CN-121979211-A - Robot slope control method and device, robot and storage medium

CN121979211ACN 121979211 ACN121979211 ACN 121979211ACN-121979211-A

Abstract

The application discloses a robot slope control method, a device, a robot and a storage medium, and relates to the technical field of robots, wherein the robot slope control method comprises the steps of obtaining the inclination angle of a robot body; if the inclination angle of the machine body meets the slope compensation condition, the current expected speed of the robot is adjusted according to the inclination angle of the machine body to obtain a target expected speed, and the operation of the robot is controlled based on the target expected speed. According to the application, the body inclination angle of the robot can be obtained, if the body inclination angle meets the slope compensation condition, the expected speed of the robot can be compensated and adjusted through the body inclination angle, and the robot is controlled to run based on the compensated target expected speed, so that the deviation between the actual speed and the expected speed of the robot when the gradient occurs is compensated, the problems of landslide, rushing, departure and the like are avoided, and the efficiency loss is reduced.

Inventors

HUANG YANG
HUANG ZIMING
Zheng Chuwei

Assignees

深圳汉阳科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260119

Claims (10)

1. A robot ramp control method, the robot ramp control method comprising: acquiring the inclination angle of a robot body; if the inclination angle of the machine body meets the slope compensation condition, the current expected speed of the robot is adjusted according to the inclination angle of the machine body, so that the target expected speed is obtained; And controlling the robot to run based on the target expected speed.
2. The method for controlling a slope of a robot according to claim 1, wherein the body inclination angle includes a roll angle and a pitch angle, the slope compensation condition includes that the roll angle is greater than a preset roll angle or the pitch angle is greater than a preset pitch angle, and the step of adjusting the current desired speed of the robot according to the body inclination angle if the body inclination angle satisfies the slope compensation condition includes: When the roll angle is larger than a preset roll angle, according to the roll angle and the pitch angle, adjusting the expected angular speed in the current expected speed of the robot to obtain the target expected angular speed in the target expected speed; and under the condition that the pitch angle is larger than a preset pitch angle, adjusting the current expected linear velocity in the expected velocity according to the pitch angle to obtain the target expected linear velocity in the target expected velocity.
3. The robot ramp control method of claim 2 wherein the step of adjusting a desired angular velocity of the current desired velocity of the robot based on the roll angle and the pitch angle to obtain a target desired angular velocity of a target desired velocity comprises: Determining an initial compensation factor according to the roll angle and a first preset relation; under the condition that the pitch angle is larger than a preset pitch angle, increasing and adjusting the initial compensation factor to obtain a first compensation factor; And according to the first compensation factor, adjusting the expected angular speed in the current expected speed of the robot to obtain the target expected angular speed in the target expected speed.
4. The robot ramp control method of claim 2 wherein said step of adjusting a current desired linear velocity of said desired velocities in accordance with said pitch angle to obtain a target desired linear velocity of said target desired velocities comprises: determining an initial linear velocity compensation value according to the pitch angle and a second preset relation; judging whether the robot turns in situ currently; If the robot turns in situ currently, adjusting the expected linear velocity in the current expected velocity based on the initial linear velocity compensation value, the angular velocity factor of the robot and a preset adjustment coefficient to obtain a target expected linear velocity in the target expected velocity, wherein the angular velocity factor is calculated based on the actual expected angular velocity of the robot controlled currently; If the robot is not currently turning in situ, acquiring the current headstock type of the robot, and adjusting the current expected linear velocity in the expected velocity according to the headstock type and the initial linear velocity compensation value to obtain the target expected linear velocity in the target expected velocity.
5. The robot ramp control method of claim 4, wherein the step of obtaining a current headstock type of the robot, adjusting a desired linear velocity among the current desired velocities according to the headstock type and the initial linear velocity compensation value, and obtaining a target desired linear velocity among the target desired velocities comprises: And under the condition that the turning radius of the robot is larger than a preset turning radius and the product of the expected linear velocity in the current expected velocity and the pitch angle is larger than a preset value, acquiring the current headstock type of the robot, and adjusting the expected linear velocity in the current expected velocity according to the headstock type and the initial linear velocity compensation value to obtain the target expected linear velocity in the target expected velocity.
6. The robot ramp control method of claim 4, wherein the step of adjusting a desired linear velocity among the current desired velocities according to the head type and the initial linear velocity compensation value to obtain a target desired linear velocity among the target desired velocities includes: According to the type of the headstock, the initial linear velocity compensation value is gained; Calculating a linear velocity factor based on the expected linear velocity and a maximum linear velocity preset by the robot; And limiting the linear velocity compensation value after gain based on the linear velocity factor and the angular velocity factor, and adjusting the current expected linear velocity in the expected velocity based on the limited linear velocity compensation value to obtain the target expected linear velocity in the target expected velocity.
7. The robot ramp control method of claim 4 wherein said step of determining whether said robot is currently turning in situ comprises: Under the condition that the expected linear speed in the current expected speeds is greater than the preset linear speed, determining that the robot is not currently turning in situ; And under the condition that the expected linear velocity in the current expected velocity is smaller than the preset linear velocity, determining that the robot turns in place currently.
8. A robot control device, the device comprising: The acquisition module is used for acquiring the inclination angle of the robot body; The adjusting module is used for adjusting the current expected speed of the robot according to the inclination angle of the machine body if the inclination angle of the machine body meets the slope compensation condition, so as to obtain the target expected speed; And the control module is used for controlling the robot to run based on the target expected speed.
9. A robot comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the robot ramp control method according to any one of claims 1 to 7.
10. A storage medium, characterized in that the storage medium is a computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, realizes the steps of the robot ramp control method according to any one of claims 1 to 7.

Description

Robot slope control method and device, robot and storage medium Technical Field The present application relates to the field of robots, and in particular, to a method and apparatus for controlling a slope of a robot, and a storage medium. Background When the robot works on a slope, due to self gravity acceleration, the situation that the actual speed is inconsistent with the issuing speed can occur, so that various problems such as sliding, rushing, out of bounds and the like of the robot occur, and efficiency loss is caused. Disclosure of Invention The application mainly aims to provide a robot slope control method, a device, a robot and a storage medium, and aims to solve the technical problems of efficiency loss caused by various problems of sliding, rushing, out of bounds and the like of a machine. In order to achieve the above object, the present application provides a robot slope control method, comprising: acquiring the inclination angle of a robot body; if the inclination angle of the machine body meets the slope compensation condition, the current expected speed of the robot is adjusted according to the inclination angle of the machine body, so that the target expected speed is obtained; And controlling the robot to run based on the target expected speed. In an embodiment, the body inclination angle includes a roll angle and a pitch angle, the slope compensation condition includes that the roll angle is greater than a preset roll angle, or the pitch angle is greater than a preset pitch angle, and if the body inclination angle meets the slope compensation condition, the step of adjusting the current expected speed of the robot according to the body inclination angle to obtain the target expected speed includes: When the roll angle is larger than a preset roll angle, according to the roll angle and the pitch angle, adjusting the expected angular speed in the current expected speed of the robot to obtain the target expected angular speed in the target expected speed; and under the condition that the pitch angle is larger than a preset pitch angle, adjusting the current expected linear velocity in the expected velocity according to the pitch angle to obtain the target expected linear velocity in the target expected velocity. In an embodiment, the step of adjusting the desired angular velocity of the current desired velocity of the robot according to the roll angle and the pitch angle to obtain the target desired angular velocity of the target desired velocity includes: Determining an initial compensation factor according to the roll angle and a first preset relation; under the condition that the pitch angle is larger than a preset pitch angle, increasing and adjusting the initial compensation factor to obtain a first compensation factor; And according to the first compensation factor, adjusting the expected angular speed in the current expected speed of the robot to obtain the target expected angular speed in the target expected speed. In an embodiment, the step of adjusting a desired linear velocity of the current desired velocities according to the pitch angle to obtain a target desired linear velocity of the target desired velocities includes: determining an initial linear velocity compensation value according to the pitch angle and a second preset relation; judging whether the robot turns in situ currently; If the robot turns in situ currently, adjusting the expected linear velocity in the current expected velocity based on the initial linear velocity compensation value, the angular velocity factor of the robot and a preset adjustment coefficient to obtain a target expected linear velocity in the target expected velocity, wherein the angular velocity factor is calculated based on the actual expected angular velocity of the robot controlled currently; If the robot is not currently turning in situ, acquiring the current headstock type of the robot, and adjusting the current expected linear velocity in the expected velocity according to the headstock type and the initial linear velocity compensation value to obtain the target expected linear velocity in the target expected velocity. In an embodiment, the step of obtaining the current headstock type of the robot, adjusting the expected linear velocity of the current expected velocity according to the headstock type and the initial linear velocity compensation value, and obtaining the target expected linear velocity of the target expected velocity includes: And under the condition that the turning radius of the robot is larger than a preset turning radius and the product of the expected linear velocity in the current expected velocity and the pitch angle is larger than a preset value, acquiring the current headstock type of the robot, and adjusting the expected linear velocity in the current expected velocity according to the headstock type and the initial linear velocity compensation value to obtain the target expected linear velocity in the target exp