CN114995382A

Movatterモバイル変換

Info

Publication number: CN114995382A
Application number: CN202210447832.2A
Authority: CN
Inventors: 由嘉; 胡韫良; 黄燕琪
Original assignee: Shenzhen Academy of Aerospace Technology
Current assignee: Shenzhen Academy of Aerospace Technology
Priority date: 2022-04-26
Filing date: 2022-04-26
Publication date: 2022-09-02
Anticipated expiration: 2042-04-26
Also published as: CN114995382B

Abstract

The invention discloses a robot-based tilt control method and a robot-based tilt control system, wherein the robot-based tilt control method comprises the following steps: acquiring collision signals of driving wheels of the robot, and monitoring collision directions of the collision signals; adjusting the moving direction of a moving module of the robot based on the collision direction; adjusting the moving position of the moving module relative to the annular area according to the offset angle of the driving wheel in the collision signal; when the mobile module is positioned relative to the annular area, detecting the suspension distance between the center of the robot and the ground by a sensor at the bottom of the robot; outputting the suspension distance to a preset suspension learning model, regulating and controlling a first driving speed of a driving wheel in the robot, wherein the driving wheel is in contact with the ground, and forming a speed stabilizing system based on the first driving speed and the driving speeds of other driving wheels; and forming an auxiliary force falling forwards and downwards for the robot according to the speed stabilizing system, and assisting the robot to land stably based on the auxiliary force.

Description

Translated fromChinese

基于机器人的倾斜控制方法及控制系统Robot-based tilt control method and control system

技术领域technical field

本发明涉及的机器人技术领域，尤其涉及一种基于机器人的倾斜控制方法及控制系统。The invention relates to the technical field of robots, in particular to a robot-based tilt control method and control system.

背景技术Background technique

随着科技的发展，机器人相对于地面移动，并且驱动轮相对于地面的滚动，机器人通过控制驱动轮的速度进行速度调节，在现有技术中，机器人在碰撞障碍物时对驱动轮的速度进行降速，以便于降低机器人在碰撞后的悬空程度，可是，机器人在碰撞后的悬空阶段并没有进行相关的悬空措施，导致现有的机器人在碰撞后无法平稳地着地。With the development of science and technology, the robot moves relative to the ground, and the driving wheel rolls relative to the ground. The robot adjusts the speed by controlling the speed of the driving wheel. In the prior art, the robot adjusts the speed of the driving wheel when it collides with an obstacle. Reduce the speed in order to reduce the degree of suspension of the robot after the collision. However, the robot does not carry out relevant suspension measures in the suspension stage after the collision, so that the existing robot cannot land smoothly after the collision.

发明内容SUMMARY OF THE INVENTION

本发明的目的在于克服现有技术的不足，本发明提供了一种基于机器人的倾斜控制方法及控制系统，移动模块基于环形区域的不同位置对机器人在碰撞后的悬浮进行调整，降低机器人在碰撞后的悬浮高度，并且结合悬浮距离和预设悬浮学习模型对第一驱动速度进行速度调控，第一驱动速度和其他驱动速度基于根据速度平稳体系对机器人形成向前下方下落的辅助力，并基于辅助力助力机器人平稳着地，从而进一步地保证机器人在碰撞后的着地平稳性，以便于基于多个阶段进行不同的平稳调节。The purpose of the present invention is to overcome the deficiencies of the prior art. The present invention provides a robot-based tilt control method and control system. The moving module adjusts the robot's suspension after collision based on different positions of the annular area, so as to reduce the collision rate of the robot. The first driving speed and other driving speeds are based on the auxiliary force for the robot to fall forward and downward according to the speed stabilization system, and are based on the speed control system. The auxiliary force assists the robot to land smoothly, thereby further ensuring the landing stability of the robot after a collision, so as to facilitate different smooth adjustments based on multiple stages.

为了解决上述技术问题，本发明实施例提供了一种基于机器人的倾斜控制方法，包括：获取机器人的驱动轮的碰撞信号，并监控所述碰撞信号的碰撞方向；基于所述碰撞方向调控所述机器人的移动模块的移动方向；根据所述碰撞信号中所述驱动轮的偏移角度调整所述移动模块相对于环形区域的移动位置；在所述移动模块相对于所述环形区域定位时，由所述机器人底部的感应器探测所述机器人的中心与地面之间的悬浮距离；将所述悬浮距离输出至预设悬浮学习模型，并调控所述机器人中与地面接触的驱动轮的第一驱动速度，并基于所述第一驱动速度与其他驱动轮的驱动速度形成速度平稳体系；根据所述速度平稳体系对所述机器人形成向前下方下落的辅助力，并基于所述辅助力助力所述机器人平稳着地。In order to solve the above technical problems, an embodiment of the present invention provides a robot-based tilt control method, which includes: acquiring a collision signal of a driving wheel of a robot, and monitoring the collision direction of the collision signal; adjusting the collision direction based on the collision direction The moving direction of the moving module of the robot; the moving position of the moving module relative to the annular area is adjusted according to the offset angle of the driving wheel in the collision signal; when the moving module is positioned relative to the annular area, the The sensor at the bottom of the robot detects the suspension distance between the center of the robot and the ground; outputs the suspension distance to a preset suspension learning model, and regulates the first drive of the driving wheel in the robot that is in contact with the ground speed, and form a speed smooth system based on the first driving speed and the driving speeds of other driving wheels; according to the speed smooth system, an auxiliary force for the robot to fall forward and downward is formed, and based on the auxiliary force, the robot is assisted. The robot landed smoothly.

另外，本发明实施例还提供了一种基于机器人的倾斜控制系统，所述基于机器人的倾斜控制系统包括：获取模块：用于获取机器人的驱动轮的碰撞信号，并监控所述碰撞信号的碰撞方向；调控模块：用于基于所述碰撞方向调控所述机器人的移动模块的移动方向；调整模块：用于根据所述碰撞信号中所述驱动轮的偏移角度调整所述移动模块相对于环形区域的移动位置；探测模块：用于在所述移动模块相对于所述环形区域定位时，由所述机器人底部的感应器探测所述机器人的中心与地面之间的悬浮距离；平稳模块：用于将所述悬浮距离输出至预设悬浮学习模型，并调控所述机器人中与地面接触的驱动轮的第一驱动速度，并基于所述第一驱动速度与其他驱动轮的驱动速度形成速度平稳体系；辅助力模块：用于根据所述速度平稳体系对所述机器人形成向前下方下落的辅助力，并基于所述辅助力助力所述机器人平稳着地。In addition, an embodiment of the present invention also provides a robot-based tilt control system, the robot-based tilt control system includes: an acquisition module: used to acquire a collision signal of a driving wheel of the robot, and monitor the collision of the collision signal direction; regulation module: used to regulate the movement direction of the moving module of the robot based on the collision direction; adjustment module: used to adjust the movement module relative to the ring according to the offset angle of the driving wheel in the collision signal The moving position of the area; detection module: when the moving module is positioned relative to the annular area, the sensor at the bottom of the robot detects the suspension distance between the center of the robot and the ground; In order to output the suspension distance to the preset suspension learning model, and adjust the first driving speed of the driving wheel in the robot that is in contact with the ground, and form a stable speed based on the first driving speed and the driving speed of other driving wheels. system; auxiliary force module: used to form an auxiliary force for the robot to fall forward and downward according to the speed stabilization system, and assist the robot to land smoothly on the ground based on the auxiliary force.

在本发明实施例中，通过本发明实施例中的方法，移动模块根据碰撞信号的碰撞方向调整移动模块相对于环形区域的移动方向，并且根据驱动轮的偏移角度调整移动模块相对于环形区域的移动位置，以便于移动模块在驱动轮的碰撞时迅速做出重心调整的措施，以便于移动模块基于环形区域的不同位置对机器人在碰撞后的悬浮进行调整，降低机器人在碰撞后的悬浮高度，并且结合悬浮距离和预设悬浮学习模型对第一驱动速度进行速度调控，第一驱动速度和其他驱动速度基于根据速度平稳体系对机器人形成向前下方下落的辅助力，并基于辅助力助力机器人平稳着地，从而进一步地保证机器人在碰撞后的着地平稳性，以便于基于多个阶段进行不同的平稳调节。In the embodiment of the present invention, through the method in the embodiment of the present invention, the moving module adjusts the moving direction of the moving module relative to the annular area according to the collision direction of the collision signal, and adjusts the moving module relative to the annular area according to the offset angle of the driving wheel. so that the mobile module can quickly adjust the center of gravity when the driving wheel collides, so that the mobile module can adjust the suspension of the robot after the collision based on the different positions of the annular area, and reduce the suspension height of the robot after the collision. , and combined with the suspension distance and the preset suspension learning model to control the speed of the first driving speed. The first driving speed and other driving speeds are based on the auxiliary force for the robot to fall forward and downward according to the speed stabilization system, and assist the robot based on the auxiliary force. Landing smoothly, thereby further ensuring the landing stability of the robot after collision, so as to make different smooth adjustments based on multiple stages.

附图说明Description of drawings

为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见的，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

图1是本发明实施例中的基于机器人的倾斜控制方法的流程示意图；1 is a schematic flowchart of a robot-based tilt control method in an embodiment of the present invention;

图2是本发明实施例中的基于机器人的倾斜控制方法的碰撞信号的流程示意图；2 is a schematic flowchart of a collision signal of a robot-based tilt control method in an embodiment of the present invention;

图3是本发明实施例中的基于机器人的倾斜控制方法的移动方向的流程示意图；3 is a schematic flowchart of a movement direction of a robot-based tilt control method in an embodiment of the present invention;

图4是本发明实施例中的基于机器人的倾斜控制方法的移动位置的流程示意图；4 is a schematic flowchart of a moving position of a robot-based tilt control method in an embodiment of the present invention;

图5是本发明实施例中的基于机器人的倾斜控制系统的结构组成示意图；5 is a schematic diagram of the structural composition of a robot-based tilt control system in an embodiment of the present invention;

图6是根据一示例性实施例示出的一种电子装置的硬件图。Fig. 6 is a hardware diagram of an electronic device according to an exemplary embodiment.

具体实施方式Detailed ways

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

实施例Example

请参阅图1至图4，一种基于机器人的倾斜控制方法，方法包括：Please refer to FIG. 1 to FIG. 4 , a robot-based tilt control method, the method includes:

S11：获取机器人的驱动轮的碰撞信号，并监控所述碰撞信号的碰撞方向；S11: Acquire the collision signal of the driving wheel of the robot, and monitor the collision direction of the collision signal;

在本发明具体实施过程中，具体的步骤可以为：In the specific implementation process of the present invention, the specific steps can be:

S111：所述机器人的驱动轮相对于所述机器人的底座万向连接，在所述机器人的驱动轮碰到障碍物时，所述驱动轮相对于所述底座向外翻转，并且所述驱动轮的行驶方向由第一行驶方向转化为第二行驶方向；S111: The driving wheel of the robot is universally connected relative to the base of the robot. When the driving wheel of the robot encounters an obstacle, the driving wheel is turned outward relative to the base, and the driving wheel The driving direction is converted from the first driving direction to the second driving direction;

S112：基于所述第二行驶方向触发所述碰撞信号，并且记录所述第二行驶方向和碰撞力度，根据所述第二行驶方向分解所述碰撞力度，以输出所述机器人的翻转力度；S112: Trigger the collision signal based on the second driving direction, record the second driving direction and the collision strength, and decompose the collision strength according to the second driving direction to output the turning strength of the robot;

S113：根据所述翻转力度预测所述机器人的翻转轨迹，并且记录所述翻转轨迹和所述碰撞方向。S113: Predict the turning trajectory of the robot according to the turning force, and record the turning trajectory and the collision direction.

其中，驱动轮相对于所述机器人的底座万向连接，以便于驱动轮的偏转方向进行驱动轮和障碍物之间的碰撞感应，此时，在所述机器人的驱动轮碰到障碍物时，所述驱动轮相对于所述底座向外翻转，并且所述驱动轮的行驶方向由第一行驶方向转化为第二行驶方向，从而能够更好地检测机器人与障碍物之间的碰撞情况，另外，根据所述第二行驶方向分解所述碰撞力度，以输出所述机器人的翻转力度，根据所述翻转力度预测所述机器人的翻转轨迹，并且记录所述翻转轨迹和所述碰撞方向，从而便于推测机器人的悬空情况，以便于机器人及时做出悬空措施。Wherein, the driving wheel is universally connected relative to the base of the robot, so that the deflection direction of the driving wheel can sense the collision between the driving wheel and the obstacle. At this time, when the driving wheel of the robot hits the obstacle, The driving wheel is turned outward relative to the base, and the driving direction of the driving wheel is converted from the first driving direction to the second driving direction, so that the collision situation between the robot and the obstacle can be better detected. , decompose the collision force according to the second driving direction to output the turning force of the robot, predict the turning trajectory of the robot according to the turning force, and record the turning trajectory and the collision direction, so as to facilitate Infer the dangling situation of the robot, so that the robot can take dangling measures in time.

S12：基于所述碰撞方向调控所述机器人的移动模块的移动方向；S12: regulating the moving direction of the moving module of the robot based on the collision direction;

S121：标记所述驱动轮的碰撞位置，并且以所述驱动轮的碰撞位置作为所述机器人的悬空起点；S121: Mark the collision position of the driving wheel, and use the collision position of the driving wheel as the suspension starting point of the robot;

S122：沿着所述悬空起点监控所述碰撞方向的变化，并且结合所述机器人的翻转轨迹创建所述机器人的悬空模型；S122: Monitor the change of the collision direction along the suspension starting point, and create a suspension model of the robot in combination with the turning trajectory of the robot;

S123：将所述碰撞方向输入至所述悬空模型，并参照所述机器人所处的环境的风力方向输出所述机器人的悬空趋势方向；S123: Input the collision direction into the suspension model, and output the suspension trend direction of the robot with reference to the wind direction of the environment where the robot is located;

S124：基于所述悬空趋势方向确定所述机器人的动作趋势，并且根据所述机器人的动作趋势触发所述移动模块，所述移动模块沿着所述悬空趋势方向的反向方向进行移动，并且移动至所述环形区域中相对于所述悬空趋势方向的反向方向的最高点。S124: Determine an action trend of the robot based on the dangling trend direction, and trigger the moving module according to the action trend of the robot, and the moving module moves in a direction opposite to the dangling trend direction, and moves to the highest point in the annular region in the opposite direction relative to the direction of the overhanging trend.

其中，基于所述碰撞方向输入至所述悬空模型，并在所述悬空模型输出所述机器人的翻转轨迹，此时，所述机器人的翻转轨迹作为理论的轨迹，可以在引入所述机器人所处的环境的风力方向，并且在充足的外界条件下进行实际趋势的推测，以便于提高机器人的悬空推测的准确性，并且参照所述机器人所处的环境的风力方向输出所述机器人的悬空趋势方向。Wherein, based on the collision direction is input to the suspension model, and the overturning trajectory of the robot is output in the suspension model. At this time, the turnover trajectory of the robot is used as a theoretical trajectory, which can be introduced into the robot where the robot is located. The wind direction of the environment in which the robot is located, and the actual trend is estimated under sufficient external conditions, so as to improve the accuracy of the robot's suspension prediction, and the robot's suspension trend direction is output with reference to the wind direction of the environment where the robot is located. .

另外，基于所述悬空趋势方向确定所述机器人的动作趋势，并且根据所述机器人的动作趋势触发所述移动模块，所述移动模块沿着所述悬空趋势方向的反向方向进行移动，并且移动至所述环形区域中相对于所述悬空趋势方向的反向方向的最高点，此时，移动模块占据于所述环形区域中相对于所述悬空趋势方向的反向方向的最高点，并且能够基于环形区域的各个位置进行调整，以便于能够在多个方向下进行移动，保证了移动模块的调整可以克服机器人中多种悬空情况。In addition, an action trend of the robot is determined based on the dangling trend direction, and the moving module is triggered according to the action trend of the robot, the moving module moves in a direction opposite to the dangling trend direction, and moves To the highest point in the annular area in the reverse direction relative to the dangling trend direction, at this time, the mobile module occupies the highest point in the annular area in the reverse direction relative to the dangling trend direction, and can Adjustments are made based on various positions of the annular area, so as to be able to move in multiple directions, which ensures that the adjustment of the moving module can overcome various suspended situations in the robot.

S13：根据所述碰撞信号中所述驱动轮的偏移角度调整所述移动模块相对于环形区域的移动位置；S13: Adjust the moving position of the moving module relative to the annular area according to the offset angle of the driving wheel in the collision signal;

S131：基于所述第二行驶方向和所述第一行驶方向测算所述驱动轮的偏移角度；S131: Calculate the offset angle of the drive wheel based on the second travel direction and the first travel direction;

S132：动态监控所述驱动轮在所述机器人的悬空过程中的朝向，并且基于所述朝向进一步地调整所述驱动轮的偏移角度，以输出实际偏移角度；S132: Dynamically monitor the orientation of the drive wheel during the suspension of the robot, and further adjust the offset angle of the drive wheel based on the orientation to output an actual offset angle;

S133：将所述实际偏移角度进行三角运算，并且对所述实际偏移角度进行水平方向和竖直方向的分解，以测算所述机器人在水平方向的水平距离和竖直方向的竖直距离；S133: Perform trigonometry on the actual offset angle, and decompose the actual offset angle in the horizontal direction and the vertical direction to measure the horizontal distance of the robot in the horizontal direction and the vertical distance in the vertical direction ;

S134：根据所述水平距离和所述竖直距离调整所述移动模块相对于环形区域的移动位置，此时，所述移动模块在环形区域中能够多个角度的移动，并且沿着预设水平距离-竖直距离曲线确定定位点，并将该定位点映射至所述环形区域；S134: Adjust the moving position of the moving module relative to the annular area according to the horizontal distance and the vertical distance. At this time, the moving module can move at multiple angles in the annular area, and along a preset horizontal A distance-vertical distance curve determines an anchor point and maps the anchor point to the annular area;

S135：随着所述机器人的悬空，所述定位点相对于所述环形区域的映射不在同一位置。S135: As the robot is suspended, the mapping of the positioning point relative to the annular area is not at the same position.

其中，基于所述朝向进一步地调整所述驱动轮的偏移角度，并且在偏移角度的基础上进行校准，以便于输出实际偏移角度，此时，机器人可以根据实际偏移角度进行三角运算，以计算出所述机器人的相对于地面的实际距离，此时，对所述实际偏移角度进行水平方向和竖直方向的分解，以测算所述机器人在水平方向的水平距离和竖直方向的竖直距离。The offset angle of the drive wheel is further adjusted based on the orientation, and calibration is performed on the basis of the offset angle so as to output the actual offset angle. At this time, the robot can perform trigonometric operations according to the actual offset angle. , to calculate the actual distance of the robot relative to the ground. At this time, the actual offset angle is decomposed in the horizontal direction and the vertical direction to measure the horizontal distance and vertical direction of the robot in the horizontal direction. vertical distance.

另外，根据所述水平距离和所述竖直距离调整所述移动模块相对于环形区域的移动位置，此时，所述移动模块在环形区域中能够多个角度的移动，并且沿着预设水平距离-竖直距离曲线确定定位点，并将该定位点映射至所述环形区域，移动模块基于定位点进行定向移动，并且停留至定位点，以便于移动模块在定位点处持续下压机器人，另外，随着所述机器人的悬空，所述定位点相对于所述环形区域的映射不在同一位置，以便于根据不同的悬空状态调整移动模块的移动位置，并且实时有效地作用机器人。In addition, the moving position of the moving module relative to the annular area is adjusted according to the horizontal distance and the vertical distance. At this time, the moving module can move at multiple angles in the annular area and along a preset level The distance-vertical distance curve determines the positioning point, and maps the positioning point to the annular area. The moving module performs directional movement based on the positioning point, and stays at the positioning point, so that the moving module can continuously press the robot at the positioning point. In addition, with the suspension of the robot, the mapping of the positioning point relative to the annular area is not at the same position, so as to adjust the moving position of the mobile module according to different suspension states, and effectively act on the robot in real time.

S14：在所述移动模块相对于所述环形区域定位时，由所述机器人底部的感应器探测所述机器人的中心与地面之间的悬浮距离；S14: when the moving module is positioned relative to the annular area, the sensor at the bottom of the robot detects the suspension distance between the center of the robot and the ground;

在本发明具体实施过程中，具体的步骤可以为：所述移动模块移动至所述环形区域中的所述定位点，并相对于所述定位点停留；所述移动模块基于所述定位点对所述机器人持续下压，并调节所述机器人的倾斜状态；基于所述移动模块的停留时间触发所述机器人底部的感应器，此时，所述感应器由待机状态调整为探测状态；处于探测状态的所述感应器检测所述机器人的中心与地面之间的悬浮距离；获取所述机器人相对于地面的倾斜角度，并且基于所述倾斜角度调控所述悬浮距离，以输出实际的所述悬浮距离；若所述悬浮距离的变化量大于预设的变化量阈值，则在倾斜状态下重新测算所述机器人的中心。In the specific implementation process of the present invention, the specific steps may be as follows: the moving module moves to the positioning point in the annular area, and stays relative to the positioning point; the moving module is based on the positioning point pairing The robot continues to press down and adjusts the inclination state of the robot; the sensor at the bottom of the robot is triggered based on the dwell time of the moving module, at this time, the sensor is adjusted from the standby state to the detection state; in the detection state The sensor in the state detects the suspension distance between the center of the robot and the ground; obtains the inclination angle of the robot relative to the ground, and adjusts the suspension distance based on the inclination angle to output the actual suspension distance; if the variation of the levitation distance is greater than a preset variation threshold, recalculate the center of the robot in a tilted state.

其中，移动模块基于所述定位点对所述机器人持续下压，并且调节所述机器人的倾斜状态，此时，机器人在移动模块的定位位置和下压作用下持续减缓倾斜程度，并且基于所述移动模块的停留时间触发所述机器人底部的感应器，以便于感应器在预设条件下检测，并且检测所述机器人的中心与地面之间的悬浮距离，基于所述倾斜角度调控所述悬浮距离，以输出实际的所述悬浮距离。Wherein, the moving module continuously presses the robot based on the positioning point, and adjusts the inclination state of the robot. The dwell time of the mobile module triggers the sensor at the bottom of the robot, so that the sensor can detect under preset conditions, and detect the suspension distance between the center of the robot and the ground, and adjust the suspension distance based on the tilt angle , to output the actual suspension distance.

另外，若所述悬浮距离的变化量大于预设的变化量阈值，则在倾斜状态下重新测算所述机器人的中心，以便于对中心进行重新测算，从而便于调控机器人的倾斜程度的重新计算。In addition, if the variation of the levitation distance is greater than the preset variation threshold, the center of the robot is recalculated in a tilted state, so as to recalculate the center, thereby facilitating the recalculation of the inclination of the robot.

S15：将所述悬浮距离输出至预设悬浮学习模型，并调控所述机器人中与地面接触的驱动轮的第一驱动速度，并基于所述第一驱动速度与其他驱动轮的驱动速度形成速度平稳体系；S15: Output the suspension distance to a preset suspension learning model, and adjust the first driving speed of the driving wheel in the robot in contact with the ground, and form a speed based on the first driving speed and the driving speeds of other driving wheels stable system;

在本发明具体实施过程中，具体的步骤包括：基于以往悬浮距离和以往第一驱动速度作为数据包，并且所述数据包中所述悬浮距离和所述第一驱动速度一一对应；基于多个所述数据包进行训练，并输出所述预设悬浮学习模型；将所述悬浮距离输出至预设悬浮学习模型，并且基于所述预设悬浮学习模型进行第一驱动速度的运算；基于所述第一驱动速度调控所述机器人中与地面接触的驱动轮的的速度，并且将所述第一驱动速度作为所述驱动轮的实际速度；以所述第一驱动速度作为中心，调控其他驱动轮的驱动速度，并且在所述速度平稳体系维系者所述第一驱动速度与其他驱动速度之间的关系；将所述机器人的中心作为参考数据，并且调控所述速度平稳体系，以实现所述速度平稳体系的自我学习。In the specific implementation process of the present invention, the specific steps include: taking the past suspension distance and the past first driving speed as a data packet, and the suspension distance and the first driving speed in the data packet are in one-to-one correspondence; training each of the data packets, and output the preset suspension learning model; output the suspension distance to the preset suspension learning model, and perform the calculation of the first driving speed based on the preset suspension learning model; The first driving speed regulates the speed of the driving wheel in contact with the ground in the robot, and the first driving speed is used as the actual speed of the driving wheel; with the first driving speed as the center, other drives are regulated The driving speed of the wheel, and the relationship between the first driving speed and other driving speeds is maintained in the speed smoothing system; the center of the robot is used as reference data, and the speed smoothing system is regulated to achieve all Self-learning of the described velocity-stable system.

S16：根据所述速度平稳体系对所述机器人形成向前下方下落的辅助力，并基于所述辅助力助力所述机器人平稳着地。S16: Form an auxiliary force for the robot to fall forward and downward according to the speed stabilization system, and assist the robot to land smoothly on the ground based on the auxiliary force.

在本发明具体实施过程中，具体的步骤包括：根据所述速度平稳体系调控着其他驱动轮的驱动速度；基于其他驱动轮的驱动速度与所述第一驱动速度的速度差作为速度变化量；将所述速度变化量作为所述辅助力的加速度，并且基于所述速度变化量的变化方向调整所述辅助力的作用力方向；基于所述辅助力的加速度和所述辅助力的作用力方向形成向前下方下落的辅助力，并基于所述辅助力助力所述机器人平稳着地。In the specific implementation process of the present invention, the specific steps include: regulating the driving speeds of other driving wheels according to the speed smoothing system; taking the speed difference between the driving speeds of other driving wheels and the first driving speed as a speed change amount; Taking the speed change amount as the acceleration of the auxiliary force, and adjusting the direction of the action force of the auxiliary force based on the change direction of the speed change amount; based on the acceleration of the auxiliary force and the force direction of the auxiliary force An auxiliary force for falling forward and downward is formed, and based on the auxiliary force, the robot is assisted to land smoothly.

所述基于机器人的倾斜控制方法，还包括：检测所述机器人的下落速度；将所述下落速度作为平衡参数，基于所述平衡参数嵌入于所述辅助力，以优化所述辅助力；将优化后的所述辅助力作为所述机器人的实际下落力，并且所述辅助力的方向垂直于地面；所述机器人的驱动轮接触地面，则调整所述移动模块的移动位置；基于所述移动模块的位置变化调整所述机器人的下落力。The robot-based tilt control method further includes: detecting the falling speed of the robot; using the falling speed as a balance parameter, and embedding the auxiliary force based on the balance parameter to optimize the auxiliary force; The latter auxiliary force is used as the actual falling force of the robot, and the direction of the auxiliary force is perpendicular to the ground; the driving wheel of the robot touches the ground, and the moving position of the moving module is adjusted; based on the moving module The position change adjusts the falling force of the robot.

在本发明实施例中，通过本发明实施例中的方法，移动模块基于环形区域的不同位置对机器人在碰撞后的悬浮进行调整，降低机器人在碰撞后的悬浮高度，并且结合悬浮距离和预设悬浮学习模型对第一驱动速度进行速度调控，第一驱动速度和其他驱动速度基于根据速度平稳体系对机器人形成向前下方下落的辅助力，并基于辅助力助力机器人平稳着地，从而进一步地保证机器人在碰撞后的着地平稳性，以便于基于多个阶段进行不同的平稳调节。In the embodiment of the present invention, through the method in the embodiment of the present invention, the mobile module adjusts the suspension of the robot after the collision based on different positions of the annular area, reduces the suspension height of the robot after the collision, and combines the suspension distance and the preset The suspension learning model controls the speed of the first driving speed. The first driving speed and other driving speeds are based on the auxiliary force for the robot to fall forward and downward according to the speed stabilization system, and help the robot to land smoothly based on the auxiliary force, thereby further ensuring the robot. Landing smoothness after a crash to facilitate different smoothing adjustments based on multiple stages.

实施例Example

请参阅图5，图5是本发明实施例中的基于机器人的倾斜控制系统的结构组成示意图。Please refer to FIG. 5. FIG. 5 is a schematic structural diagram of a robot-based tilt control system according to an embodiment of the present invention.

如图5所示，一种基于机器人的倾斜控制系统，所述基于机器人的倾斜控制系统包括：As shown in Figure 5, a robot-based tilt control system, the robot-based tilt control system includes:

获取模块21：用于获取机器人的驱动轮的碰撞信号，并监控所述碰撞信号的碰撞方向；Acquisition module 21: for acquiring the collision signal of the driving wheel of the robot, and monitoring the collision direction of the collision signal;

调控模块22：用于基于所述碰撞方向调控所述机器人的移动模块的移动方向；Controlling module 22: for regulating the moving direction of the moving module of the robot based on the collision direction;

调整模块23：用于根据所述碰撞信号中所述驱动轮的偏移角度调整所述移动模块相对于环形区域的移动位置；Adjustment module 23: used to adjust the moving position of the moving module relative to the annular area according to the offset angle of the driving wheel in the collision signal;

探测模块24：用于在所述移动模块相对于所述环形区域定位时，由所述机器人底部的感应器探测所述机器人的中心与地面之间的悬浮距离；Detection module 24: used for detecting the floating distance between the center of the robot and the ground by the sensor at the bottom of the robot when the moving module is positioned relative to the annular area;

平稳模块25：用于将所述悬浮距离输出至预设悬浮学习模型，并调控所述机器人中与地面接触的驱动轮的第一驱动速度，并基于所述第一驱动速度与其他驱动轮的驱动速度形成速度平稳体系；Stability module 25: used to output the suspension distance to a preset suspension learning model, and regulate the first driving speed of the driving wheel in the robot that contacts the ground, and based on the first driving speed and other driving wheels. The driving speed forms a speed stable system;

辅助力模块26：用于根据所述速度平稳体系对所述机器人形成向前下方下落的辅助力，并基于所述辅助力助力所述机器人平稳着地。Auxiliary force module 26 : used to form an auxiliary force for the robot to fall forward and downward according to the speed stabilization system, and assist the robot to land smoothly on the ground based on the auxiliary force.

本发明提供了一种基于机器人的倾斜控制方法及控制系统，移动模块基于环形区域的不同位置对机器人在碰撞后的悬浮进行调整，降低机器人在碰撞后的悬浮高度，并且结合悬浮距离和预设悬浮学习模型对第一驱动速度进行速度调控，第一驱动速度和其他驱动速度基于根据速度平稳体系对机器人形成向前下方下落的辅助力，并基于辅助力助力机器人平稳着地，从而进一步地保证机器人在碰撞后的着地平稳性，以便于基于多个阶段进行不同的平稳调节。The invention provides a robot-based tilt control method and control system. The mobile module adjusts the robot's suspension after collision based on different positions of the annular area, reduces the suspension height of the robot after the collision, and combines the suspension distance and preset The suspension learning model controls the speed of the first driving speed. The first driving speed and other driving speeds are based on the auxiliary force for the robot to fall forward and downward according to the speed stabilization system, and help the robot to land smoothly based on the auxiliary force, thereby further ensuring the robot. Landing smoothness after a crash to facilitate different smoothing adjustments based on multiple stages.

实施例Example

请参阅图6，下面参照图6来描述根据本发明的这种实施方式的电子设备40。图6显示的电子设备40仅仅是一个示例，不应对本发明实施例的功能和使用范围带来任何限制。Referring to FIG. 6 , theelectronic device 40 according to this embodiment of the present invention is described below with reference to FIG. 6 . Theelectronic device 40 shown in FIG. 6 is only an example, and should not impose any limitation on the function and scope of use of the embodiments of the present invention.

如图6所示，电子设备40以通用计算设备的形式表现。电子设备40的组件可以包括但不限于：上述至少一个处理单元41、上述至少一个存储单元42、连接不同系统组件(包括存储单元42和处理单元41)的总线43。As shown in FIG. 6,electronic device 40 takes the form of a general-purpose computing device. Components of theelectronic device 40 may include, but are not limited to: the above-mentioned at least oneprocessing unit 41 , the above-mentioned at least onestorage unit 42 , and abus 43 connecting different system components (including thestorage unit 42 and the processing unit 41 ).

其中，所述存储单元存储有程序代码，所述程序代码可以被所述处理单元41执行，使得所述处理单元41执行本说明书上述“实施例方法”部分中描述的根据本发明各种示例性实施方式的步骤。Wherein, the storage unit stores program codes, and the program codes can be executed by theprocessing unit 41, so that theprocessing unit 41 executes the various exemplary embodiments according to the present invention described in the above-mentioned “Methods of Embodiments” of this specification. Implementation steps.

存储单元42可以包括易失性存储单元形式的可读介质，例如随机存取存储单元(RAM)421和/或高速缓存存储单元422，还可以进一步包括只读存储单元(ROM)423。Thestorage unit 42 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 421 and/or acache storage unit 422 , and may further include a read only storage unit (ROM) 423 .

存储单元42还可以包括具有一组(至少一个)程序模块425的程序/实用工具424，这样的程序模块425包括但不限于：操作系统、一个或者多个应用程序、其它程序模块以及程序数据，这些示例中的每一个或某种组合中可能包括网络环境的实现。Thestorage unit 42 may also include a program/utility 424 having a set (at least one) ofprogram modules 425 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, An implementation of a network environment may be included in each or some combination of these examples.

总线43可以为表示几类总线结构中的一种或多种，包括存储单元总线或者存储单元控制器、外围总线、图形加速端口、处理单元或者使用多种总线结构中的任意总线结构的局域总线。Thebus 43 may be representative of one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local area using any of a variety of bus structures bus.

电子设备40也可以与一个或多个外部设备(例如键盘、指向设备、蓝牙设备等)通信，还可与一个或者多个使得用户能与该电子设备40交互的设备通信，和/或与使得该电子设备40能与一个或多个其它计算设备进行通信的任何设备(例如路由器、调制解调器等等)通信。这种通信可以通过输入/输出(I/O)接口45进行。并且，电子设备40还可以通过网络适配器46与一个或者多个网络(例如局域网(LAN)，广域网(WAN)和/或公共网络，例如因特网)通信。如图6所示，网络适配器46通过总线43与电子设备40的其它模块通信。应当明白，尽管图6中未示出，可以结合电子设备40使用其它硬件和/或软件模块，包括但不限于：微代码、设备驱动器、冗余处理单元、外部磁盘驱动阵列、RAID系统、磁带驱动器以及数据备份存储系统等。Theelectronic device 40 may also communicate with one or more external devices (eg, keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with theelectronic device 40, and/or communicate with Theelectronic device 40 can communicate with any device (eg, router, modem, etc.) that communicates with one or more other computing devices. Such communication may take place through input/output (I/O)interface 45 . Also, theelectronic device 40 may communicate with one or more networks (eg, a local area network (LAN), a wide area network (WAN), and/or a public network such as the Internet) through anetwork adapter 46 . As shown in FIG. 6 , thenetwork adapter 46 communicates with other modules of theelectronic device 40 through thebus 43 . It should be understood that, although not shown in FIG. 6, other hardware and/or software modules may be used in conjunction withelectronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tapes drives and data backup storage systems, etc.

通过以上的实施方式的描述，本领域的技术人员易于理解，这里描述的示例实施方式可以通过软件实现，也可以通过软件结合必要的硬件的方式来实现。因此，根据本公开实施方式的技术方案可以以软件产品的形式体现出来，该软件产品可以存储在一个非易失性存储介质(可以是CD-ROM，U盘，移动硬盘等)中或网络上，包括若干指令以使得一台计算设备(可以是个人计算机、服务器、终端装置、或者网络设备等)执行根据本公开实施方式的方法。From the description of the above embodiments, those skilled in the art can easily understand that the exemplary embodiments described herein may be implemented by software, or may be implemented by software combined with necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure may be embodied in the form of software products, and the software products may be stored in a non-volatile storage medium (which may be CD-ROM, U disk, mobile hard disk, etc.) or on the network , including several instructions to cause a computing device (which may be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to an embodiment of the present disclosure.

本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一计算机可读存储介质中，存储介质可以包括：只读存储器(ROM，ReadOnly Memory)、随机存取存储器(RAM，Random AccessMemory)、磁盘或光盘等。并且，其存储有计算机程序指令，当所述计算机程序指令被计算机执行时，使计算机执行根据上述的方法。Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can include: Read only memory (ROM, ReadOnly Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk, etc. Also, it stores computer program instructions which, when executed by a computer, cause the computer to perform the method according to the above.

另外，以上对本发明实施例所提供的基于机器人的倾斜控制方法及控制系统进行了详细介绍，本文中应采用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。In addition, the robot-based tilt control method and control system provided by the embodiments of the present invention have been introduced in detail above. Specific examples should be used in this paper to illustrate the principles and implementations of the present invention. The descriptions of the above embodiments are only used for In order to help understand the method of the present invention and its core idea; at the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific implementation and application scope. In summary, this specification The contents should not be construed as limiting the present invention.