CN113625736A - Robot posture switching control method and device and obstacle avoidance method thereof - Google Patents
Robot posture switching control method and device and obstacle avoidance method thereof Download PDFInfo
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Abstract
The invention discloses a robot posture switching control method, a device and an obstacle avoidance method thereof, wherein the method comprises the steps of obtaining a road surface detection condition and the current posture of a robot; judging whether the current posture of the robot needs to be changed or not according to the road surface detection condition and the current posture of the robot; if the current posture of the robot needs to be changed, adjusting the control state of the upright ring according to the obtained current posture of the robot; and simultaneously controlling the pitching angle of the robot to reach a preset final target angle according to the control state of the vertical ring so as to enable the robot to complete posture switching. Compared with the prior art, the robot has the advantages that complicated road conditions are responded through switching the postures of the robot, the influence of complicated road sections on the running of the robot is avoided, and the working efficiency of the robot is improved.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a robot posture switching control method, a robot posture switching control device and an obstacle avoidance method.
Background
Currently, a common differential robot includes a balanced robot and a three-wheeled robot. The balanced robot has the characteristics of small transverse size, small turning radius, flexible movement, extremely high chassis and the like when running in a single track, and can be widely applied to working occasions with narrow service space or large turning curvature, so that the balanced robot can quickly execute tasks. The controllable capacity is low and not stable enough, so that the road can not be mechanically braked and quickly driven on bumpy road sections, and the road section control method is suitable for road sections with smoothness and high turning curvature. The three-wheel structure of the three-wheel robot has higher stability, avoids the defect that a balanced robot is not suitable for walking and bumping roads, has greater advantages on the walking and bumping roads, but has disadvantages, and the turning is not flexible enough on a curve with large curvature due to the friction between a follow-up wheel and the ground.
The autonomous navigation capability of the robot is the premise and the basis for realizing the intelligent robot. However, in only one posture, it is difficult to achieve autonomous navigation without collision and capable of reaching a target point and completing a task more quickly in a complex environment due to the mechanical structure of the robot.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: a robot posture switching control method, a device and an obstacle avoidance method solve the influence of a complex road section on robot driving and improve the working efficiency of a robot.
In order to solve the technical problem, the invention provides a robot posture switching control method, a robot posture switching control device and an obstacle avoidance method thereof, wherein the robot posture switching control method comprises the following steps:
acquiring a road surface detection condition and the current posture of the robot;
judging whether the current posture of the robot needs to be changed or not according to the road surface detection condition and the current posture of the robot;
if the current posture of the robot needs to be changed, adjusting the control state of the upright ring according to the obtained current posture of the robot;
and simultaneously controlling the pitching angle of the robot to reach a preset final target angle according to the control state of the vertical ring so as to enable the robot to complete posture switching.
Further, the adjusting the control state of the upright ring according to the acquired current posture of the robot specifically comprises:
the current posture of the robot is a three-wheel posture or an upright posture;
when the acquired current posture of the robot is the three-wheel posture, adjusting the control state of the vertical ring to be an enabling state;
and when the acquired current posture of the robot is the upright posture, adjusting the control state of the upright ring to be a shielding state.
Further, according to the control state of the vertical ring, controlling the pitch angle of the robot to reach a preset final target angle, specifically:
if the control state of the upright ring is the enabling state, calculating a first sub-target angle of the switching posture according to a preset first final target angle, and starting PD control and motor control of the upright ring so as to enable the pitch angle of the robot to reach the preset first final target angle;
and if the vertical ring control state is a shielding state, starting a three-wheel speed ring PI controller and electrode control so as to enable the pitching angle of the robot to reach a preset second final target angle.
Further, the present invention provides a robot posture switching control apparatus, comprising: the device comprises an acquisition module, a judgment module, an adjustment module and a switching module;
the acquisition module is used for acquiring the road surface detection condition and the current posture of the robot;
the judging module is used for judging whether the current posture of the robot needs to be changed or not according to the road surface detection condition and the current posture of the robot;
the adjusting module is used for adjusting the control state of the upright ring according to the acquired current posture of the robot if the current posture of the robot needs to be changed;
the switching module is used for controlling the pitching angle of the robot to reach a preset final target angle according to the control state of the vertical ring, so that the robot completes posture switching.
Further, the adjusting module is configured to adjust a control state of the upright ring according to the acquired current posture of the robot, specifically:
the current posture of the robot is a three-wheel posture or an upright posture;
when the acquired current posture of the robot is the three-wheel posture, adjusting the control state of the vertical ring to be an enabling state;
and when the acquired current posture of the robot is the upright posture, adjusting the control state of the upright ring to be a shielding state.
Further, the switching module is configured to control the pitch angle of the robot to reach a preset final target angle according to the control state of the vertical ring, specifically:
if the control state of the upright ring is the enabling state, calculating a first sub-target angle of the switching posture according to a preset first final target angle, and starting PD control and motor control of the upright ring so as to enable the pitch angle of the robot to reach the preset first final target angle;
and if the vertical ring control state is a shielding state, starting a three-wheel speed ring PI controller and electrode control so as to enable the pitching angle of the robot to reach a preset second final target angle.
Further, the invention also provides a robot obstacle avoidance method which is characterized by comprising the following steps of;
when the obstacle is detected to exist, judging whether the current posture of the robot is an upright posture or not;
executing the robot posture switching control method according to any one of claims 1 to 4 if the current posture of the robot is not an upright posture, so as to convert the current posture of the robot into the upright posture;
establishing a robot obstacle avoidance motion track model, and controlling the robot to avoid obstacles along the obstacle avoidance motion track;
in a first obstacle avoidance stage, controlling a PID differential ratio controller to enable the PID differential ratio controller to adjust the yaw angle of the robot according to a first target differential ratio obtained through calculation until the yaw angle of the robot reaches a preset yaw angle;
and controlling an infrared switch to detect a first obstacle avoidance stage point set in the robot obstacle avoidance motion track model, and if the infrared switch detects the first obstacle avoidance stage point, ending the first obstacle avoidance stage.
Further, the first obstacle avoidance stage further comprises;
if the infrared switch does not detect the first obstacle avoidance stage point, changing 1 to the first target differential ratio and adjusting the yaw angle of the robot until the infrared switch detects the first obstacle avoidance stage point;
and acquiring a yaw angle at the current moment as a final yaw angle of a first obstacle avoidance stage, comparing the final yaw angle with the preset yaw angle, and finishing the first obstacle avoidance stage if the final yaw angle of the first obstacle avoidance stage is smaller than the preset yaw angle.
Further, after the first obstacle avoidance stage is finished, the method further includes:
controlling the robot to enter a second obstacle avoidance stage and a third obstacle avoidance stage in sequence;
in the second obstacle avoidance stage, controlling the PID differential ratio controller to adjust the yaw angle of the robot according to a second target differential ratio obtained through calculation until the yaw angle of the robot reaches a final yaw angle of the second obstacle avoidance stage, wherein the numerical value of the final yaw angle of the second obstacle avoidance stage is a negative number corresponding to the numerical value of the final yaw angle of the first obstacle avoidance stage;
and in the third obstacle avoidance stage, controlling the PID differential ratio controller to enable the PID differential ratio controller to adjust the yaw angle of the robot according to the calculated third target differential ratio until the yaw angle of the robot reaches the final yaw angle of the third obstacle avoidance stage, wherein the final yaw angle of the third obstacle avoidance stage is set to be O degrees.
Further, the robot obstacle avoidance motion track model is O0、O1、O2Three circles, wherein, the O0And said O1And the tangent point is the first obstacle avoidance stage point.
Compared with the prior art, the robot posture switching control method, the robot posture switching control device and the obstacle avoidance method thereof have the following beneficial effects:
because the road conditions adapted to the single posture of the robot are different, the robot has great advantages only when driving under the road conditions adapted to the single posture of the robot, so that the road surface detection condition and the current posture of the robot are obtained; judging whether the current posture of the robot needs to be changed or not according to the road surface detection condition and the current posture of the robot; if the current posture is not suitable for the current road surface, judging that the current posture of the robot needs to be changed, and controlling the state by adjusting the upright ring; and simultaneously controlling the pitching angle of the robot to reach a preset final target angle according to the control state of the vertical ring so as to enable the robot to complete posture switching. Compared with the prior art, the invention deals with complex road conditions by switching the postures of the robot, for example, in a smooth road section with higher turning curvature, the current posture of the robot is switched to the upright posture, and in a bumpy road section, the current posture of the robot is switched to the three-wheel posture, so that the influence of the complex road section on the running of the robot is solved, and the working efficiency of the robot is improved.
Drawings
Fig. 1 is a schematic flowchart of an embodiment of a robot posture switching control method, device and obstacle avoidance method thereof according to the present invention;
fig. 2a is a schematic graph of sub-target angles of an embodiment of the robot posture switching control method provided by the present invention changing with time;
FIG. 2b is a schematic diagram of a change curve of an angular velocity with time according to an embodiment of the robot posture switching control method provided by the present invention;
FIG. 2c is a schematic diagram of a time-dependent angular acceleration curve of an embodiment of the robot posture switching control method provided by the present invention;
fig. 3a is a schematic model diagram of a three-wheel attitude-switching upright attitude in an embodiment of the robot attitude-switching control method provided by the invention;
FIG. 3b is a schematic diagram of a model of three-wheel posture switching from upright posture to upright posture according to an embodiment of the robot posture switching control method provided by the present invention;
fig. 4 is a schematic structural diagram of an embodiment of a robot posture switching control device provided by the invention;
fig. 5 is a schematic flow chart of an embodiment of a robot obstacle avoidance method provided by the present invention;
fig. 6 is a schematic diagram of an obstacle avoidance motion trajectory model of an embodiment of the robot obstacle avoidance method provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1, fig. 1 is a schematic flowchart of an embodiment of a robot posture switching control method provided by the present invention, and as shown in fig. 1, the method includes steps 101 to 104, specifically as follows:
step 101: and acquiring the road surface detection condition and the current posture of the robot.
In this embodiment, the road conditions based on the current traveling of the mobile robot become more and more complex, wherein the road conditions include a smooth road section with a high turning curvature and a bumpy road section, and the traveling postures of the mobile robot corresponding to different road conditions are different, so that the traveling road surface is detected before the robot travels, and the current posture of the mobile robot is detected to obtain the current road condition and the current posture of the mobile robot; wherein the current posture of the mobile robot is a three-wheel posture or an upright posture.
Step 102: and judging whether the current posture of the robot needs to be changed or not according to the road surface detection condition and the current posture of the robot.
In the embodiment, because the traveling postures of the mobile robot corresponding to different road conditions are different, when the traveling posture of the mobile robot is a three-wheel posture, the three-wheel structure has higher stability and has greater advantage on bumpy roads, but the turning is not flexible enough on curves with large curvature due to the friction between the follow-up wheels and the ground; when the driving posture of the mobile robot is an upright posture, the mobile robot has small transverse volume, small turning radius, flexible movement and extremely high chassis, has great advantages on a road surface with narrow service space or large turning curvature, but has lower controllability and insufficient stability, so that the mobile robot cannot be mechanically braked and quickly driven on a bumpy road section; therefore, it is necessary to determine whether the current posture of the robot needs to be changed according to the road surface detection condition and the current posture of the robot acquired in step 101.
In this embodiment, when the detected road surface condition is a smooth road surface with a high turning curvature, if the detected current posture of the mobile robot is an upright posture, it is determined that the current posture of the mobile robot does not need to be changed, but if the detected current posture of the mobile robot is a three-wheel posture, it is determined that the current posture of the mobile robot needs to be changed; when the detected road condition is a bumpy road, if the detected current posture of the mobile robot is a three-wheel posture, the current posture of the mobile robot is judged not to need to be changed, but if the detected current posture of the mobile robot is an upright posture, the current posture of the mobile robot is judged to need to be changed.
Step 103: and if the current posture of the robot needs to be changed, adjusting the control state of the upright ring according to the obtained current posture of the robot.
In this embodiment, the main difference between the three-wheel attitude motion control and the upright attitude control is that there is upright ring control, and the upright attitude motion control has more upright ring control than the three-wheel attitude motion control, so that the upright ring of the robot needs to be enabled or shielded and a corresponding PI speed controller needs to be selected when the attitude is switched; when the obtained current posture of the mobile robot is a three-wheel posture and the current posture of the mobile robot needs to be adjusted to be a self-supporting posture, adjusting the control state of the vertical ring to be an enabling state, and selecting a vertical speed ring PI controller; and when the acquired current posture of the robot is an upright posture and the current posture of the mobile robot needs to be adjusted to be a three-wheel posture, adjusting the control state of the upright ring to be a shielding state, and selecting a three-wheel speed ring PI controller.
Step 104: and simultaneously, controlling the pitching angle of the robot to reach a preset final target angle according to the control state of the vertical ring so as to enable the robot to complete posture switching.
In this embodiment, the attitude switching means that the three-wheeled robot obtains the pitch angle of the robot through a BMX055 nine-axis attitude sensor to control, so that the robot can work in a three-wheeled control mode or a two-wheeled upright control mode, and the attitude switching model is as shown in fig. 3a and 3 b.
In this embodiment, if the vertical ring control state is the enable state, the vertical speed ring PI controller is selected, and the first sub-target angle of the switching posture is calculated according to the preset first final target angle, where the first sub-target angle formula for calculating the switching posture is:
in the formula, θ (t) is a first sub-target angle at time t, θ (tm) is a preset first final target angle, tm is a final used time, and both θ (tm) and tm are adjustable parameters.
After the first sub-target angle of the switching posture is obtained, starting the PD control and the motor control of the vertical ring so that the pitching angle of the mobile robot reaches a preset first final target angle, if the pitching angle of the mobile robot does not reach the preset first final target angle, returning to the step of calculating the first sub-target angle of the switching posture at the current t moment according to the preset first final target angle until the pitching angle of the mobile robot reaches the preset first final target angle, and completing the switching of the mobile robot from the three-wheel posture to the vertical posture.
If the vertical ring control state is the shielding state, starting the three-wheel speed ring PI controller and the electrode control to enable the pitching angle of the robot to reach a preset second final target angle, wherein when the mobile robot is in the three-wheel posture, the three wheels are all in contact with the road surface, so that when the mobile robot is switched from the vertical state to the three-wheel state, the preset second final target angle is 0 degree, and when the pitching angle of the mobile robot reaches the preset second final target angle, the mobile robot is switched from the vertical state to the three-wheel posture.
Referring to fig. 4, fig. 4 is a schematic structural diagram of an embodiment of a robot posture switching control apparatus provided by the present invention, and as shown in fig. 4, the structure includes an obtaining module 401, a determining module 402, an adjusting module 403, and a switching module 404;
the obtaining module 401 is configured to obtain a road surface detection condition and a current posture of the robot.
In this embodiment, the road conditions based on the current traveling of the mobile robot become more and more complex, wherein the road conditions include a smooth road section with a high turning curvature and a bumpy road section, and the traveling postures of the mobile robot corresponding to different road conditions are different, so that the traveling road surface is detected before the robot travels, and the current posture of the mobile robot is detected to obtain the current road condition and the current posture of the mobile robot; wherein the current posture of the mobile robot is a three-wheel posture or an upright posture.
The judging module 402 is configured to judge whether the current posture of the robot needs to be changed according to the road surface detection condition and the current posture of the robot.
In the embodiment, because the traveling postures of the mobile robot corresponding to different road conditions are different, when the traveling posture of the mobile robot is a three-wheel posture, the three-wheel structure has higher stability and has greater advantage on bumpy roads, but the turning is not flexible enough on curves with large curvature due to the friction between the follow-up wheels and the ground; when the driving posture of the mobile robot is an upright posture, the mobile robot has small transverse volume, small turning radius, flexible movement and extremely high chassis, has great advantages on a road surface with narrow service space or large turning curvature, but has lower controllability and insufficient stability, so that the mobile robot cannot be mechanically braked and quickly driven on a bumpy road section; therefore, it is necessary to determine whether the current posture of the robot needs to be changed according to the road surface detection condition and the current posture of the robot acquired by the acquisition module 201.
In this embodiment, when the detected road surface condition is a smooth road surface with a high turning curvature, if the detected current posture of the mobile robot is an upright posture, it is determined that the current posture of the mobile robot does not need to be changed, but if the detected current posture of the mobile robot is a three-wheel posture, it is determined that the current posture of the mobile robot needs to be changed; when the detected road condition is a bumpy road, if the detected current posture of the mobile robot is a three-wheel posture, the current posture of the mobile robot is judged not to need to be changed, but if the detected current posture of the mobile robot is an upright posture, the current posture of the mobile robot is judged to need to be changed.
The adjusting module 403 is configured to adjust the control state of the upright ring according to the acquired current posture of the robot if it is determined that the current posture of the robot needs to be changed.
In this embodiment, the main difference between the three-wheel attitude motion control and the upright attitude control is that there is upright ring control, and the upright attitude motion control has more upright ring control than the three-wheel attitude motion control, so that the upright ring of the robot needs to be enabled or shielded and a corresponding PI speed controller needs to be selected when the attitude is switched; when the obtained current posture of the mobile robot is a three-wheel posture and the current posture of the mobile robot needs to be adjusted to be a self-supporting posture, adjusting the control state of the vertical ring to be an enabling state, and selecting a vertical speed ring PI controller; and when the acquired current posture of the robot is an upright posture and the current posture of the mobile robot needs to be adjusted to be a three-wheel posture, adjusting the control state of the upright ring to be a shielding state, and selecting a three-wheel speed ring PI controller.
The switching module 404 is configured to control the pitch angle of the robot to reach a preset final target angle according to the control state of the vertical ring, so that the robot completes posture switching.
In this embodiment, the attitude switching means that the three-wheeled robot obtains the pitch angle of the robot through a BMX055 nine-axis attitude sensor to control, so that the robot can work in a three-wheeled control mode or a two-wheeled upright control mode.
In this embodiment, if the vertical ring control state is the enable state, the vertical speed ring PI controller is selected, and the first sub-target angle of the switching posture is calculated according to the preset first final target angle, where the first sub-target angle formula for calculating the switching posture is:
in the formula, θ (t) is a first sub-target angle at time t, θ (tm) is a preset first final target angle, tm is a final used time, and both θ (tm) and tm are adjustable parameters.
After the first sub-target angle of the switching posture is obtained, starting the PD control and the motor control of the vertical ring so that the pitching angle of the mobile robot reaches a preset first final target angle, if the pitching angle of the mobile robot does not reach the preset first final target angle, returning to the step of calculating the first sub-target angle of the switching posture at the current t moment according to the preset first final target angle until the pitching angle of the mobile robot reaches the preset first final target angle, and completing the switching of the mobile robot from the three-wheel posture to the vertical posture.
If the vertical ring control state is the shielding state, starting the three-wheel speed ring PI controller and the electrode control to enable the pitching angle of the robot to reach a preset second final target angle, wherein when the mobile robot is in the three-wheel posture, the three wheels are all in contact with the road surface, so that when the mobile robot is switched from the vertical state to the three-wheel state, the preset second final target angle is 0 degree, and when the pitching angle of the mobile robot reaches the preset second final target angle, the mobile robot is switched from the vertical state to the three-wheel posture.
As a preferred solution of embodiment 1, the first sub-target angle may also be updated using the constant angle acceleration change rate.
In this embodiment, the first sub-target angle θ (t), angular velocity θ' (t), angular acceleration θ ″ (t) are images of the time t, as shown in fig. 2a, 2b, and 2 c;
it can be assumed that the formula for the first sub-target angle θ (t) over time is:
θ(t)＝a×x3+b×x2+c×x+d；
the equations for the angular velocity θ' (t) and angular acceleration θ ″ (t) over time may be listed as:
θ′(t)＝3a×x2+2b×x+c；
θ(t)＝6a×x+2b；
the first sub-target angle formula is easily obtained by substituting the boundary values by the formula assuming the change over time of the first sub-target angle θ (t) and the formulas assuming the change over time of the angular velocity θ' (t) and the angular acceleration θ ″ (t):
in the embodiment, the mobile robot can be stably switched from the three-wheel posture to the two-wheel upright posture when the posture switching time is longer, but the overshoot phenomenon can occur when the posture switching time is shorter, and the overshoot amount is larger when the posture switching time is shorter, which is caused by the fact that the mobile robot keeps the original motion state by the inertia of the mobile robot; as can be seen from fig. 2, when the first sub-target angle is updated by using the constant angular acceleration change rate, the angular velocity of the mobile robot at time 0 gradually increases from 0 to a peak value, and gradually decreases until time tm decreases to 0. The robot has a very low angular velocity near the time 0 and tm, close to the state of the change of the stop angle at the time 0 and tm, so that the overshoot phenomenon can be alleviated even if inertia exists, and the overshoot phenomenon can be greatly reduced.
Example 2
Referring to fig. 5, fig. 5 is a schematic flowchart of an embodiment of a robot obstacle avoidance method provided by the present invention, and as shown in fig. 5, the method includes steps 401 to 405, specifically:
step 501: and when the obstacle is detected to exist, judging whether the current posture of the robot is an upright posture.
In this embodiment, when an obstacle is detected, the mobile robot may start an obstacle avoidance mode, and travel along a specified trajectory for obstacle avoidance, if the current posture of the robot is a three-wheel posture, a series of control delay lags may be generated when the robot moves to the specified trajectory due to an inability to estimate a friction force between a third wheel and a rail in the three-wheel posture, and if the current posture of the robot is an upright posture, a situation of the generated control delay lags is relatively small due to an absence of the friction force between the third wheel and the rail, so before obstacle avoidance, the current posture of the robot is detected, and whether the current posture of the robot is the upright posture is determined.
Step 502: executing the robot posture switching control method according to any one of claims 1 to 4 to convert the current posture of the robot into an upright posture if the current posture of the robot is not an upright posture.
In this embodiment, if it is detected that the current posture of the mobile robot is the three-wheel posture, the posture switching of the mobile robot is executed, wherein the posture switching method of the mobile robot is as described in steps 101 to 104 in embodiment 1, so that the mobile robot is switched from the three-wheel posture to the upright posture; and if the current posture of the mobile robot is detected to be the upright posture, the posture of the mobile robot does not need to be switched.
Step 503: and establishing a robot obstacle avoidance motion track model, and controlling the robot to avoid the obstacle along the obstacle avoidance motion track.
In this embodiment, the robot obstacle avoidance motion trajectory model is O0、O1、O2Three circles, as shown in figure 6,
the robot is provided with an obstacle avoidance motion track,
respectively belong to a circle O0、O1、O2Circle of O0And O1Tangent to point C and circle O2And O1Tangent to point D, and C, D all fall on the right side of the track, B, E being the center of the track and circle O0And O2The tangent point of (A); circle O0、O1、O2Respectively has a radius of R0、R1And R2Wherein R is0、R1And R2The radius calculation formula is obtained through a preset radius calculation formula, and the radius calculation formula specifically comprises the following steps:
in the formula (d)0Is the width of the track, d1Is the distance from the wheel axle of the mobile robot at the point B to the center of the obstacle, alpha is the included angle of the mobile robot when passing through the point C, and d1And alpha is an adjustable parameter, and the value range of alpha is (0, 90).
In this embodiment, the distance from the wheel axle of the mobile robot at the point B to the center of the obstacle can be calculated from data measured by the infrared distance measuring sensor when the mobile robot is at the point a, because the microcontroller MK60FX512VLQ15 is used as the mobile robot platform for main control in this embodiment, GP2YOA02YK0F infrared distance measuring is configured to detect the distance to the obstacle, but the change in attitude will result in the measured distance not to the obstacle, the distance to the obstacle can be calculated from the trigonometric function and the pitch angle, and meanwhile, the BMX nine-axis attitude sensor is used to obtain the accurate attitude angle of the triaxial 055 magnetometer, the triaxial gyroscope and the triaxial accelerometer, which are fused, and dead reckoning is performed.
In this embodiment, when the mobile robot recognizes an obstacle at point a and completes the posture switching at point B, the mobile robot starts to follow
And (5) avoiding obstacles on the track.
Step 504: and in a first obstacle avoidance stage, controlling a PID differential ratio controller to enable the PID differential ratio controller to adjust the yaw angle of the robot according to the calculated first target differential ratio until the yaw angle of the robot reaches a preset yaw angle.
In this embodiment, the movement locus
In (1)
The section is a first obstacle avoidance stage, the obstacle avoidance track control adopts differential ratio control, the control body is a PID controller, the feedback signal is the speed ratio of the left and right wheel encoders, and the calculation formula of the first target differential ratio is as follows:
wherein R is the radius of the circle to which the walking arc section belongs, and in the first obstacle avoidance stage, R is R1Value of (A), TwheelIs the track width between the left and right wheels, RdifIs the first target differential ratio.
In this embodiment, the PID differential ratio controller adjusts the yaw angle of the mobile robot according to the calculated first target differential ratio until the yaw angle of the mobile robot reaches the preset yaw angle α.
Step 505: and controlling an infrared switch to detect a first obstacle avoidance stage point set in the robot obstacle avoidance motion track model, and if the infrared switch detects the first obstacle avoidance stage point, ending the first obstacle avoidance stage.
In this embodiment, when the yaw angle of the mobile robot reaches the predetermined valueWhen a yaw angle alpha is set, an infrared photoelectric switch at the bottom of the mobile robot detects a first obstacle avoidance stage point C set in an obstacle avoidance motion track model of the mobile robot, if the infrared photoelectric switch at the bottom of the robot does not detect the first obstacle avoidance stage point C, a differential speed ratio is 1 as a first target differential speed ratio, a yaw angle of the mobile robot is adjusted through a PID differential ratio controller until the infrared photoelectric switch detects the first obstacle avoidance stage point C, if the infrared photoelectric switch at the bottom of the robot detects the first obstacle avoidance stage point C, the yaw angle at the current moment is obtained as a final yaw angle of the first obstacle avoidance stage and compared with a preset yaw angle alpha, if the final yaw angle psi of the first obstacle avoidance stage is smaller than the preset yaw angle alpha, the first obstacle avoidance stage is ended, and the mobile robot finishes driving
And (4) section.
In the embodiment, after the first obstacle avoidance stage is finished, the mobile robot is controlled to sequentially enter a second obstacle avoidance stage and a third obstacle avoidance stage; wherein, the motion track
In (1)
The section is a second obstacle avoidance stage and a motion track
In (1)
The section is a third obstacle avoidance stage;
the difference between the second obstacle avoidance stage and the first obstacle avoidance stage is that in the second obstacle avoidance stage, the PID differential ratio controller is controlled to obtain a second target differential ratio according to the calculation by the PID differential ratio controller, wherein the second target differential ratio is R2Substituting the radius into a calculation formula of the first target differential ratio to obtain a value, and adjusting the yaw angle of the mobile robot until the yaw of the mobile robotThe navigation angle reaches a final yaw angle of a second obstacle avoidance stage, wherein the numerical value of the final yaw angle of the second obstacle avoidance stage is a negative number corresponding to the numerical value of the final yaw angle of the first obstacle avoidance stage, namely the final yaw angle of the second obstacle avoidance stage is-psi;
the difference between the third obstacle avoidance stage and the first obstacle avoidance stage is that in the third obstacle avoidance stage, the PID differential ratio controller is controlled to enable the PID differential ratio controller to obtain a third target differential ratio according to calculation, wherein the third target differential ratio is R3And substituting the radius into a calculation formula of the first target differential ratio to obtain a calculated value, and adjusting the yaw angle of the robot until the yaw angle of the robot reaches the yaw angle of a third obstacle avoidance stage, wherein the final yaw angle of the third obstacle avoidance stage is set to be O degrees.
In summary, the invention provides a robot posture switching control method and device, which is characterized in that a road surface detection condition and a current robot posture are obtained; judging whether the current posture of the robot needs to be changed or not according to the road surface detection condition and the current posture of the robot; if the current posture of the robot needs to be changed, adjusting the control state of the upright ring according to the obtained current posture of the robot; and simultaneously controlling the pitching angle of the robot to reach a preset final target angle according to the control state of the vertical ring so as to enable the robot to complete posture switching. Compared with the prior art, the robot has the advantages that complex road conditions are responded by switching the postures of the robot, the influence of complex road sections on the running of the robot is avoided, and the working efficiency of the robot is improved; when the obstacle is detected, the obstacle is avoided by matching with a robot posture switching method and device and changing the posture, so that the robot is better adapted to complex road conditions, and the obstacle avoiding capability of the robot is improved.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (10)
1. A robot posture switching control method is characterized by comprising the following steps of;
acquiring a road surface detection condition and the current posture of the robot;
judging whether the current posture of the robot needs to be changed or not according to the road surface detection condition and the current posture of the robot;
if the current posture of the robot needs to be changed, adjusting the control state of the upright ring according to the obtained current posture of the robot;
and simultaneously controlling the pitching angle of the robot to reach a preset final target angle according to the control state of the vertical ring so as to enable the robot to complete posture switching.
2. The robot posture switching control method according to claim 1, wherein the adjusting of the control state of the upright ring according to the acquired current posture of the robot specifically comprises:
the current posture of the robot is a three-wheel posture or an upright posture;
when the acquired current posture of the robot is the three-wheel posture, adjusting the control state of the vertical ring to be an enabling state;
and when the acquired current posture of the robot is the upright posture, adjusting the control state of the upright ring to be a shielding state.
3. The robot attitude switching control method according to claim 2, wherein the pitch angle of the robot is controlled to reach a preset final target angle according to the control state of the upright ring, specifically:
if the control state of the upright ring is the enabling state, calculating a first sub-target angle of the switching posture according to a preset first final target angle, and starting PD control and motor control of the upright ring so as to enable the pitch angle of the robot to reach the preset first final target angle;
and if the vertical ring control state is a shielding state, starting a three-wheel speed ring PI controller and electrode control so as to enable the pitching angle of the robot to reach a preset second final target angle.
4. A robot posture switching control device, comprising: the device comprises an acquisition module, a judgment module, an adjustment module and a switching module;
the acquisition module is used for acquiring the road surface detection condition and the current posture of the robot;
the judging module is used for judging whether the current posture of the robot needs to be changed or not according to the road surface detection condition and the current posture of the robot;
the adjusting module is used for adjusting the control state of the upright ring according to the acquired current posture of the robot if the current posture of the robot needs to be changed;
the switching module is used for controlling the pitching angle of the robot to reach a preset final target angle according to the control state of the vertical ring, so that the robot completes posture switching.
5. The robot posture switching control device according to claim 4, wherein the adjusting module is configured to adjust a control state of the vertical ring according to the acquired current posture of the robot, specifically:
the current posture of the robot is a three-wheel posture or an upright posture;
when the acquired current posture of the robot is the three-wheel posture, adjusting the control state of the vertical ring to be an enabling state;
and when the acquired current posture of the robot is the upright posture, adjusting the control state of the upright ring to be a shielding state.
6. The robot attitude switching control device according to claim 5, wherein the switching module is configured to control the pitch angle of the robot to reach a preset final target angle according to the control state of the vertical ring, and specifically:
if the control state of the upright ring is the enabling state, calculating a first sub-target angle of the switching posture according to a preset first final target angle, and starting PD control and motor control of the upright ring so as to enable the pitch angle of the robot to reach the preset first final target angle;
and if the vertical ring control state is a shielding state, starting a three-wheel speed ring PI controller and electrode control so as to enable the pitching angle of the robot to reach a preset second final target angle.
7. A robot obstacle avoidance method is characterized by comprising the following steps of;
when the obstacle is detected to exist, judging whether the current posture of the robot is an upright posture or not;
executing the robot posture switching control method according to any one of claims 1 to 4 if the current posture of the robot is not an upright posture, so as to convert the current posture of the robot into the upright posture;
establishing a robot obstacle avoidance motion track model, and controlling the robot to avoid obstacles along the obstacle avoidance motion track;
in a first obstacle avoidance stage, controlling a PID differential ratio controller to enable the PID differential ratio controller to adjust the yaw angle of the robot according to a first target differential ratio obtained through calculation until the yaw angle of the robot reaches a preset yaw angle;
and controlling an infrared switch to detect a first obstacle avoidance stage point set in the robot obstacle avoidance motion track model, and if the infrared switch detects the first obstacle avoidance stage point, ending the first obstacle avoidance stage.
8. A robot obstacle avoidance method according to claim 7, wherein the first obstacle avoidance phase further comprises;
if the infrared switch does not detect the first obstacle avoidance stage point, changing 1 to the first target differential ratio and adjusting the yaw angle of the robot until the infrared switch detects the first obstacle avoidance stage point;
and acquiring a yaw angle at the current moment as a final yaw angle of a first obstacle avoidance stage, comparing the final yaw angle with the preset yaw angle, and finishing the first obstacle avoidance stage if the final yaw angle of the first obstacle avoidance stage is smaller than the preset yaw angle.
9. The robot obstacle avoidance method of claim 8, further comprising, after the first obstacle avoidance phase is completed:
controlling the robot to enter a second obstacle avoidance stage and a third obstacle avoidance stage in sequence;
in the second obstacle avoidance stage, controlling the PID differential ratio controller to adjust the yaw angle of the robot according to a second target differential ratio obtained through calculation until the yaw angle of the robot reaches a final yaw angle of the second obstacle avoidance stage, wherein the numerical value of the final yaw angle of the second obstacle avoidance stage is a negative number corresponding to the numerical value of the final yaw angle of the first obstacle avoidance stage;
and in the third obstacle avoidance stage, controlling the PID differential ratio controller to enable the PID differential ratio controller to adjust the yaw angle of the robot according to the calculated third target differential ratio until the yaw angle of the robot reaches the final yaw angle of the third obstacle avoidance stage, wherein the final yaw angle of the third obstacle avoidance stage is set to be O degrees.
10. The robot obstacle avoidance method of claim 7, wherein the robot obstacle avoidance motion trajectory model is O0、O1、O2Three circles, wherein, the O0And said O1And the tangent point is the first obstacle avoidance stage point.
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