A mobile robot collision buffering posture recovery control method and system

Abstract

The present application relates to the technical field of mobile robot control, and particularly relates to a mobile robot collision buffer posture recovery control method and system. The method comprises: in response to a collision trigger signal, obtaining buffer state data of a collision buffer structure, chassis posture state data and driving wheel running state data, and generating a post-collision state set; identifying compression, rebound and reset states based on the buffer state data, generating a collision buffer stage and a buffer reset state; taking the collision buffer stage as a state constraint, and jointly determining the chassis posture and the driving wheel adhesion state to generate a posture offset result and a driving wheel adhesion abnormality marker; taking the buffer reset state as an interlocking condition to generate a posture recovery control instruction, and updating the recovery control parameters according to posture feedback, driving wheel feedback and buffer reset feedback. The present application forms a continuous control link among the post-collision buffer state, the chassis posture and the driving wheel running state, and improves the problem of inconsistent recovery control connection.

Description

Technical Field

[0001] This invention relates to the field of mobile robot control technology, and in particular to a method and system for controlling the posture recovery after collision buffering in a mobile robot. Background Technology

[0002] In the field of mobile robot control technology, mobile robots typically utilize LiDAR, vision sensors, ultrasonic sensors, collision sensors, inertial measurement units, and wheel speed detection components for environmental perception, pose detection, path planning, and motion control in scenarios such as warehousing, inspection, delivery, and factory mobile operations. Existing solutions generally avoid obstacles before a collision by recognizing obstacles and planning paths. During a collision, they mitigate the impact through mechanical buffer structures, emergency stop control, or alarm mechanisms, and perform operational corrections after the collision based on path deviation, attitude angle deviation, or motor output status. While such solutions can perform basic obstacle avoidance, emergency stop protection, and trajectory correction in normal driving scenarios, they are prone to limitations in scenarios where the mobile robot has already collided and the collision buffer structure is in a compressed, rebounded, or unreset state. These limitations include a lack of synchronization between the buffer structure state and the driving recovery control, a separation between the judgment of chassis attitude deviation and the drive wheel attachment state, and difficulty in matching the recovery control command with the actual post-collision state.

[0003] Existing solutions often rely on collision detection results, preset obstacle avoidance paths, pose correction parameters, or motor speed correction parameters for processing. While the collision buffer structure is still in the compression, energy absorption, or rebound reset process, the robot chassis may simultaneously experience abrupt changes in roll, pitch, and yaw angles. The drive wheels may also exhibit abnormal wheel speeds, motor current fluctuations, slip ratio changes, or insufficient wheel-to-ground adhesion. If recovery control is based solely on the collision trigger signal or path deviation, there is a lack of stable connection between the buffer structure's reset state and subsequent attitude recovery control and drive wheel control. This can easily lead to delayed recovery timing judgments, inconsistent recovery control states, and discontinuous control parameter connections.

[0004] For the joint processing of collision buffering phase, buffer reset state, chassis attitude deviation, and drive wheel attachment anomaly after a mobile robot collision, existing technologies still have common shortcomings in state recognition, linkage determination, interlock control, and parameter updates for the next control cycle. Therefore, it is necessary to address the issue of how to generate attitude recovery control commands based on the collision buffering phase, buffer reset state, attitude deviation results, and drive wheel attachment anomaly markers after a mobile robot collision, specifically for the attitude recovery control scenario after a collision. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a collision buffering posture recovery control method for a mobile robot, comprising:

[0006] S100: In response to the collision trigger signal of the mobile robot, acquire the buffer state data of the collision buffer structure, the chassis attitude state data of the robot chassis, and the driving wheel running state data, and perform time alignment according to the collision trigger time to generate a set of states after the collision.

[0007] S200: Based on the buffer state data in the post-collision state set, identify the compression state, rebound state and reset state, and generate the collision buffer stage and buffer reset state.

[0008] S300: Based on the chassis attitude state data and drive wheel running state data in the post-collision state set, and using the collision buffer stage as a state constraint, perform attitude offset judgment and attachment state judgment, and generate attitude offset result and drive wheel attachment anomaly mark.

[0009] S400: Based on the collision buffer stage, the buffer reset state, the attitude offset result, and the drive wheel attachment anomaly mark, and using the buffer reset state as the interlock condition, generate an attitude recovery control command.

[0010] S500: Execute the attitude recovery control command, obtain attitude feedback, drive wheel feedback and buffer reset feedback, and update the recovery control parameters for the next control cycle according to the attitude feedback, drive wheel feedback and buffer reset feedback.

[0011] Furthermore, the buffer state data includes the compression displacement, compression velocity, rebound velocity, limit state, buffer reset state, and collision area identifier of the collision buffer structure; the collision area identifier is generated by the position of the triggered buffer component in the collision buffer structure.

[0012] Furthermore, the chassis attitude status data includes roll angle, pitch angle, yaw angle, angular velocity, linear acceleration, and attitude change; the drive wheel operating status data includes wheel speed, wheel speed difference, motor current, motor torque, and slip ratio.

[0013] Further, the step of identifying the compression state, rebound state, and reset state based on the buffer state data in the post-collision state set, and generating a collision buffer stage and a buffer reset state, includes:

[0014] A compression state is generated based on compression displacement and compression velocity; a rebound state is generated based on rebound velocity and limit state; a reset state is generated based on the comparison result of compression displacement and buffer reset threshold; and a collision buffer stage and a buffer reset state are generated according to the combination relationship of the compression state, the rebound state and the reset state.

[0015] Furthermore, the attitude deviation results are obtained by mapping the roll angle change, pitch angle change, yaw angle change, and angular velocity change to a different deviation type; the attitude deviation results include forward roll deviation, backward roll deviation, roll deviation, yaw abrupt change deviation, and composite deviation.

[0016] Furthermore, the abnormal drive wheel adhesion marker is obtained by comparing the wheel speed difference, motor current change, motor torque change, and slip ratio with the abnormal adhesion threshold, respectively; the abnormal drive wheel adhesion marker includes a drive wheel slippage marker, a drive wheel insufficient adhesion marker, and a drive wheel operation abnormality marker.

[0017] Furthermore, the attitude recovery control commands include speed limit commands, torque limit commands, drive wheel differential compensation commands, steering correction commands, reverse yield commands, buffer reset waiting commands, shock absorption damping adjustment commands, and safety stop commands.

[0018] Furthermore, the step of generating attitude recovery control commands using the buffer reset state as an interlock condition includes: generating a buffer reset waiting command or a reverse yield command when the buffer reset state does not meet the buffer reset threshold.

[0019] When the buffer reset state is in the reset completed state and the attitude deviation result meets the attitude deviation convergence condition, a driving control command is generated; when the drive wheel adhesion abnormality mark indicates that the drive wheel adhesion abnormality continues, a speed limit command, a torque limit command, or a safety stop command is generated.

[0020] Further, updating the recovery control parameters for the next control cycle based on the attitude feedback, the drive wheel feedback, and the buffer reset feedback includes: generating a recovery status flag based on the attitude deviation convergence amount in the attitude feedback, the wheel speed difference change and motor current change in the drive wheel feedback, and the reset completion flag in the buffer reset feedback; updating the speed limit parameter, torque limit parameter, and drive wheel differential compensation parameter for the next control cycle when the recovery status flag indicates an incomplete recovery state; and updating the recovery driving parameters for the next control cycle when the recovery status flag indicates a completed recovery state.

[0021] The present invention also provides a collision buffer posture recovery control system for a mobile robot, comprising:

[0022] The post-collision state generation module is used to respond to the collision trigger signal of the mobile robot, acquire the buffer state data of the collision buffer structure, the chassis attitude state data of the robot chassis, and the driving wheel running state data, and align them according to the collision trigger time to generate a set of post-collision states.

[0023] The collision buffer stage identification module is connected to the post-collision state generation module and is used to identify the compression state, rebound state and reset state based on the buffer state data in the post-collision state set, and generate the collision buffer stage and buffer reset state.

[0024] The attitude deviation and attachment status judgment module is connected to the post-collision state generation module and the collision buffer stage recognition module. It is used to judge attitude deviation and attachment status based on the chassis attitude status data and drive wheel running status data in the post-collision state set, and with the collision buffer stage as the state constraint, and to generate attitude deviation results and drive wheel attachment anomaly markers.

[0025] The attitude recovery control command generation module is connected to the collision buffer stage identification module and the attitude offset and attachment state judgment module. It is used to generate attitude recovery control commands based on the collision buffer stage, the buffer reset state, the attitude offset result and the drive wheel attachment anomaly mark, and with the buffer reset state as the interlock condition.

[0026] The execution feedback update module is connected to the attitude recovery control command generation module. It is used to execute the attitude recovery control command, obtain attitude feedback, drive wheel feedback and buffer reset feedback, and update the recovery control parameters of the next control cycle according to the attitude feedback, drive wheel feedback and buffer reset feedback.

[0027] The key innovations of this invention include:

[0028] (1) Associate the buffer state data of the collision buffer structure with the collision trigger time, and identify the collision buffer stage and buffer reset state based on the compression state, rebound state and reset state, so that the compression, rebound and reset process of the collision buffer structure becomes the state input of subsequent attitude recovery control.

[0029] (2) Using the collision buffer stage as a state constraint, the chassis attitude state data of the robot chassis and the driving wheel running state data are linked to judge, generating attitude deviation results and driving wheel attachment anomaly markers, so that attitude deviation judgment and driving wheel attachment state judgment are in the same post-collision state link.

[0030] (3) Using the buffer reset state as the interlock condition, the collision buffer stage, buffer reset state, attitude offset result and drive wheel attachment anomaly mark are used together to generate attitude recovery control command, and the recovery control parameters of the next control cycle are updated according to attitude feedback, drive wheel feedback and buffer reset feedback.

[0031] The following are its main beneficial effects:

[0032] (1) To address the issue of asynchronous buffer structure state and driving recovery control in the existing scheme, compression state, rebound state and reset state are used to identify the collision buffer stage and buffer reset state, so that the recovery control can distinguish between different states of the buffer structure in compression energy absorption, rebound reset or reset completed, and reduce the situation where the buffer structure directly enters the driving recovery process when it has not been reset.

[0033] (2) In response to the problem of separating the judgment of chassis attitude deviation and drive wheel attachment status in the existing scheme, the collision buffer stage is used as a state constraint, and the chassis attitude status data and drive wheel running status data are linked to form attitude deviation results and drive wheel attachment anomaly markers, so that the subsequent attitude recovery control command can simultaneously correspond to chassis attitude change and drive wheel attachment anomaly.

[0034] (3) To address the problem that the recovery control command is difficult to match with the actual post-collision state in the existing scheme, the buffer reset state is used as the interlock condition, and the attitude recovery control command is generated by combining the attitude offset result and the abnormal marking of the drive wheel attachment. Then, the recovery control parameters of the next control cycle are updated through attitude feedback, drive wheel feedback and buffer reset feedback, so that the post-collision recovery control can be continuously connected in multiple control cycles. Attached Figure Description

[0035] Figure 1 A flowchart illustrating a collision buffer posture recovery control method for a mobile robot provided in an embodiment of the present invention;

[0036] Figure 2 This is a structural block diagram of a mobile robot collision buffer posture recovery control system provided in an embodiment of the present invention. Detailed Implementation

[0037] Example 1: Refer to Figure 1 This is a flowchart illustrating a collision buffer posture recovery control method for a mobile robot provided in an embodiment of the present invention. The process may include at least steps S100-S500:

[0038] S100: In response to the collision trigger signal of the mobile robot, acquire the buffer state data of the collision buffer structure, the chassis attitude state data of the robot chassis, and the driving wheel running state data, and perform time alignment according to the collision trigger time to generate a set of states after the collision.

[0039] S200: Based on the buffer state data in the post-collision state set, identify the compression state, rebound state and reset state, and generate the collision buffer stage and buffer reset state.

[0040] S300: Based on the chassis attitude state data and drive wheel running state data in the post-collision state set, and using the collision buffer stage as a state constraint, perform attitude offset judgment and attachment state judgment, and generate attitude offset result and drive wheel attachment anomaly mark.

[0041] S400: Based on the collision buffer stage, the buffer reset state, the attitude offset result, and the drive wheel attachment anomaly mark, and using the buffer reset state as the interlock condition, generate an attitude recovery control command.

[0042] S500: Execute the attitude recovery control command, obtain attitude feedback, drive wheel feedback and buffer reset feedback, and update the recovery control parameters for the next control cycle according to the attitude feedback, drive wheel feedback and buffer reset feedback.

[0043] S100: In response to the collision trigger signal of the mobile robot, acquire the buffer state data of the collision buffer structure, the chassis attitude state data of the robot chassis, and the driving wheel running state data, and align them according to the collision trigger time to generate a set of post-collision states.

[0044] While the mobile robot is driving, turning, approaching shelves, traversing narrow passages, or approaching a work target, the controller continuously receives the operational status of the collision buffer structure, the robot chassis, and the drive wheels. When the buffer components in the collision buffer structure are compressed, or when the robot chassis experiences a sudden acceleration change, a sudden attitude change, or a peak motor current surge exceeding the collision trigger conditions, the controller records this moment as the collision trigger moment and initiates the post-collision attitude recovery control process. The collision trigger signal can come from the limit state of the buffer components, or from a combination of judgments from the buffer status acquisition module, the chassis attitude acquisition module, and the drive wheel status acquisition module. When multiple trigger sources exist in the same collision, the controller uses the earliest trigger moment as the time alignment reference, and subsequent data acquisition is truncated around this reference.

[0045] Collision buffer structures are installed on the periphery of the mobile robot or at the front, side, and rear ends of the robot chassis at stress-bearing locations. These structures may include elastic buffers, damping buffers, sliding guides, and limit detection components. The buffer status acquisition module reads the compression displacement, compression velocity, rebound velocity, limit status, and buffer reset status of the collision buffer structure. When the mobile robot has multiple buffer components, the controller generates collision area identifiers based on the location of the triggered buffer component, such as the front, left, right, or rear area. These collision area identifiers are not used alone as the collision conclusion but are used to distinguish the collision direction during subsequent attitude offset judgment and recovery control command generation.

[0046] The chassis attitude state data of the robot chassis is acquired by the chassis attitude acquisition module. This module may include an inertial measurement unit, gyroscope, accelerometer, or attitude sensor. The controller reads roll angle, pitch angle, yaw angle, angular velocity, linear acceleration, and attitude change. The attitude change is generated based on the attitude state difference before and after the collision trigger, used to distinguish between normal steering during travel and attitude jumps caused by a collision. Drive wheel running state data is read by the drive wheel state acquisition module from the wheel speed encoder, motor driver, or current detection unit, including wheel speed, wheel speed difference, motor current, motor torque, and slip ratio. The drive wheel running state data, together with the chassis attitude state data, reflects whether the chassis has shifted after the collision and whether the drive wheels have slipped or lacked adhesion.

[0047] During time alignment, the controller does not directly mix data from different sampling frequencies. Instead, it first establishes a common time window based on the collision trigger moment. Buffer state data is extracted according to the displacement change sequence before and after the collision trigger moment. Chassis attitude state data is mapped to the same time window according to the attitude sampling moment. Drive wheel running state data is matched to nearest neighbors according to the motor drive cycle or wheel speed sampling cycle. For data with a sampling frequency higher than the control cycle, the controller extracts a representative value corresponding to the control cycle; for data with a sampling frequency lower than the control cycle, the controller retains the original sampling moment and marks its sampling delay in the post-collision state set. The time-aligned data can reflect structural compression, chassis attitude changes, and wheel system response during the same collision process, avoiding the subsequent misinterpretation of normal acceleration and deceleration before the collision as post-collision anomalies.

[0048] In one implementation, if a certain type of data is temporarily missing after a collision is triggered, the controller does not rewrite it as a normal state. Instead, it retains the missing data marker and uses data from the previous effective control cycle before the collision trigger as a temporary reference. If buffer state data is missing, but both chassis attitude state data and drive wheel running state data show collision characteristics, the controller marks the post-collision state set as a buffer state pending confirmation. If chassis attitude state data is missing, the controller retains the buffer state data and drive wheel running state data and limits the amplitude of the attitude recovery control command in subsequent attitude deviation judgments. If drive wheel running state data is missing, the controller uses a drive wheel running anomaly marker in subsequent adhesion state judgments to prevent direct restoration of the original driving control.

[0049] The post-collision state set includes time-aligned buffer state data, chassis attitude state data, drive wheel running state data, collision trigger time, and collision area identifier. This set is not simply a collection of sampled data, but rather the foundation for the post-collision state used in subsequent steps. S200 reads the buffer state data from this set to identify the compression, rebound, and reset states; S300 reads the chassis attitude state data and drive wheel running state data from the same set, and combines them with the collision buffer stage formed in S200 to determine attitude deviation and adhesion status.

[0050] S200: Based on the buffer state data in the post-collision state set, identify the compression state, rebound state, and reset state to generate a collision buffer stage and a buffer reset state.

[0051] After the post-collision state set is formed, the collision buffer phase identification module extracts the buffer state data from it and reads the compression displacement, compression velocity, rebound velocity, limit status, and buffer reset status in chronological order after the collision trigger moment. This step focuses on the current stress recovery phase of the collision buffer structure, rather than simply outputting whether a collision has occurred. The controller first observes whether the compression displacement increases along the compression direction, and then combines this with the compression velocity to determine whether the buffer component is still in the energy absorption process; subsequently, it reads the rebound velocity and limit status to determine whether the buffer component has left the maximum compression position; finally, it compares the compression displacement with the buffer reset threshold to form the reset status.

[0052] The compression state is generated based on the compression displacement and compression velocity. When the compression displacement continues to increase and the compression velocity direction points towards the compression direction of the buffer structure, the collision buffer stage identification module identifies the buffer component as being in a compression energy absorption state. If the compression displacement approaches the limit position, the compression velocity drops to near zero, and the limit state is triggered, it is identified as being in a holding state. This holding state typically corresponds to the robot still having compressive contact with external obstacles, or the buffer component not yet starting to rebound due to structural friction. In this case, if a large forward or steering control input is directly issued, the drive wheels are prone to spinning freely or secondary impacts. Therefore, this state is used in S400 as the basis for limiting the resumption of driving.

[0053] The rebound state is generated based on the rebound speed and the limit status. When the compression displacement begins to decrease, the rebound speed direction points towards the reset direction of the buffer structure, and the limit status is released, the collision buffer stage identification module identifies the buffer component as being in the rebound reset state. For buffer components with damping structures, the rebound process may last for multiple control cycles. The controller will not determine that the reset is complete based on just one displacement decrease, but will continuously read the trend of the rebound speed and compression displacement. If the rebound speed fluctuates in the opposite direction, or the compression displacement repeatedly exceeds the reset threshold, the controller will retain this state as the rebound reset state and will not prematurely switch it to the resumption of driving stage.

[0054] The reset state is generated by comparing the compressive displacement with the buffer reset threshold. The buffer reset threshold can be preset based on the installation gap of the buffer structure, the free length of the elastic element, the allowable return distance of the guide element, and the external dimensions of the robot chassis. When the compressive displacement enters the buffer reset threshold range and the limit state is not triggered, the collision buffer stage identification module generates a reset completed state; if the compressive displacement still exceeds the buffer reset threshold, or the limit state remains triggered, an unreset state is generated. In the case where multiple buffer components are triggered simultaneously, the controller generates a reset state for each region according to the collision area identifier, and uses the unreset regions as inputs for subsequent interlock control.

[0055] In one implementation, if a conflict occurs in the buffer state data, for example, the compression displacement display has returned to the reset range, but the limit state remains triggered, the collision buffer stage identification module does not identify it as a completed reset, but instead marks the area as a buffer structure not reset. If the compression displacement signal has a short-term jump, the controller performs stage identification based on the changing trend of multiple consecutive sampling points to avoid single-point jitter causing frequent switching between the compression energy absorption stage and the rebound reset stage. If the buffer state acquisition module fails to return a valid compression displacement, but the limit state continues to trigger, the controller retains the unreset state and restricts the resumption of driving control in S400.

[0056] The collision buffering phase is generated by a combination of compression, rebound, and reset states. When the compression state is characterized by energy absorption and the limit state is not triggered, the output is the compression energy absorption phase; when the compression displacement reaches the limit or the compression velocity approaches zero and a squeezing state still exists, the output is the holding phase; when the rebound state is valid and the reset state is not completed, the output is the rebound reset phase; when the reset state is completed and the buffer component no longer triggers the limit state, the output is the resumption of driving phase. The collision buffering phase and the buffer reset state are subsequently invoked by S300 as state constraints for attitude offset judgment and attachment state judgment, and in S400 as interlocking conditions for the attitude recovery control command.

[0057] S300: Based on the chassis attitude state data and drive wheel running state data in the post-collision state set, and using the collision buffer stage as a state constraint, perform attitude offset judgment and adhesion state judgment, and generate attitude offset results and drive wheel adhesion anomaly markers:

[0058] The attitude deviation and adhesion status determination module receives the post-collision state set formed by S100 and reads the collision buffer stage formed by S200. The processing order in this step is as follows: first, the interpretation boundaries of attitude and wheel system states are defined based on the collision buffer stage; then, attitude deviation and adhesion status determination are performed separately. The same roll angle change or wheel speed difference has different meanings in different buffer stages; for example, in the compression energy absorption stage, a short-term angular velocity change may come from the collision impact, while in the recovery driving stage, the same angular velocity change may come from steering actions. Therefore, this step uses the collision buffer stage as a state constraint to avoid misjudging normal control actions as post-collision attitude abnormalities.

[0059] Attitude deviation judgment is based on chassis attitude state data. The controller uses the chassis attitude before the collision trigger as the reference attitude and reads the changes in roll angle, pitch angle, yaw angle, and angular velocity after the collision trigger. If the pitch angle change points in the downward direction of the front of the vehicle body and the collision area marker is located in the front area, the attitude deviation and adhesion state judgment module generates a forward roll deviation; if the pitch angle change points in the downward direction of the rear of the vehicle body and the collision area marker is located in the rear area, a backward roll deviation is generated; if the roll angle change corresponds to a left or right tilt and the collision area marker is consistent with the lateral area, a roll deviation is generated; if the yaw angle change exceeds the attitude deviation threshold in a short period of time, a sudden yaw deviation is generated. When multiple attitude changes simultaneously satisfy the mapping relationship, a composite deviation is generated.

[0060] During attitude deviation determination, the controller also excludes non-collision actions in conjunction with the collision buffering phase. During the recovery phase, if the yaw angle change is consistent with the differential direction of the drive wheels and the buffer reset is complete, the yaw change can be treated as part of the recovery steering action. During the compression energy absorption phase or holding phase, even if the yaw angle change is small, as long as it is consistent with the collision area marker and compression direction, it will be retained as part of the attitude deviation result. If chassis attitude status data is missing or anomalies exceeding the sensor range occur, the attitude deviation and adhesion status determination module does not directly generate a normal attitude conclusion, but instead outputs "attitude deviation pending confirmation" and restricts the attitude recovery control command in S400.

[0061] The adhesion status is determined based on the driving wheel operating status data. The controller reads the wheel speed difference, motor current change, motor torque change, and slip ratio of the left and right driving wheels, and compares them with the adhesion anomaly threshold. If the wheel speed increases but the robot chassis posture does not show a corresponding displacement or attitude change, and the motor current change is within the abnormal range, a driving wheel slippage flag is generated. If the motor torque change increases but the wheel speed change is limited, and the collision buffer phase is still in the holding phase, a driving wheel insufficient adhesion flag is generated. If there is an inconsistency between the wheel speed difference, motor current change, and slip ratio, such as a sudden increase in wheel speed on one side without a corresponding change in motor torque, a driving wheel operation anomaly flag is generated. The adhesion status determination is not based on a single wheel speed, but rather combines the relationship between motor output and chassis response to form the flag.

[0062] In one implementation, when the mobile robot experiences a lateral collision, the left-side buffer assembly is compressed, the robot chassis experiences a roll angle change, and an abnormal difference in wheel speed occurs between the left and right drive wheels. When the attitude deviation and adhesion status determination module identifies the collision buffering phase as a compression energy absorption phase or a holding phase, it applies a lower adhesion anomaly threshold to the wheel speed difference. When the collision buffering phase transitions into the recovery phase, the wheel speed difference only generates a drive wheel adhesion anomaly marker if it continuously exceeds the adhesion anomaly threshold. Through this phase constraint, the controller can distinguish between the short-term impact response at the moment of collision and the continuous adhesion anomaly during recovery.

[0063] The attitude deviation result and the drive wheel adhesion anomaly marker are output to S400 as part of this step. The attitude deviation result carries at least the deviation type and direction, while the drive wheel adhesion anomaly marker carries the status of slippage, insufficient adhesion, or abnormal operation. If the attitude deviation result is a composite deviation, and the drive wheel adhesion anomaly marker indicates that the anomaly is ongoing, S400 will prioritize generating attitude recovery control commands related to speed limiting, torque limiting, differential compensation, or safe stop. If the attitude deviation result is small and no drive wheel adhesion anomaly marker is generated, S400 can generate a resumption of driving control command after the buffer reset condition is met.

[0064] S400: Based on the collision buffer stage, the buffer reset state, the attitude offset result, and the drive wheel adhesion anomaly marker, and using the buffer reset state as the interlock condition, generate an attitude recovery control command:

[0065] The attitude recovery control command generation module receives the collision buffer stage and buffer reset state output by S200, and simultaneously receives the attitude deviation result and drive wheel adhesion anomaly marker output by S300. This step does not directly use the driving commands before the collision; instead, it uses the buffer reset state as an interlock condition to filter executable control actions. The meaning of the interlock condition is: when the collision buffer structure has not yet returned to the permissible driving reset state, the controller must not directly output normal forward or rapid steering commands, but should restrict the recovery actions to waiting, yielding, speed limiting, torque limiting, or safe stopping.

[0066] If the buffer reset threshold is not met during the buffer reset state, the attitude recovery control command generation module first checks the collision buffer stage. If the collision buffer stage is a compression energy absorption stage, it means that the buffer structure is still absorbing collision energy. The controller generates a buffer reset waiting command and keeps the drive wheel output in a limited state. If the collision buffer stage is a holding stage, and the collision area marker indicates that the robot may still be in contact with the obstacle, the controller generates a reverse retreat command. The direction of the reverse retreat command corresponds to the collision area marker. For example, a retreat control in the backward direction is generated for a frontal collision, and a low-speed retreat control with steering correction is generated for a lateral collision. If the holding stage continues for more than the preset control cycle, or the limit state is not released, a safety stop command is generated.

[0067] After the buffer reset state is reset complete, the controller does not immediately restore the original driving parameters, but continues to read the attitude deviation results and drive wheel attachment anomaly markers. If the attitude deviation results meet the attitude deviation convergence condition and the drive wheel attachment anomaly marker does not indicate continued anomaly, the attitude recovery control command generation module generates a recovery driving control command. The recovery driving control command can use a low-speed continuation method to allow the mobile robot to return from the restricted state after the collision to the original driving path or a new safe driving direction. If the attitude deviation results are still forward tilt deviation, side tilt deviation, or sudden yaw deviation, the controller will not directly enter the recovery driving state, but will generate a drive wheel differential compensation command, steering correction command, or speed limit command according to the deviation type.

[0068] The abnormal drive wheel adhesion marker affects the priority of attitude recovery control commands. If the abnormal drive wheel adhesion marker is a drive wheel slippage marker, the controller generates speed limiting and torque limiting commands and reduces the amplitude of the drive wheel differential compensation command. If the marker is a drive wheel insufficient adhesion marker, the controller prioritizes using a reverse retreat command or a buffer reset waiting command to avoid continuing to output large driving forces in a state of insufficient wheel-to-ground adhesion. If the marker is a drive wheel malfunction marker and has not been cleared for several consecutive control cycles, the controller generates a safety stop command. For mobile robots with shock absorption and damping adjustment mechanisms, when the buffer reset state is unstable or the rebound speed is too high, the attitude recovery control command may also include a shock absorption and damping adjustment command.

[0069] In one implementation, after a frontal collision, S200 identifies the collision buffer phase as a rebound reset phase, and the buffer reset state has not yet met the buffer reset threshold. S300 identifies the attitude deviation result as a forward tilt deviation, and the drive wheel adhesion abnormality is marked as insufficient drive wheel adhesion. At this time, S400 generates a buffer reset waiting command and a torque limiting command, instead of generating a resumption of driving control command. The controller only generates a resumption of driving control command after the buffer reset state is in a reset completed state in a subsequent control cycle, and the attitude deviation result meets the attitude deviation convergence condition. This processing sequence ensures that the mechanical buffer state is confirmed first, and then driving control is released based on the chassis attitude and wheel system state.

[0070] If a conflict occurs between input states, the attitude recovery control command generation module performs control restrictions in the following order: buffer reset state, drive wheel adhesion anomaly marker, and attitude offset result. For example, if the buffer reset state indicates completion, but the drive wheel adhesion anomaly marker indicates continued drive wheel slippage, the controller will not generate a full recovery driving control command, but instead will generate a speed limit command or torque limit command. If the attitude offset result indicates that the attitude has converged, but the buffer reset state has not met the buffer reset threshold, the controller will still maintain interlock restrictions. The generated attitude recovery control command is sent to the motion control system, drive wheel control unit, or damping adjustment mechanism, and serves as input for S500 execution and feedback acquisition.

[0071] S500: Execute the attitude recovery control command, acquire attitude feedback, drive wheel feedback, and buffer reset feedback, and update the recovery control parameters for the next control cycle based on the attitude feedback, drive wheel feedback, and buffer reset feedback.

[0072] The execution feedback update module receives execution status data returned by the motion control system and various detection modules after the attitude recovery control command is issued. For speed limiting commands, torque limiting commands, and drive wheel differential compensation commands, the execution feedback update module reads the wheel speed, wheel speed difference, motor current, and motor torque changes returned by the drive wheel control unit. For steering correction commands or reverse yield commands, the execution feedback update module reads the roll angle, pitch angle, yaw angle, and angular velocity changes returned by the chassis attitude acquisition module. For buffer reset waiting commands or damping adjustment commands, the execution feedback update module reads the compression displacement, rebound speed, limit status, and reset completion flag returned by the buffer status acquisition module. The acquisition cycle of the feedback data corresponds to the control cycle, and the controller generates a recovery status flag at the end of each control cycle.

[0073] The attitude deviation convergence in attitude feedback is obtained by comparing the current chassis attitude state with the reference attitude or allowable attitude range before the collision. If the changes in roll angle, pitch angle, and yaw angle all fall within the range corresponding to the attitude deviation convergence condition, the feedback update module marks the attitude feedback as converged; if any of these changes still exceed the attitude deviation threshold, or if the angular velocity still shows a reverse impact, it is marked as unconverged. The wheel speed difference change and motor current change in drive wheel feedback are used to determine whether the adhesion anomaly has been resolved; when the wheel speed difference returns to the adhesion anomaly threshold range and the motor current change no longer displays an abnormal peak, the drive wheel feedback is marked as normal; otherwise, the drive wheel adhesion anomaly is retained.

[0074] The buffer reset feedback comes from the reset detection of the collision buffer structure. If the compression displacement enters the buffer reset threshold range, the rebound speed tends to stabilize, the limit state is released, and the feedback update module generates a reset completion flag. If the buffer component corresponding to any collision area is still in a compressed or limited state, the reset completion flag is not valid. In the case of multiple collision areas being triggered simultaneously, the controller generates a recovery status flag based on the unreset area to prevent premature resumption of driving when the buffer component on one side has been reset while the other side is still under pressure.

[0075] The recovery status flag is formed by attitude feedback, drive wheel feedback, and buffer reset feedback. When the recovery status flag indicates incomplete recovery, the feedback update module updates the speed limit parameters, torque limit parameters, and drive wheel differential compensation parameters for the next control cycle. If the incomplete recovery status is primarily caused by buffer reset feedback, the next control cycle continues to use the buffer reset waiting command or the reverse yield command; if the incomplete recovery status is primarily caused by attitude feedback, the next control cycle adjusts the steering correction command or the drive wheel differential compensation command; if the incomplete recovery status is primarily caused by drive wheel feedback, the next control cycle reduces the drive wheel output amplitude and retains the speed limit command or torque limit command.

[0076] When the recovery status is marked as complete, the feedback update module updates the recovery driving parameters for the next control cycle. The recovery driving parameters are not directly equivalent to all motion parameters before the collision; instead, they are selected based on current attitude feedback, drive wheel feedback, and buffer reset feedback to either enter low-speed continuation or the original driving control. If the mobile robot is in a narrow passage or near an obstacle, the controller can first use a limited speed to resume driving; if the feedback shows that the attitude deviation, wheel speed difference, and buffer reset status are all within acceptable ranges, the controller will transmit the recovery driving parameters to the motion control system, allowing the mobile robot to enter the subsequent driving control cycle.

[0077] When the execution receipt times out or the feedback data is inconsistent, the execution feedback update module retains the restricted recovery control parameters from the previous control cycle and generates an abnormal recovery flag. For example, if the attitude feedback shows convergence, but the buffer reset feedback shows no reset, the controller continues to use the buffer reset feedback as the basis for interlocking; if the drive wheel feedback shows that the wheel speed has returned to normal, but the motor current change remains abnormal, the controller retains the torque limiting parameters. These abnormal recovery flags participate in the S200, S300, and S400 processing of the next control cycle, ensuring that subsequent stage identification, attitude offset judgment, and recovery control command generation continue to be based on the actual feedback state.

[0078] The recovery control parameters generated by S500 for the next control cycle are carried over by the controller into the next round of post-collision attitude recovery control process. At the beginning of the next control cycle, S100 rereads the buffer state data, chassis attitude state data, and drive wheel running state data; S200 identifies the collision buffer stage and buffer reset state based on the new buffer state; S300 updates the attitude offset results and drive wheel attachment anomaly markers based on the new attitude state and wheel system state; S400 then generates or adjusts the attitude recovery control command based on the new state combination. Thus, the mobile robot gradually switches the recovery control parameters according to buffer reset, attitude convergence, and drive wheel attachment state in multiple control cycles after the collision, until it enters the recovery driving state or the safe stop state.

[0079] Example 2: Figure 2 A structural block diagram of a mobile robot collision buffering posture recovery control system according to an embodiment of the present invention is shown. Figure 2 As shown, the structure may include:

[0080] The post-collision state generation module 01 is used to respond to the collision trigger signal of the mobile robot, acquire the buffer state data of the collision buffer structure, the chassis attitude state data of the robot chassis, and the driving wheel running state data, and align them according to the collision trigger time to generate a set of post-collision states. This module is connected to the buffer state detection component, chassis attitude detection component, and driving wheel state detection component on the mobile robot, and reads the state of each detection component before and after the collision trigger signal. The buffer state data comes from the buffer component in the collision buffer structure and includes compression displacement, compression velocity, rebound velocity, limit state, buffer reset state, and collision area identification. The chassis attitude state data comes from the inertial measurement unit or attitude sensor on the robot chassis and includes roll angle, pitch angle, yaw angle, angular velocity, linear acceleration, and attitude change. The driving wheel running state data comes from the driving wheel encoder, motor driver, or current detection unit and includes wheel speed, wheel speed difference, motor current, motor torque, and slip ratio. This module uses the collision trigger moment as the time reference and performs proximity matching or control cycle aggregation on data from different sampling periods. When the buffer state detection component and the chassis attitude detection component simultaneously issue trigger signals, the earlier trigger moment is used as the time alignment reference. If a detection component does not return to a valid state after a collision trigger, this module retains the valid value of the previous control cycle and writes the corresponding anomaly flag into the post-collision state set, enabling subsequent modules to use a restricted processing path during identification and control.

[0081] The collision buffer stage identification module 02, connected to the post-collision state generation module, is used to identify compression, rebound, and reset states based on the buffer state data in the post-collision state set, generating collision buffer stages and buffer reset states. This module reads compression displacement, compression velocity, rebound velocity, limit state, and buffer reset state from the post-collision state set and performs stage identification according to the order of state changes after the collision trigger moment. When the compression displacement increases along the force direction of the buffer structure and the compression velocity has not returned to zero, the module identifies the corresponding buffer component as being in a compression state; when the compression displacement approaches the limit position and the limit state is triggered, the module identifies the corresponding buffer component as being in a holding state; when the compression displacement begins to fall back and the rebound velocity points towards the reset direction, the module identifies the corresponding buffer component as being in a rebound state; when the compression displacement enters the buffer reset threshold range and the limit state is released, the module generates a reset state. When multiple buffer components are triggered simultaneously, the module forms regional buffer states according to the collision area identifier, and uses the area that has not yet reset as the source of the buffer reset state's limitation. If the compression displacement display resets but the limit state remains triggered, the module does not output the reset completed state, but retains the unreset state and hands the state conflict over to the attitude recovery control command generation module for processing.

[0082] The attitude deviation and attachment state judgment module 03, connected to the post-collision state generation module and the collision buffer stage identification module, is used to judge attitude deviation and attachment state based on the chassis attitude state data and drive wheel running state data in the post-collision state set, and using the collision buffer stage as a state constraint, generating attitude deviation results and drive wheel attachment anomaly markers. This module receives roll angle, pitch angle, yaw angle, angular velocity, linear acceleration, wheel speed, wheel speed difference, motor current, motor torque, and slip ratio from the post-collision state set, and receives the collision buffer stage output by the collision buffer stage identification module. During attitude deviation judgment, this module uses the chassis attitude before the collision trigger as a reference state, and maps attitude changes in combination with the collision area identifier and the collision buffer stage; when the pitch angle change corresponds to the front collision area, a forward roll deviation is generated; when the pitch angle change corresponds to the rear collision area, a backward roll deviation is generated; when the roll angle change corresponds to the lateral collision area, a side roll deviation is generated; and when the yaw angle changes abruptly in the compression or holding state, a yaw abrupt deviation is generated. During adhesion status determination, this module compares the wheel speed difference, motor current change, motor torque change, and slip ratio with adhesion anomaly thresholds. A drive wheel slippage flag is generated when the wheel speed change and motor current change are mismatched; a drive wheel insufficient adhesion flag is generated when the motor torque increases but the wheel speed response is limited; and a drive wheel malfunction flag is generated when the wheel speed and drive current on one side are inconsistent. If the collision buffering phase is still in a compression or holding state, this module applies stricter state constraints to drive wheel anomalies. If the collision buffering phase has entered a reset state, this module uses the persistent wheel speed difference and slip ratio as limiting inputs for subsequent recovery control.

[0083] The attitude recovery control command generation module 04, connected to the collision buffer stage identification module and the attitude deviation and adhesion state judgment module, generates attitude recovery control commands based on the collision buffer stage, the buffer reset state, the attitude deviation result, and the drive wheel adhesion anomaly marker, using the buffer reset state as an interlock condition. This module receives the collision buffer stage and buffer reset state output by the collision buffer stage identification module, and the attitude deviation result and drive wheel adhesion anomaly marker output by the attitude deviation and adhesion state judgment module. The buffer reset state participates in control priority allocation as an interlock condition for command generation. When the buffer reset state does not meet the buffer reset threshold, this module does not output normal recovery driving control, but instead generates a buffer reset waiting command or a reverse retreat command based on the collision area identifier and the collision buffer stage. When the buffer reset state is in a reset completed state, but the attitude deviation result still indicates forward tilt, side tilt, or sudden yaw deviation, this module generates a speed limit command, a drive wheel differential compensation command, or a steering correction command. When the drive wheel adhesion anomaly marker indicates drive wheel slippage, insufficient adhesion, or continuous abnormal operation, this module generates a torque limit command, a speed limit command, or a safety stop command. The attitude recovery control command is sent to the motion control system, drive wheel control unit, or shock absorption damping adjustment mechanism. When there is a conflict between the input states, the module performs control restrictions in the order of buffer reset state, drive wheel attachment abnormal mark, and attitude offset result, and provides the conflict state to the execution feedback update module along with the command.

[0084] The execution feedback update module 05, connected to the attitude recovery control command generation module, is used to execute the attitude recovery control command, acquire attitude feedback, drive wheel feedback, and buffer reset feedback, and update the recovery control parameters for the next control cycle based on the attitude feedback, drive wheel feedback, and buffer reset feedback. After the attitude recovery control command is issued, this module receives execution receipts from the motion control system and each detection component; after executing a speed limiting command, torque limiting command, or drive wheel differential compensation command, this module reads the wheel speed difference change, motor current change, and motor torque change; after executing a steering correction command or reverse yielding command, this module reads the roll angle, pitch angle, yaw angle, and angular velocity change; after executing a buffer reset waiting command or damping adjustment command, this module reads the compression displacement, rebound speed, limit status, and reset completion marker. This module generates a recovery status flag based on the attitude deviation convergence amount, wheel speed difference change, motor current change, and reset completion flag. When the recovery status flag indicates incomplete recovery, the module updates the speed limit parameters, torque limit parameters, and drive wheel differential compensation parameters for the next control cycle, and sends the recovery status flag back to the collision buffer stage identification module and the attitude deviation and adhesion status judgment module. When the recovery status flag indicates complete recovery, the module updates the recovery driving parameters for the next control cycle. If the execution receipt times out or there is inconsistency between feedbacks, the module retains the restricted recovery control parameters from the previous control cycle and provides an anomaly flag to the attitude recovery control command generation module, so that the next control cycle continues to operate according to the restricted recovery control path.

Claims

1. A method for controlling the attitude recovery after collision buffering in a mobile robot, characterized in that, include: S100: In response to the collision trigger signal of the mobile robot, acquire the buffer state data of the collision buffer structure, the chassis attitude state data of the robot chassis, and the driving wheel running state data, and perform time alignment according to the collision trigger time to generate a set of states after the collision. S200: Based on the buffer state data in the post-collision state set, identify the compression state, rebound state and reset state, and generate the collision buffer stage and buffer reset state. S300: Based on the chassis attitude state data and drive wheel running state data in the post-collision state set, and using the collision buffer stage as a state constraint, perform attitude offset judgment and attachment state judgment, and generate attitude offset result and drive wheel attachment anomaly mark. S400: Based on the collision buffer stage, the buffer reset state, the attitude offset result, and the drive wheel attachment anomaly mark, and using the buffer reset state as the interlock condition, generate an attitude recovery control command. S500: Execute the attitude recovery control command, obtain attitude feedback, drive wheel feedback and buffer reset feedback, and update the recovery control parameters for the next control cycle according to the attitude feedback, drive wheel feedback and buffer reset feedback.

2. The mobile robot collision buffering posture recovery control method according to claim 1, characterized in that, The buffer status data includes the compression displacement, compression velocity, rebound velocity, limit status, buffer reset status, and collision area identifier of the collision buffer structure; the collision area identifier is generated by the position of the triggered buffer component in the collision buffer structure.

3. The mobile robot collision buffering posture recovery control method according to claim 1, characterized in that, The chassis attitude status data includes roll angle, pitch angle, yaw angle, angular velocity, linear acceleration, and attitude change; the drive wheel running status data includes wheel speed, wheel speed difference, motor current, motor torque, and slip ratio.

4. The mobile robot collision buffering posture recovery control method according to claim 1, characterized in that, The step of identifying compression, rebound, and reset states based on buffer state data in the post-collision state set, and generating a collision buffer stage and a buffer reset state, includes: A compression state is generated based on compression displacement and compression velocity; a rebound state is generated based on rebound velocity and limit state; a reset state is generated based on the comparison result of compression displacement and buffer reset threshold; and a collision buffer stage and a buffer reset state are generated according to the combination relationship of the compression state, the rebound state and the reset state.

5. The mobile robot collision buffering posture recovery control method according to claim 1, characterized in that, The attitude deviation results are obtained by mapping the roll angle change, pitch angle change, yaw angle change and angular velocity change to the deviation type; the attitude deviation results include forward roll deviation, backward roll deviation, roll deviation, yaw abrupt change deviation and composite deviation.

6. The mobile robot collision buffering posture recovery control method according to claim 1, characterized in that, The abnormal drive wheel adhesion markers are obtained by comparing the wheel speed difference, motor current change, motor torque change, and slip ratio with the abnormal adhesion threshold, respectively; the abnormal drive wheel adhesion markers include drive wheel slippage markers, drive wheel insufficient adhesion markers, and drive wheel operation abnormal markers.

7. The mobile robot collision buffering posture recovery control method according to claim 1, characterized in that, The attitude recovery control commands include speed limit command, torque limit command, drive wheel differential compensation command, steering correction command, reverse yielding command, buffer reset waiting command, shock absorption damping adjustment command, and safety stop command.

8. The mobile robot collision buffering posture recovery control method according to claim 1, characterized in that, The step of generating attitude recovery control commands using the buffer reset state as an interlock condition includes: generating a buffer reset waiting command or a reverse yield command when the buffer reset state does not meet the buffer reset threshold. When the buffer reset state is in the reset completed state and the attitude deviation result meets the attitude deviation convergence condition, a driving control command is generated; when the drive wheel adhesion abnormality mark indicates that the drive wheel adhesion abnormality continues, a speed limit command, a torque limit command, or a safety stop command is generated.

9. The mobile robot collision buffering posture recovery control method according to claim 1, characterized in that, The step of updating the recovery control parameters for the next control cycle based on the attitude feedback, the drive wheel feedback, and the buffer reset feedback includes: generating a recovery status flag based on the attitude deviation convergence amount in the attitude feedback, the wheel speed difference change amount and motor current change amount in the drive wheel feedback, and the reset completion flag in the buffer reset feedback; updating the speed limit parameter, torque limit parameter, and drive wheel differential compensation parameter for the next control cycle when the recovery status flag indicates an incomplete recovery state; and updating the recovery driving parameters for the next control cycle when the recovery status flag indicates a completed recovery state.

10. A collision buffering posture recovery control system for a mobile robot, applied to the method according to any one of claims 1 to 9, characterized in that, include: The post-collision state generation module is used to respond to the collision trigger signal of the mobile robot, acquire the buffer state data of the collision buffer structure, the chassis attitude state data of the robot chassis, and the driving wheel running state data, and align them according to the collision trigger time to generate a set of post-collision states. The collision buffer stage identification module is connected to the post-collision state generation module and is used to identify the compression state, rebound state and reset state based on the buffer state data in the post-collision state set, and generate the collision buffer stage and buffer reset state. The attitude deviation and attachment status judgment module is connected to the post-collision state generation module and the collision buffer stage recognition module. It is used to judge attitude deviation and attachment status based on the chassis attitude status data and drive wheel running status data in the post-collision state set, and with the collision buffer stage as the state constraint, and to generate attitude deviation results and drive wheel attachment anomaly markers. The attitude recovery control command generation module is connected to the collision buffer stage identification module and the attitude offset and attachment state judgment module. It is used to generate attitude recovery control commands based on the collision buffer stage, the buffer reset state, the attitude offset result and the drive wheel attachment anomaly mark, and with the buffer reset state as the interlock condition. The execution feedback update module is connected to the attitude recovery control command generation module. It is used to execute the attitude recovery control command, obtain attitude feedback, drive wheel feedback and buffer reset feedback, and update the recovery control parameters of the next control cycle according to the attitude feedback, drive wheel feedback and buffer reset feedback.

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