right directions to control the crawler robot to turn left and right;

[0014] Operate the left joystick upward and the right joystick left and right of the wireless remote controller to control the crawler robot to turn and move forward;

[0015] The left joystick of the wireless remote controller is operated downward and the right joystick is operated leftward and rightward to control the crawler robot to turn and move backward.

[0016] The crawler robot receives the remote control command in real time, calculates the remote control data, and obtains the specific method of the rotation speed of the left and right wheels:

[0017] The crawler robot receives the remote control command in real time through a wireless receiver and converts it into remote control data;

[0018] Calculating the remote control data and converting it into linear velocity and angular velocity information of the crawler robot;

[0019] The crawler robot converts the linear velocity and angular velocity information into left and right wheel rotation speeds based on a two-wheel differential model algorithm.

[0020] Among them, the crawler robot executes movement with left turning as positive and forward movement as positive.

[0021] Among them, the tracked machine includes a track base, a robot body, a shock-absorbing plate and an anti-collision plate. The shock-absorbing plate is fixedly connected to the track base and is located on the top of the track base. The robot body is fixedly connected to the shock-absorbing plate and is located on the side of the shock-absorbing plate away from the track body. The anti-collision plate is fixedly connected to the robot body and is located on the outside of the robot body.

[0022] Among them, the shock-absorbing plate includes a connecting plate and a damping plate, the connecting plate is fixedly connected to the track base and is located on the top of the track base, the damping plate is fixedly connected to the connecting plate and fixedly connected to the robot body, and is located between the robot and the connecting plate.

[0023] The invention discloses a dual-motor robot motion control method based on a new model of a wireless remote controller. The method comprises the following steps: turning on a tracked robot and a wireless remote controller; an operator operating a left joystick and a right joystick of the wireless remote controller to obtain a remote control instruction; the tracked robot receives the remote control instruction in real time, calculates remote control data, and obtains the rotation speeds of left and right wheels; the tracked robot performs motion based on the remote control instruction and the rotation speeds of left and right wheels. The control method accurately distinguishes and controls the motion of the joystick of the wireless remote controller to generate a remote control instruction, and based on the control technology of dual-motor same-speed straight line and differential-speed orientation, the remote control instruction is converted and linear velocity and angular velocity information is calculated to perform the motion. The robot can be accurately controlled to move forward, backward, turn left, turn right, and move forward or backward while turning, thereby avoiding the cumbersome control problem of a traditional single joystick controlling multiple motions, and the robot motion can be controlled to move more accurately and more smoothly, thereby improving the stability of the robot and solving the problem of low motion control precision of the robot by the traditional control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 The present invention provides a flow chart of a dual-motor robot motion control method based on a new model of a wireless remote controller.

[0026] Figure 2 It is a flowchart of a specific method in which an operator operates the left joystick and the right joystick of the wireless remote controller to obtain remote control instructions.

[0027] Figure 3 The crawler robot receives the remote control command in real time, calculates the remote control data, and obtains the specific flow chart of the rotation speed of the left and right wheels.

[0028] Figure 4 This is a schematic diagram of the calculation remote control data.

[0029] Figure 5 is a schematic diagram of a tracked robot.

[0030] In the figure: 1-track base, 2-robot body, 3-shock absorbing plate, 4-anti-collision plate, 5-connecting plate, 6-damping plate, 7-clamping rod, 8-rubber plate. DETAILED DESCRIPTION

[0031] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0032] See also Figure 1 , Figure 1 The present invention provides a flow chart of a dual-motor robot motion control method based on a new model of a wireless remote controller, and the dual-motor robot motion control method based on a new model of a wireless remote controller comprises the following steps:

[0033] S1 turns on the crawler robot and wireless remote control;

[0034] S2: The operator operates the left joystick and the right joystick of the wireless remote controller to obtain remote control instructions;

[0035] In the embodiment of the present invention, the remote control instructions include four instructions: forward and backward, left turn and right turn, forward while turning, and backward while turning.

[0036] like Figure 2 As shown, Figure 2 It is a flowchart of the specific method in which the operator operates the left joystick and the right joystick of the wireless remote controller to obtain the remote control command. The specific method is:

[0037] S21 operates the left joystick of the wireless remote controller up and down to control the crawler robot to move forward and backward;

[0038] S22 operates the right joystick of the wireless remote controller to the left and right directions to control the crawler robot to turn left and right;

[0039] S23 operates the left joystick upward direction and the right joystick left and right direction of the wireless remote controller to control the crawler robot to turn and move forward;

[0040] S24 operates the left joystick downward direction and the right joystick left and right direction of the wireless remote controller to control the crawler robot to turn and move backward.

[0041] S3: the crawler robot receives the remote control command in real time, calculates the remote control data, and obtains the rotation speeds of the left and right wheels;

[0042] like Figure 3 As shown, Figure 3 The crawler robot receives the remote control command in real time, calculates the remote control data, and obtains the specific flow chart of the rotation speed of the left and right wheels. The specific method is:

[0043] S31 the crawler robot receives the remote control command in real time through a wireless receiver and converts it into remote control data;

[0044] S32 calculates the remote control data and converts it into linear velocity and angular velocity information of the crawler robot;

[0045] S33 The tracked robot converts the linear velocity and angular velocity information into the rotational speeds of the left and right wheels based on a two-wheel differential model algorithm.

[0046] S4: the crawler robot performs movement based on the remote control command and the rotation speeds of the left and right wheels.

[0047] In the embodiment of the present invention, the crawler robot executes movement according to the command data issued by the remote control, and can move forward, backward, turn left, turn right, and move forward or backward while turning. The S1-S4 process is an execution cycle. In this cycle, the robot responds to new remote control movement commands in real time.

[0048] The prerequisites for the crawler robot to perform movement are:

[0049] Turning left is positive, and moving forward is positive;

[0050] v is the chassis linear velocity, which is known and comes from the remote control command;

[0051] w is the chassis angular velocity, which is known and comes from the remote control command;

[0052] R is the turning radius;

[0053] L is the distance between the centers of the two wheels, which is a known, actual measured value;

[0054] d is half of the distance between the centers of the two wheels, a known, actual measured value;

[0055] r is the radius of the wheel, a known, actual measured value;

[0056] VL is the left wheel linear velocity;

[0057] VR is the right wheel linear speed;

[0058] WL is the left wheel angular velocity;

[0059] WR is the right wheel angular velocity;

[0060] Linear velocity angular velocity formula: v = rw;

[0061] ReduceRatio is the reduction ratio of the reducer, which is known;

[0062] Dwheel is the wheel diameter, actual measured value.

[0063] The calculation process is as follows ( Figure 4 ):

[0064] Movement type 1: W = 0, V = 0, the robot moves in a straight line, then the linear speed of the left and right wheels is:

[0065] VL = V;

[0066] VR=-VL;

[0067] Movement type 2: W!=0, V!=0, the robot moves in the turning radius, then the left and right wheel linear speeds are:

[0068] VL = V - W*d; ④

[0069] VR=V+W*d;⑤ / / In actual use, you may need to multiply by -1 to adjust the motor direction

[0070] Because V = R*W ⑥

[0071] V = (VL + VR) / 2;

[0072] So V=(WR+WL) / 2*R;

[0073] WL=(2*RL)*V / (2*R*L)①, ① can be derived from ④ and ⑥.

[0074] WR=(2*R+L)*V / (2*R*L)②,② can be derived from⑤ and⑥.

[0075] Turning radius R = (L / 2)*((WR+WL) / (WR-WL))③, ③ can be derived from ① and ②.

[0076] Movement type 3: W = 0, V = 0, the robot rotates in place, then the linear speed of the left and right wheels is:

[0077] VL=VR=W*d; / / In actual use, you may need to multiply by -1 to adjust the motor direction

[0078] The maximum linear speed of rotation in place is determined by the mechanical characteristics!

[0079] Movement type 4: W = 0, V = 0, the robot stops moving, then the left and right wheel linear speeds are:

[0080] VL=VR=0.

[0081] The execution results of the above four types of motion are converted into motor speed RPM according to the following formula:

[0082] Left motor RPM = VL*60*ReduceRatio / (π*Dwheel);

[0083] Right motor RPM = VR*60*ReduceRatio / (π*Dwheel).

[0084] See also Figure 5 The crawler machine includes a crawler base 1, a robot body 2, a shock absorbing plate 3 and an anti-collision plate 4. The shock absorbing plate 3 is fixedly connected to the crawler base 1 and is located on the top of the crawler base 1. The robot body 2 is fixedly connected to the shock absorbing plate 3 and is located on the side of the shock absorbing plate 3 away from the crawler body. The anti-collision plate 4 is fixedly connected to the robot body 2 and is located on the outside of the robot body 2.

[0085] In the embodiment of the present invention, the robot body 2 controls the track base 1 to move forward and backward, turn left and right, move forward while turning, and move backward while turning based on the remote control command and the rotation speed of the left and right wheels. The shock-absorbing plate 3 is provided to provide shock-absorbing protection for the robot body 2 to prevent the vibration from being transmitted to the robot body 2 during the movement of the track base 1, causing the internal components of the robot body 2 to loosen or be damaged. The anti-collision plate 4 is provided to protect the robot body 2 during its movement to prevent the robot body 2 from colliding with obstacles and being damaged.

[0086] Furthermore, the shock-absorbing plate 3 includes a connecting plate 5 and a damping plate 6, the connecting plate 5 is fixedly connected to the track base 1 and is located on the top of the track base 1, the damping plate 6 is fixedly connected to the connecting plate 5 and is fixedly connected to the robot body 2, and is located between the robot and the connecting plate 5.

[0087] In an embodiment of the present invention, the connecting plate 5 is used to install and fix the damping plate 6 and the track base 1. The damping plate 6 provides shock-absorbing protection for the robot body 2 to prevent the vibration from being transmitted to the robot body 2 during the movement of the track base 1, causing the internal components of the robot body 2 to loosen or be damaged.

[0088] Furthermore, the anti-collision plate 4 includes a clamping rod 7 and a rubber plate 8, the clamping rod 7 is detachably connected to the robot body 2 and is located outside the robot body 2, and the rubber plate 8 is fixedly connected to the clamping rod 7 and is located on the side of the clamping rod 7 away from the robot body 2.

[0089] In the embodiment of the present invention, the clamping rod 7 is provided to fix the rubber plate 8 on the outside of the robot body 2. The rubber plate 8 protects the side of the robot body 2 to prevent the robot body 2 from colliding with obstacles and being damaged.

[0090] What is disclosed above is only a preferred embodiment of the dual-motor robot motion control method based on a new model of a wireless remote control of the present invention. Of course, this cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiments and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. A dual-motor robot motion control method based on a new model of wireless remote control, characterized in that: The following steps are involved: Turn on the crawler robot and wireless remote control; The operator operates the left joystick and the right joystick of the wireless remote controller to obtain remote control instructions; The crawler robot receives the remote control command in real time, calculates the remote control data, and obtains the rotation speeds of the left and right wheels; The crawler robot performs movement based on the remote control command and the rotation speeds of the left and right wheels.

2. The dual-motor robot motion control method based on the new model of wireless remote controller as claimed in claim 1 is characterized in that: The remote control instructions include four instructions: forward and backward, left turn and right turn, forward while turning, and backward while turning.

3. The dual-motor robot motion control method based on the new model of wireless remote controller as claimed in claim 2 is characterized in that: The operator operates the left joystick and the right joystick of the wireless remote controller to obtain the specific manner of remote control instructions: Operate the left joystick of the wireless remote controller up and down to control the crawler robot to move forward and backward; Operate the right joystick of the wireless remote controller to the left and right directions to control the crawler robot to turn left and right; Operate the left joystick upward and the right joystick left and right of the wireless remote controller to control the crawler robot to turn and move forward; The left joystick of the wireless remote controller is operated downward and the right joystick is operated leftward and rightward to control the crawler robot to turn and move backward.

4. The dual-motor robot motion control method based on the new model of wireless remote controller as claimed in claim 1 is characterized in that: The crawler robot receives the remote control command in real time, calculates the remote control data, and obtains the specific method of the rotation speed of the left and right wheels: The crawler robot receives the remote control command in real time through a wireless receiver and converts it into remote control data; Calculating the remote control data and converting it into linear velocity and angular velocity information of the crawler robot; The crawler robot converts the linear velocity and angular velocity information into left and right wheel rotation speeds based on a two-wheel differential model algorithm.

5. The dual-motor robot motion control method based on the new model of wireless remote controller as claimed in claim 1 is characterized in that: The crawler robot performs motions with left turning as positive and forward movement as positive.

6. The dual-motor robot motion control method based on the new model of wireless remote controller as claimed in claim 1 is characterized in that: The crawler machine includes a crawler base, a robot body, a shock-absorbing plate and an anti-collision plate. The shock-absorbing plate is fixedly connected to the crawler base and is located on the top of the crawler base. The robot body is fixedly connected to the shock-absorbing plate and is located on the side of the shock-absorbing plate away from the crawler body. The anti-collision plate is fixedly connected to the robot body and is located on the outside of the robot body.

7. The dual-motor robot motion control method based on the new model of wireless remote controller as claimed in claim 6 is characterized in that: The shock-absorbing plate includes a connecting plate and a damping plate. The connecting plate is fixedly connected to the track base and is located on the top of the track base. The damping plate is fixedly connected to the connecting plate and to the robot body and is located between the robot and the connecting plate.

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