Wheeled robot attitude control method and system and medium

Abstract

The embodiment of the invention provides a wheeled robot attitude control method and system and a medium, and the method comprises the steps: constructing a kinematic model of a wheeled robot, and obtaining the real-time motion state information of the wheeled robot based on the kinematic model; analyzing the moving attitude information of the wheeled robot based on the real-time motion state information of the wheeled robot, and generating expected attitude information based on the working environment and the task demand information; comparing the moving posture information of the wheeled robot with expected posture information to obtain a posture deviation rate; judging whether the attitude deviation rate is greater than or equal to a set attitude deviation rate threshold value or not; if not, generating correction information, and adjusting the moving posture of the wheeled robot based on the correction information; if yes, the moving posture information of the wheeled robot is monitored in real time; by analyzing the moving posture information of the wheeled robot and comparing the moving posture information with expected posture information in a differentiated mode, the moving posture is dynamically adjusted according to the posture deviation rate, and the posture control precision of the wheeled robot is improved.

Description

Technical Field

[0001] This application relates to the technical field of attitude control, and more specifically, to a method, system, and medium for attitude control of a wheeled robot. Background Art

[0002] A four-wheel differential wheeled mobile robot is equipped with two driving wheels and two driven wheels. The driven wheels are arranged side by side at the front of the robot and can rotate freely along the wheel axis. The driving wheels are arranged side by side at the rear of the robot and are driven by independent motors respectively. When the rotational speeds of the two driving wheels are the same, the mobile robot moves in a straight line direction; when there is a difference in the rotational speeds of the two driving wheels, the mobile robot has both a linear velocity and an angular velocity of rotation, thereby changing the position and attitude of the robot in the two-dimensional plane space. By controlling the rotational speeds of the two driving wheels to adjust the linear velocity and angular velocity of the robot simultaneously, the robot is moved to the desired position and desired attitude. In the existing attitude control methods for wheeled robots, it is difficult to accurately analyze the moving attitude through the kinematic model, resulting in a large analysis error during the analysis of the moving attitude and affecting the control accuracy. Summary of the Invention

[0003] The purpose of the embodiments of this application is to provide a method, system, and medium for attitude control of a wheeled robot, which analyzes the moving attitude information of the wheeled robot through a kinematic model and makes a differential comparison with the desired attitude information, so as to dynamically adjust the moving attitude according to the attitude deviation rate and improve the attitude control accuracy of the wheeled robot.

[0004] The embodiments of this application also provide a method for attitude control of a wheeled robot, including:

[0005] Construct a kinematic model of the wheeled robot, and obtain the real-time motion state information of the wheeled robot based on the kinematic model;

[0006] Analyze the moving attitude information of the wheeled robot based on the real-time motion state information of the wheeled robot, and generate desired attitude information based on the working environment and task requirement information;

[0007] Compare the moving attitude information of the wheeled robot with the desired attitude information to obtain the attitude deviation rate;

[0008] Judge whether the attitude deviation rate is greater than or equal to the set attitude deviation rate threshold;

[0009] If it is greater than or equal to, generate correction information and adjust the moving attitude of the wheeled robot based on the correction information;

[0010] If it is less than, monitor the moving attitude information of the wheeled robot in real time.

[0011] Optionally, in the wheeled robot attitude control method described in the embodiments of the present application, a kinematic model of the wheeled robot is constructed, and real-time motion state information of the wheeled robot is obtained based on the kinematic model, specifically including:

[0012] Obtain the parameter information of the wheeled robot, and analyze the wheelbase, axle length, and moving wheel size information of the wheeled robot based on the parameter information of the wheeled robot;

[0013] Establish a kinematic model of the wheeled robot based on the wheelbase, axle length, and wheel size information of the wheeled robot;

[0014] Obtain the linear velocity and angular velocity of the wheeled robot, and establish a kinematic equation based on the kinematic model of the wheeled robot;

[0015] Analyze the linear velocity and angular velocity of the wheeled robot based on the kinematic method to obtain the linear velocity and angular velocity of the left and right wheels;

[0016] Analyze the real-time motion state information of the wheeled robot based on the linear velocity and angular velocity of the left and right wheels. The real-time motion state information includes linear velocity, angular velocity, position, and heading angle.

[0017] Optionally, in the wheeled robot attitude control method described in the embodiments of the present application, analyze the moving attitude information of the wheeled robot based on the real-time motion state information of the wheeled robot, specifically including:

[0018] Obtain the real-time motion state information of the wheeled robot, and analyze the linear velocity, angular velocity, position, and heading angle of the wheeled robot based on the real-time motion state information of the wheeled robot;

[0019] Perform integral processing on the angular velocity to obtain the change information of the heading angle, and perform optimization processing on the heading angle based on the change information of the heading angle to obtain the optimized heading angle;

[0020] Analyze the position change information and moving time of the wheeled robot based on the encoder, and calculate the linear velocity error information based on the position change information and moving time;

[0021] Perform optimization processing on the linear velocity based on the linear velocity error information to obtain the optimized linear velocity;

[0022] Perform fusion processing based on the optimized linear velocity, angular velocity, position, and optimized heading angle to obtain the moving attitude information of the wheeled robot.

[0023] Optionally, in the wheeled robot attitude control method described in the embodiments of the present application, generate expected attitude information based on the working environment and task requirement information, specifically including:

[0024] Obtain the working environment and task requirement information, and establish a moving path based on the working environment and task requirement information;

[0025] Obtain several pieces of scene information on the moving path in real time based on sensors;

[0026] Analyze the scene distribution information based on several pieces of scene information;

[0027] Establish attitude information based on the scene distribution information and analyze the matching degree of the attitude information;

[0028] Screen and fuse the attitude information with a matching degree greater than or equal to the set matching degree threshold to obtain the desired attitude information.

[0029] Optionally, in the wheeled robot attitude control method described in the embodiments of the present application, compare the moving attitude information of the wheeled robot with the desired attitude information to obtain an attitude deviation rate, which specifically includes:

[0030] Obtain the moving attitude information of the wheeled robot, and compare it with the desired attitude information based on the moving attitude information of the wheeled robot to obtain attitude difference information;

[0031] Compare the attitude difference information with the set difference condition information to obtain a linear velocity difference value, an angular velocity difference value, a position difference value, and a heading angle difference value;

[0032] Generate an attitude deviation rate based on the linear velocity difference value, the angular velocity difference value, the position difference value, and the heading angle difference value.

[0033] Optionally, in the wheeled robot attitude control method described in the embodiments of the present application, adjust the moving attitude of the wheeled robot based on correction information, which specifically includes:

[0034] Obtain correction information, and the correction information includes a linear velocity correction coefficient and an angular velocity correction coefficient;

[0035] Multiply the linear velocity correction coefficient by the linear velocity of the wheeled robot to obtain linear velocity adjustment information;

[0036] Multiply the angular velocity correction coefficient by the angular velocity of the wheeled robot to obtain angular velocity adjustment information;

[0037] Adjust the moving attitude of the wheeled robot based on the linear velocity adjustment information and the angular velocity adjustment information.

[0038] In a second aspect, the embodiments of the present application provide a wheeled robot attitude control system, which includes: a memory and a processor. The memory includes a program for the wheeled robot attitude control method. When the program for the wheeled robot attitude control method is executed by the processor, the following steps are implemented:

[0039] Construct a kinematic model of the wheeled robot and obtain the real-time motion state information of the wheeled robot based on the kinematic model;

[0040] Analyze the moving attitude information of the wheeled robot based on the real-time motion state information of the wheeled robot, and generate the desired attitude information based on the working environment and task requirement information;

[0041] Compare the moving attitude information of the wheeled robot with the desired attitude information to obtain the attitude deviation rate;

[0042] Judge whether the attitude deviation rate is greater than or equal to the set attitude deviation rate threshold;

[0043] If it is greater than or equal to, generate correction information and adjust the moving attitude of the wheeled robot based on the correction information;

[0044] If it is less than, monitor the moving attitude information of the wheeled robot in real time.

[0045] Optionally, in the wheeled robot attitude control system described in the embodiments of the present application, construct a kinematic model of the wheeled robot, and obtain the real-time motion state information of the wheeled robot based on the kinematic model, specifically including:

[0046] Obtain the parameter information of the wheeled robot, and analyze the wheelbase, axle length, and moving wheel size information of the wheeled robot based on the parameter information of the wheeled robot;

[0047] Establish a kinematic model of the wheeled robot based on the wheelbase, axle length, and wheel size information of the wheeled robot;

[0048] Obtain the linear velocity and angular velocity of the wheeled robot, and establish a kinematic equation based on the kinematic model of the wheeled robot;

[0049] Analyze the linear velocity and angular velocity of the wheeled robot based on kinematics to obtain the linear velocity and angular velocity of the left and right wheels;

[0050] Analyze the real-time motion state information of the wheeled robot based on the linear velocity and angular velocity of the left and right wheels, and the real-time motion state information includes linear velocity, angular velocity, position, and heading angle.

[0051] Optionally, in the wheeled robot attitude control system described in the embodiments of the present application, analyze the moving attitude information of the wheeled robot based on the real-time motion state information of the wheeled robot, specifically including:

[0052] Obtain the real-time motion state information of the wheeled robot, and analyze the linear velocity, angular velocity, position, and heading angle of the wheeled robot based on the real-time motion state information of the wheeled robot;

[0053] Perform integral processing on the angular velocity to obtain the change information of the heading angle, and optimize the heading angle based on the change information of the heading angle to obtain the optimized heading angle;

[0054] Analyze the position change information and movement time of the wheeled robot based on the encoder, and calculate the linear velocity error information based on the position change information and movement time;

[0055] Optimize the linear velocity based on the linear velocity error information to obtain the optimized linear velocity;

[0056] Perform fusion processing based on the optimized linear velocity, angular velocity, position, and optimized heading angle to obtain the movement attitude information of the wheeled robot.

[0057] In a third aspect, an embodiment of the present application also provides a computer-readable storage medium, which includes a program for the wheeled robot attitude control method. When the program for the wheeled robot attitude control method is executed by a processor, the steps of the wheeled robot attitude control method as described in any one of the above are implemented.

[0058] As can be seen from the above, a wheeled robot attitude control method, system, and medium provided by an embodiment of the present application construct a kinematic model of the wheeled robot, and obtain the real-time motion state information of the wheeled robot based on the kinematic model; analyze the movement attitude information of the wheeled robot based on the real-time motion state information of the wheeled robot, and generate expected attitude information based on the working environment and task requirement information; compare the movement attitude information of the wheeled robot with the expected attitude information to obtain the attitude deviation rate; determine whether the attitude deviation rate is greater than or equal to a set attitude deviation rate threshold; if it is greater than or equal to, generate correction information and adjust the movement attitude of the wheeled robot based on the correction information; if it is less than, monitor the movement attitude information of the wheeled robot in real time; analyze the movement attitude information of the wheeled robot through the kinematic model and make a differential comparison with the expected attitude information, so as to dynamically adjust the movement attitude according to the attitude deviation rate and improve the attitude control accuracy of the wheeled robot. Description of the Drawings

[0059] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0060] Figure 1 It is a flowchart of the wheeled robot attitude control method provided by an embodiment of the present application;

[0061] Figure 2 It is a flowchart of the method for obtaining the real-time motion state information of the wheeled robot in the wheeled robot attitude control method provided by an embodiment of the present application;

[0062] Figure 3This is a flow chart of a method for acquiring the moving posture information of a wheeled robot in the wheeled robot posture control method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0063] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work fall within the scope of protection of the present application.

[0064] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and should not be understood as indicating or implying relative importance.

[0065] Please refer to Figure 1 , Figure 1 This is a flow chart of a wheeled robot posture control method in some embodiments of the present application. The wheeled robot posture control method is used in a terminal device and includes the following steps:

[0066] S101, constructing a kinematic model of the wheeled robot, and obtaining real-time motion state information of the wheeled robot based on the kinematic model;

[0067] S102, analyzing the movement posture information of the wheeled robot based on the real-time motion state information of the wheeled robot, and generating expected posture information based on the working environment and task requirement information;

[0068] S103, comparing the wheeled robot's movement posture information with the expected posture information to obtain a posture deviation rate;

[0069] S104, determining whether the posture deviation rate is greater than or equal to a set posture deviation rate threshold;

[0070] S105: If it is greater than or equal to, generate correction information and adjust the movement posture of the wheeled robot based on the correction information; if it is less than, monitor the movement posture information of the wheeled robot in real time.

[0071] It should be noted that by constructing the kinematic model of the wheeled robot, the motion state information can be accurately obtained, and then the moving posture of the wheeled robot can be analyzed. The difference analysis is carried out with the expected posture information, and the moving posture of the wheeled robot is dynamically corrected according to the difference between the two, so as to improve the posture control accuracy.

[0072] Please refer to Figure 2 , Figure 2 FIG. is a flowchart of a method for obtaining real-time motion state information of a wheeled robot in an attitude control method of a wheeled robot according to some embodiments of the present application. According to an embodiment of the present invention, a kinematic model of the wheeled robot is constructed, and real-time motion state information of the wheeled robot is obtained based on the kinematic model, which specifically includes:

[0073] S201, obtain the parameter information of the wheeled robot, and analyze the wheelbase, axle length and moving wheel size information of the wheeled robot based on the parameter information of the wheeled robot;

[0074] S202, establish a kinematic model of the wheeled robot based on the wheelbase, axle length and wheel size information of the wheeled robot;

[0075] S203, obtain the linear velocity and angular velocity of the wheeled robot, and establish a kinematic equation based on the kinematic model of the wheeled robot;

[0076] S204, analyze the linear velocity and angular velocity of the wheeled robot based on the kinematic method to obtain the linear velocity and angular velocity of the left and right wheels;

[0077] S205, analyze the real-time motion state information of the wheeled robot based on the linear velocity and angular velocity of the left and right wheels. The real-time motion state information includes linear velocity, angular velocity, position and heading angle.

[0078] It should be noted that by analyzing the wheelbase, axle length and moving wheel size information of the wheeled robot, the linear velocity and angular velocity of the wheeled robot are accurately calculated, so as to analyze the real-time motion state of the mobile robot and improve the accuracy of motion analysis.

[0079] Please refer to Figure 3 , Figure 3 FIG. is a flowchart of a method for obtaining the moving posture information of a wheeled robot in an attitude control method of a wheeled robot according to some embodiments of the present application. According to an embodiment of the present invention, the moving posture information of the wheeled robot is analyzed based on the real-time motion state information of the wheeled robot, which specifically includes:

[0080] S301, obtain the real-time motion state information of the wheeled robot, and analyze the linear velocity, angular velocity, position and heading angle of the wheeled robot based on the real-time motion state information of the wheeled robot;

[0081] In S302, the angular velocity is integrated to obtain the change information of the heading angle. Based on the change information of the heading angle, the heading angle is optimized to obtain the optimized heading angle;

[0082] In S303, based on the encoder, the position change information and the moving time of the wheeled robot are analyzed, and the linear velocity error information is calculated based on the position change information and the moving time;

[0083] In S304, based on the linear velocity error information, the linear velocity is optimized to obtain the optimized linear velocity;

[0084] In S305, based on the optimized linear velocity, angular velocity, position and optimized heading angle, fusion processing is performed to obtain the moving posture information of the wheeled robot.

[0085] It should be noted that by calculating the errors of the linear velocity and heading angle of the wheeled robot, optimization processing is carried out to obtain accurate moving posture information of the wheeled robot, providing an effective basis for subsequent attitude control.

[0086] According to an embodiment of the present invention, the desired attitude information is generated based on the working environment and task requirement information, specifically including:

[0087] Obtain the working environment and task requirement information, and establish a moving path based on the working environment and task requirement information;

[0088] Based on the sensor, several scene information on the moving path is obtained in real time;

[0089] Analyze the scene distribution information based on several scene information;

[0090] Establish attitude information based on the scene distribution information, and analyze the matching degree of the attitude information;

[0091] The attitude information with a matching degree greater than or equal to the set matching degree threshold is screened and fused to obtain the desired attitude information.

[0092] It should be noted that by analyzing the working environment and task requirement information of the wheeled robot, several scene information on the moving path is analyzed and fusion processing is carried out to obtain accurate desired attitude information.

[0093] According to an embodiment of the present invention, the moving posture information of the wheeled robot is compared with the desired attitude information to obtain the attitude deviation rate, specifically including:

[0094] Obtain the moving posture information of the wheeled robot, and compare it with the desired attitude information to obtain the attitude difference information;

[0095] Compare the attitude difference information with the set difference condition information to obtain the linear velocity difference value, angular velocity difference value, position difference value, and heading angle difference value;

[0096] Generate an attitude deviation rate based on the linear velocity difference value, angular velocity difference value, position difference value, and heading angle difference value.

[0097] It should be noted that by analyzing the moving attitude information of the wheeled robot and analyzing the linear velocity difference value, angular velocity difference value, position difference value, and heading angle difference value, the attitude difference information of the wheeled robot can be accurately analyzed to obtain the attitude deviation rate.

[0098] According to an embodiment of the present invention, adjusting the moving attitude of the wheeled robot based on the correction information specifically includes:

[0099] Obtain the correction information, where the correction information includes a linear velocity correction coefficient and an angular velocity correction coefficient;

[0100] Multiply the linear velocity correction coefficient by the linear velocity of the wheeled robot to obtain the linear velocity adjustment information;

[0101] Multiply the angular velocity correction coefficient by the angular velocity of the wheeled robot to obtain the angular velocity adjustment information;

[0102] Adjust the moving attitude of the wheeled robot based on the linear velocity adjustment information and the angular velocity adjustment information.

[0103] It should be noted that by analyzing the linear velocity correction coefficient and the angular velocity correction information through the correction information, the linear velocity and angular velocity of the wheeled robot can be accurately adjusted, and the moving attitude of the wheeled robot can be dynamically adjusted based on the adjusted linear velocity and angular velocity, improving the attitude control accuracy of the wheeled robot.

[0104] In a second aspect, an embodiment of the present application provides a wheeled robot attitude control system, which includes: a memory and a processor. The memory includes a program for the wheeled robot attitude control method. When the program for the wheeled robot attitude control method is executed by the processor, the following steps are implemented:

[0105] Construct a kinematic model of the wheeled robot, and obtain the real-time motion state information of the wheeled robot based on the kinematic model;

[0106] Analyze the moving attitude information of the wheeled robot based on the real-time motion state information of the wheeled robot, and generate expected attitude information based on the working environment and task requirement information;

[0107] Compare the moving attitude information of the wheeled robot with the expected attitude information to obtain an attitude deviation rate;

[0108] Judge whether the attitude deviation rate is greater than or equal to the set attitude deviation rate threshold;

[0109] If it is greater than or equal to, correction information is generated, and the moving posture of the wheeled robot is adjusted based on the correction information;

[0110] If it is less than, the moving posture information of the wheeled robot is monitored in real time.

[0111] It should be noted that by constructing the kinematic model of the wheeled robot, the motion state information can be accurately obtained, and then the moving posture of the wheeled robot can be analyzed, and the difference analysis is carried out with the expected posture information. According to the difference between the two, the moving posture of the wheeled robot is dynamically corrected to improve the posture control accuracy.

[0112] According to the embodiment of the present invention, a kinematic model of the wheeled robot is constructed, and the real-time motion state information of the wheeled robot is obtained based on the kinematic model, specifically including:

[0113] Obtain the parameter information of the wheeled robot, and analyze the wheelbase, axle length and moving wheel size information of the wheeled robot based on the parameter information of the wheeled robot;

[0114] Based on the wheelbase, axle length and wheel size information of the wheeled robot, a kinematic model of the wheeled robot is established;

[0115] Obtain the linear velocity and angular velocity of the wheeled robot, and establish a kinematic equation based on the kinematic model of the wheeled robot;

[0116] Based on the kinematic method, analyze the linear velocity and angular velocity of the wheeled robot to obtain the linear velocity and angular velocity of the left and right wheels;

[0117] Based on the linear velocity and angular velocity of the left and right wheels, analyze the real-time motion state information of the wheeled robot. The real-time motion state information includes linear velocity, angular velocity, position and heading angle.

[0118] It should be noted that by analyzing the wheelbase, axle length and moving wheel size information of the wheeled robot, the linear velocity and angular velocity of the wheeled robot are accurately calculated, so as to analyze the real-time motion state of the moving robot and improve the accuracy of motion analysis.

[0119] According to the embodiment of the present invention, based on the real-time motion state information of the wheeled robot, analyze the moving posture information of the wheeled robot, specifically including:

[0120] Obtain the real-time motion state information of the wheeled robot, and analyze the linear velocity, angular velocity, position and heading angle of the wheeled robot based on the real-time motion state information of the wheeled robot;

[0121] Integrate the angular velocity to obtain the change information of the heading angle, and optimize the heading angle based on the change information of the heading angle to obtain the optimized heading angle;

[0122] Analyze the position change information and movement time of the wheeled robot based on the encoder, and calculate the linear velocity error information based on the position change information and movement time;

[0123] Optimize the linear velocity based on the linear velocity error information to obtain the optimized linear velocity;

[0124] Perform fusion processing based on the optimized linear velocity, angular velocity, position, and optimized heading angle to obtain the movement attitude information of the wheeled robot.

[0125] It should be noted that by calculating the errors of the linear velocity and heading angle of the wheeled robot, and then performing optimization processing, accurate movement attitude information of the wheeled robot can be obtained, providing an effective basis for subsequent attitude control.

[0126] According to the embodiments of the present invention, generate expected attitude information based on the working environment and task requirement information, specifically including:

[0127] Obtain the working environment and task requirement information, and establish a movement path based on the working environment and task requirement information;

[0128] Based on the sensor, continuously obtain several scene information on the movement path;

[0129] Analyze the scene distribution information based on several scene information;

[0130] Establish attitude information based on the scene distribution information, and analyze the matching degree of the attitude information;

[0131] Screen and fuse the attitude information with a matching degree greater than or equal to the set matching degree threshold to obtain the expected attitude information.

[0132] It should be noted that by analyzing the working environment and task requirement information of the wheeled robot, analyzing several scene information on the movement path, and performing fusion processing, accurate expected attitude information can be obtained.

[0133] According to the embodiments of the present invention, compare the movement attitude information of the wheeled robot with the expected attitude information to obtain the attitude deviation rate, specifically including:

[0134] Obtain the movement attitude information of the wheeled robot, and compare it based on the movement attitude information and expected attitude information of the wheeled robot to obtain attitude difference information;

[0135] Compare the attitude difference information with the set difference condition information to obtain the linear velocity difference value, angular velocity difference value, position difference value, and heading angle difference value;

[0136] Generate an attitude deviation rate based on the linear velocity difference value, angular velocity difference value, position difference value, and heading angle difference value.

[0137] It should be noted that by analyzing the moving attitude information of the wheeled robot and analyzing the linear velocity difference value, angular velocity difference value, position difference value, and heading angle difference value, the attitude difference information of the wheeled robot can be accurately analyzed to obtain the attitude deviation rate.

[0138] According to an embodiment of the present invention, adjusting the moving attitude of the wheeled robot based on the correction information specifically includes:

[0139] Obtaining the correction information, where the correction information includes a linear velocity correction coefficient and an angular velocity correction coefficient;

[0140] Multiplying the linear velocity correction coefficient by the linear velocity of the wheeled robot to obtain the linear velocity adjustment information;

[0141] Multiplying the angular velocity correction coefficient by the angular velocity of the wheeled robot to obtain the angular velocity adjustment information;

[0142] Adjusting the moving attitude of the wheeled robot based on the linear velocity adjustment information and the angular velocity adjustment information.

[0143] It should be noted that by analyzing the linear velocity correction coefficient and the angular velocity correction information through the correction information, the linear velocity and angular velocity of the wheeled robot can be accurately adjusted, and the moving attitude of the wheeled robot can be dynamically adjusted based on the adjusted linear velocity and angular velocity, improving the attitude control accuracy of the wheeled robot.

[0144] The third aspect of the present invention provides a computer-readable storage medium, which includes a program for the wheeled robot attitude control method. When the program for the wheeled robot attitude control method is executed by a processor, the steps of the wheeled robot attitude control method as described in any one of the above are implemented.

[0145] A wheeled robot attitude control method, system, and medium disclosed by the present invention, by constructing a kinematic model of the wheeled robot, obtaining the real-time motion state information of the wheeled robot based on the kinematic model; analyzing the moving attitude information of the wheeled robot based on the real-time motion state information of the wheeled robot, and generating expected attitude information based on the working environment and task requirement information; comparing the moving attitude information of the wheeled robot with the expected attitude information to obtain an attitude deviation rate; determining whether the attitude deviation rate is greater than or equal to a set attitude deviation rate threshold; if it is greater than or equal to, generating correction information and adjusting the moving attitude of the wheeled robot based on the correction information; if it is less than, monitoring the moving attitude information of the wheeled robot in real time; analyzing the moving attitude information of the wheeled robot through the kinematic model and making a differential comparison with the expected attitude information, so as to dynamically adjust the moving attitude according to the attitude deviation rate, improving the attitude control accuracy of the wheeled robot.

[0146] In several embodiments provided by this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the displayed or discussed components can be through some interfaces. The indirect coupling or communication connection of devices or units can be electrical, mechanical, or other forms.

[0147] The units described above as separate components may or may not be physically separated. The components displayed as units may or may not be physical units; they can be located in one place or distributed to multiple network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0148] In addition, each functional unit in the embodiments of the present invention can be all integrated in a processing unit, or each unit can be separately used as a unit, or two or more units can be integrated in one unit; the above-mentioned integrated units can be implemented in the form of hardware, or in the form of a combination of hardware and software functional units.

[0149] Those of ordinary skill in the art can understand that all or part of the steps to implement the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a readable storage medium. When the program is executed, it executes the steps including the above method embodiments; and the foregoing storage medium includes: removable storage devices, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks or optical discs and other various media that can store program codes.

[0150] Or, if the above-mentioned integrated units of the present invention are implemented in the form of software function modules and sold or used as independent products, they can also be stored in a readable storage medium. Based on such an understanding, the technical solution of the embodiments of the present invention essentially or the part that contributes to the prior art can be embodied in the form of a software product. The software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the various embodiments of the present invention. And the foregoing storage medium includes: removable storage devices, ROM, RAM, magnetic disks or optical discs and other various media that can store program codes.

Claims

1. A wheeled robot attitude control method, characterized in that, Including: Construct the kinematic model of the wheeled robot, and obtain the real-time motion state information of the wheeled robot based on the kinematic model; Analyze the moving posture information of the wheeled robot based on the real-time motion state information of the wheeled robot, and generate the desired posture information based on the working environment and task requirement information; Compare the moving posture information of the wheeled robot with the desired posture information to obtain the posture deviation rate; Judge whether the posture deviation rate is greater than or equal to the set posture deviation rate threshold; If it is greater than or equal to, generate correction information and adjust the moving posture of the wheeled robot based on the correction information; If it is less than, monitor the moving posture information of the wheeled robot in real time.

2. The attitude control method of the wheeled robot according to claim 1, characterized in that, Construct the kinematic model of the wheeled robot, and obtain the real-time motion state information of the wheeled robot based on the kinematic model, specifically including: Obtain the parameter information of the wheeled robot, and analyze the wheelbase, axle length and moving wheel size information of the wheeled robot based on the parameter information of the wheeled robot; Establish the kinematic model of the wheeled robot based on the wheelbase, axle length and wheel size information of the wheeled robot; Obtain the linear velocity and angular velocity of the wheeled robot, and establish a kinematic equation based on the kinematic model of the wheeled robot; Analyze the linear velocity and angular velocity of the wheeled robot based on the kinematic method to obtain the linear velocity and angular velocity of the left and right wheels; Analyze the real-time motion state information of the wheeled robot based on the linear velocity and angular velocity of the left and right wheels, and the real-time motion state information includes linear velocity, angular velocity, position and heading angle.

3. The wheeled robot attitude control method according to claim 2, characterized in that, Analyze the moving posture information of the wheeled robot based on the real-time motion state information of the wheeled robot, specifically including: Obtain the real-time motion state information of the wheeled robot, and analyze the linear velocity, angular velocity, position and heading angle of the wheeled robot based on the real-time motion state information of the wheeled robot; Perform integral processing on the angular velocity to obtain the change information of the heading angle, and optimize the heading angle based on the change information of the heading angle to obtain the optimized heading angle; Analyze the position change information and moving time of the wheeled robot based on the encoder, and calculate the linear velocity error information based on the position change information and moving time; Optimize the linear velocity based on the linear velocity error information to obtain the optimized linear velocity; Perform fusion processing based on the optimized linear velocity, angular velocity, position and optimized heading angle to obtain the moving posture information of the wheeled robot.

4. The wheeled robot attitude control method according to claim 3, wherein Generate the desired posture information based on the working environment and task requirement information, specifically including: Obtain the working environment and task requirement information, and establish a moving path based on the working environment and task requirement information; Obtain several scene information on the moving path in real time based on the sensor; Analyze the scene distribution information based on several scene information; Establish posture information based on the scene distribution information, and analyze the matching degree of the posture information; Screen and fuse the posture information with a matching degree greater than or equal to the set matching degree threshold to obtain the desired posture information.

5. The wheeled robot attitude control method according to claim 4, wherein Compare the moving posture information of the wheeled robot with the desired posture information to obtain the posture deviation rate, specifically including: Obtain the moving posture information of the wheeled robot, and compare the moving posture information of the wheeled robot with the desired posture information to obtain the posture difference information; Compare the attitude difference information with the set difference condition information to obtain the linear velocity difference value, angular velocity difference value, position difference value, and heading angle difference value; Generate an attitude deviation rate based on the linear velocity difference value, angular velocity difference value, position difference value, and heading angle difference value.

6. The wheeled robot attitude control method according to claim 5, characterized in that Adjust the moving attitude of the wheeled robot based on the correction information, specifically including: Obtain the correction information, and the correction information includes a linear velocity correction coefficient and an angular velocity correction coefficient; Multiply the linear velocity of the wheeled robot by the linear velocity correction coefficient to obtain linear velocity adjustment information; Multiply the angular velocity of the wheeled robot by the angular velocity correction coefficient to obtain angular velocity adjustment information; Adjust the moving attitude of the wheeled robot based on the linear velocity adjustment information and the angular velocity adjustment information.

7. A wheeled robot attitude control system, characterized in that, The system includes: a memory and a processor. The memory includes a program for the attitude control method of the wheeled robot. When the program for the attitude control method of the wheeled robot is executed by the processor, the following steps are implemented: Construct a kinematic model of the wheeled robot, and obtain the real-time motion state information of the wheeled robot based on the kinematic model; Analyze the moving attitude information of the wheeled robot based on the real-time motion state information of the wheeled robot, and generate expected attitude information based on the working environment and task requirement information; Compare the moving attitude information of the wheeled robot with the expected attitude information to obtain an attitude deviation rate; Judge whether the attitude deviation rate is greater than or equal to the set attitude deviation rate threshold; If it is greater than or equal to, generate correction information and adjust the moving attitude of the wheeled robot based on the correction information; If it is less than, monitor the moving attitude information of the wheeled robot in real time.

8. The wheeled robot attitude control system according to claim 7, wherein Construct a kinematic model of the wheeled robot, and obtain the real-time motion state information of the wheeled robot based on the kinematic model, specifically including: Obtain the parameter information of the wheeled robot, and analyze the wheelbase, axle length, and moving wheel size information of the wheeled robot based on the parameter information of the wheeled robot; Establish a kinematic model of the wheeled robot based on the wheelbase, axle length, and wheel size information of the wheeled robot; Obtain the linear velocity and angular velocity of the wheeled robot, and establish a kinematic equation based on the kinematic model of the wheeled robot; Analyze the linear velocity and angular velocity of the wheeled robot based on the kinematic method to obtain the linear velocity and angular velocity of the left and right wheels; Analyze the real-time motion state information of the wheeled robot based on the linear velocity and angular velocity of the left and right wheels. The real-time motion state information includes linear velocity, angular velocity, position, and heading angle.

9. The wheeled robot attitude control system according to claim 8, characterized in that, Analyze the moving attitude information of the wheeled robot based on the real-time motion state information of the wheeled robot, specifically including: Obtain the real-time motion state information of the wheeled robot, and analyze the linear velocity, angular velocity, position, and heading angle of the wheeled robot based on the real-time motion state information of the wheeled robot; Perform integral processing on the angular velocity to obtain the change information of the heading angle, and optimize the heading angle based on the change information of the heading angle to obtain an optimized heading angle; Analyze the position change information and moving time of the wheeled robot based on the encoder, and calculate the linear velocity error information based on the position change information and moving time; Optimize the linear velocity based on the linear velocity error information to obtain an optimized linear velocity; Based on the optimized linear velocity, angular velocity, position, and optimized heading angle, fusion processing is performed to obtain the mobile attitude information of the wheeled robot.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a program for the attitude control method of the wheeled robot. When the program for the attitude control method of the wheeled robot is executed by a processor, the steps of the attitude control method of the wheeled robot according to any one of claims 1 to 6 are implemented.

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