CN-122009318-A - Steering control method for self-moving robot, and medium device

Abstract

The present disclosure provides a steering control method of a self-moving robot, a computer-readable storage medium, and an electronic device, the method including determining a reference steering radius of the driving wheel group, the reference steering radius being a distance from a target reference point to a steering center of the self-moving robot; the target reference point is the midpoint of a connecting line of the axle center of each wheel in the driving wheel set, the steering center is positioned on a straight line where the connecting line of the axle center of each wheel in the driving wheel set is positioned, the steering angle of each steering wheel in the steering driving wheel set is determined based on the reference steering radius, and steering is controlled to be carried out by each steering wheel according to the steering angle. The method can control the steering wheel of the self-moving robot to perform reasonable and accurate steering.

Inventors

• WAN LONG

Assignees

• 苏州石锐卓科技有限公司

Dates

Publication Date

20260512

Application Date

20260130

Claims (20)

1. 1. A steering control method for a self-moving robot, which is applied to the self-moving robot, wherein the self-moving robot comprises a steering driving wheel set and a driving wheel set, one of the steering driving wheel set and the driving wheel set is positioned at the front end of the self-moving robot, and the other is positioned at the rear end of the self-moving robot, and the method comprises the following steps: Determining a reference steering radius of the driving wheel set, wherein the reference steering radius is the distance from a target reference point to the steering center of the self-moving robot, the target reference point is the midpoint of a connecting line of the axle center of each wheel in the driving wheel set, and the steering center is positioned on a straight line where the connecting line of the axle center of each wheel in the driving wheel set is positioned; determining steering angles of steering wheels in the steering driving wheel group based on the reference steering radius; and controlling each steering wheel to execute steering according to the steering angle.
2. 2. The method of claim 1, wherein the determining the reference steering radius of the drive wheel set comprises: acquiring a target rudder angle of the self-moving robot; and determining the reference steering radius of the driving wheel group based on the target rudder angle of the self-moving robot.
3. 3. The method according to claim 2, wherein the method further comprises: acquiring a target rudder angle of the self-moving robot to be compensated and an inertial measurement angle of the self-moving robot; calculating a deviation value of the rudder angle of the target airframe to be compensated and the inertia measurement angle; adding the deviation value and the target rudder angle to be compensated to generate the compensated target rudder angle; the determining the reference steering radius of the driving wheel set based on the target rudder angle of the self-moving robot comprises the following steps: And determining the reference steering radius of the driving wheel group based on the compensated target rudder angle of the self-moving robot.
4. 4. The method of claim 2, wherein the determining the reference steering radius of the drive wheel set based on the target rudder angle of the self-moving robot comprises: The method comprises the steps of obtaining the wheelbase of the self-moving robot, wherein the wheelbase is the vertical distance between the connecting line of the axle center of each steering wheel in the steering driving wheel group and the connecting line of the axle center of each driving wheel in the driving wheel group, and the connecting line of the axle center of each steering wheel in the steering driving wheel group is parallel or approximately parallel to the connecting line of the axle center of each driving wheel in the driving wheel group; calculating a reference steering radius of the driving wheel set according to the following formula: Wherein, the Representing the reference turning radius in question, Representing the wheelbase of the self-moving robot, Representing the target rudder angle.
5. 5. The method of claim 4, wherein the steering drive wheel set comprises a first steering wheel and a second steering wheel; The determining the steering angle of each steering wheel in the steering driving wheel group based on the reference steering radius of the driving wheel group comprises the following steps: acquiring the wheelbase of the self-moving robot and the length of a connecting line of the axle centers of the first steering wheel and the second steering wheel; And respectively determining a first steering angle of the first steering wheel and a second steering angle of the second steering wheel according to the reference steering radius of the driving wheel group, the wheelbase of the self-moving robot and the length of a connecting line of the axes of the first steering driving wheel and the second steering wheel.
6. 6. The method of claim 5, wherein the determining the first steering angle of the first steerable wheel and the second steering angle of the second steerable wheel, respectively, comprises: calculating a first steering angle of the first steering wheel and a second steering angle of the second steering wheel by the following formulas, respectively: Wherein, the Indicating that the first steering angle is to be taken, Indicating that the second steering angle is a second steering angle, Representing the wheelbase of the self-moving robot, Representing a reference steering radius of the drive wheel set, A length of a connecting line representing an axial center of the first steering driving wheel and the second steering wheel; the first steering angle Is suitable for the reference steering radius of the driving wheel group Is the case in (2); The second steering angle Is suitable for the reference steering radius of the driving wheel group Is the case in (2); the distance between the axle center of the first steering wheel and the steering center is smaller than the distance between the axle center of the second steering wheel and the steering center.
7. 7. The method of claim 6, wherein the method further comprises: If the reference steering radius of the driving wheel set meets Then the first steering angle of the first steering wheel is determined to be 90 degrees, and is adopted And determining a second steering angle of the second steered wheel.
8. 8. The method of claim 6, wherein the method further comprises: If the reference steering radius of the driving wheel set meets Determining the second steering angle of the second steering wheel to be 90 degrees, and adopting The calculation formula of (a) determines the first steering angle of the first steering wheel.
9. 9. The method according to any one of claims 5-8, further comprising: and carrying out angle limiting treatment on the first steering angle and/or the second steering angle to enable the first steering angle and/or the second steering angle to be in a preset angle range.
10. 10. The method according to any one of claims 5-9, further comprising: Acquiring a target body linear speed and a target body rudder angle of the self-moving robot; Determining the rolling speed of each wheel in the steering driving wheel group and the driving wheel group based on the target airframe linear speed and the target airframe rudder angle; the method further comprises the steps of: and controlling each steering wheel to execute steering according to the steering angle, and driving each wheel in the steering driving wheel group and the driving wheel group to execute rolling according to the rolling speed of each wheel in the steering driving wheel group and the driving wheel group.
11. 11. The method of claim 10, wherein the drive wheel set comprises a first drive wheel and a second drive wheel; The determining the rolling speed of each wheel in the steering driving wheel group and the driving wheel group based on the target airframe linear speed and the target airframe rudder angle comprises the following steps: the first rolling speed of the first driving wheel and the second rolling speed of the second driving wheel are determined by the following formulas: Wherein, the Indicating a first rolling speed of the first driving wheel, Representing a second rolling speed of the second drive wheel, Indicating the target linear velocity of the fuselage, The rudder angle of the target body is indicated, A length of a connecting line representing an axial center of the first driving wheel and the second driving wheel; the distance between the axle center of the first driving wheel and the steering center is smaller than the distance between the axle center of the second driving wheel and the steering center.
12. 12. The method of claim 11, wherein the steerable drive wheel comprises a first steerable wheel and a second steerable wheel; The determining the rolling speed of each wheel in the steering driving wheel group and the driving wheel group based on the target airframe linear speed and the target airframe rudder angle comprises the following steps: the third rolling speed of the first steering wheel and the fourth rolling speed of the second steering wheel are determined by the following formulas: Wherein, the Representing a third rolling speed of the first steering wheel, A fourth rolling speed representing the second steered wheel, Indicating the target linear velocity of the fuselage, The rudder angle of the target body is indicated, Representing a first steering angle of the first steering wheel, Representing a second steering angle of the second steered wheel.
13. 13. The method according to claim 11 or 12, characterized in that the method further comprises: if the rudder angle of the target machine body is larger than zero, reversing the rolling direction of the left wheel; if the rudder angle of the target machine body is smaller than zero, reversing the rolling direction of the right wheel; Wherein, the target rudder angle is greater than zero indicating that the self-moving robot performs the counterclockwise direction, and the target rudder angle is less than zero indicating that the self-moving robot performs the clockwise direction.
14. 14. The method according to claim 12, wherein the method further comprises: Acquiring the actual rotation speeds of the steering driving wheel set and driving motors corresponding to all wheels in the driving wheel set; Comparing the actual rotation speed of each wheel with the expected rotation speed corresponding to each wheel, and verifying the execution stability of each wheel according to the comparison result; the expected rotating speeds corresponding to the wheels are obtained through conversion of the first rolling speed, the second rolling speed, the third rolling speed and the fourth rolling speed.
15. 15. The method according to any one of claims 1-14, further comprising: The control instruction comprises a target body linear speed and a target body rudder angle of the self-moving robot; and when the target body linear speed is determined to be zero and the target body rudder angle is not zero, triggering the self-moving robot to execute the in-situ steering operation, and determining the reference steering radius of the driving wheel group according to the target body rudder angle.
16. 16. The method of any one of claims 1-14, wherein the self-moving robot comprises a work module, and wherein the distance between a steering center of the self-moving robot and a reference line is half an effective working width of the work module, wherein the reference line is a line passing through the work center of the work module and parallel to a longitudinal axis of the self-moving robot.
17. 17. A self-moving robot, comprising: A body; A steering drive wheel set; One of the steering driving wheel set and the driving wheel set is positioned at the front end of the self-moving robot, and the other is positioned at the rear end of the self-moving robot; The controller is used for determining a reference steering radius of the driving wheel set, wherein the reference steering radius is the distance from a target reference point to the steering center of the self-moving robot, the target reference point is the midpoint of a connecting line of the axle center of each wheel in the driving wheel set, the steering center is located on a straight line where the connecting line of the axle center of each wheel in the driving wheel set is located, the steering angle of each steering wheel in the steering driving wheel set is determined based on the reference steering radius, and steering is controlled to be executed by each steering wheel according to the steering angle.
18. 18. The self-moving robot of claim 17, wherein the controller is further configured to: acquiring a target rudder angle of the self-moving robot; and determining the reference steering radius of the driving wheel group based on the target rudder angle of the self-moving robot.
19. 19. The self-moving robot of claim 18, wherein the controller is further configured to: acquiring a target rudder angle of the self-moving robot to be compensated and an inertial measurement angle of the self-moving robot; calculating a deviation value of the rudder angle of the target airframe to be compensated and the inertia measurement angle; adding the deviation value and the target rudder angle to be compensated to generate the compensated target rudder angle; And determining the reference steering radius of the driving wheel group based on the compensated target rudder angle of the self-moving robot.
20. 20. The self-moving robot of claim 18, wherein the controller is further configured to: The method comprises the steps of obtaining the wheelbase of the self-moving robot, wherein the wheelbase is the vertical distance between the connecting line of the axle center of each steering wheel in the steering driving wheel group and the connecting line of the axle center of each driving wheel in the driving wheel group, and the connecting line of the axle center of each steering wheel in the steering driving wheel group is parallel or approximately parallel to the connecting line of the axle center of each driving wheel in the driving wheel group; calculating a reference steering radius of the driving wheel set according to the following formula: Wherein, the Representing the reference turning radius in question, Representing the wheelbase of the self-moving robot, Representing the target rudder angle.

Description

Steering control method for self-moving robot, and medium device Technical Field The disclosure relates to the field of intelligent equipment, in particular to a steering control method of a self-moving robot, the self-moving robot, a computer readable storage medium and electronic equipment. Background In the application scenarios of self-moving robots, such as mowing robots, cleaning robots, etc., steering accuracy and stability are important and core requirements. In the prior art, the steering control of the self-mobile robot often has the problems of undefined steering center positioning and lack of reasonable basis for steering angle distribution, so that the situations of track deviation, inconsistent steering response and the like easily occur when the robot steers, and the basic requirement on the steering control under a complex operation scene is difficult to meet. Disclosure of Invention The invention aims to provide a steering control method of a self-moving robot, the self-moving robot, a computer readable storage medium and electronic equipment, so as to solve the problems of large steering deviation and insufficient stability caused by fuzzy steering center positioning and lack of reasonable basis of steering angle distribution in the existing steering control of the self-moving robot. The specific scheme is as follows: According to a first aspect of the present disclosure, there is provided a steering control method for a self-moving robot, which is applied to the self-moving robot, the self-moving robot including a steering driving wheel set and a driving wheel set, one of the steering driving wheel set and the driving wheel set being located at a front end of the self-moving robot, and the other being located at a rear end of the self-moving robot, the method comprising: Determining a reference steering radius of the driving wheel set, wherein the reference steering radius is the distance from a target reference point to the steering center of the self-moving robot, the target reference point is the midpoint of a connecting line of the axle center of each wheel in the driving wheel set, and the steering center is positioned on a straight line where the connecting line of the axle center of each wheel in the driving wheel set is positioned; determining steering angles of steering wheels in the steering driving wheel group based on the reference steering radius; and controlling each steering wheel to execute steering according to the steering angle. In some embodiments, the determining the reference steering radius of the drive wheel set includes: acquiring a target rudder angle of the self-moving robot; and determining the reference steering radius of the driving wheel group based on the target rudder angle of the self-moving robot. In some embodiments, the method further comprises: acquiring a target rudder angle of the self-moving robot to be compensated and an inertial measurement angle of the self-moving robot; calculating a deviation value of the rudder angle of the target airframe to be compensated and the inertia measurement angle; adding the deviation value and the target rudder angle to be compensated to generate the compensated target rudder angle; the determining the reference steering radius of the driving wheel set based on the target rudder angle of the self-moving robot comprises the following steps: And determining the reference steering radius of the driving wheel group based on the compensated target rudder angle of the self-moving robot. In some embodiments, the determining the reference steering radius of the drive wheel set based on the target rudder angle of the self-moving robot includes: The method comprises the steps of obtaining the wheelbase of the self-moving robot, wherein the wheelbase is the vertical distance between the connecting line of the axle center of each steering wheel in the steering driving wheel group and the connecting line of the axle center of each driving wheel in the driving wheel group, and the connecting line of the axle center of each steering wheel in the steering driving wheel group is parallel or approximately parallel to the connecting line of the axle center of each driving wheel in the driving wheel group; calculating a reference steering radius of the driving wheel set according to the following formula: Wherein, the Representing the reference turning radius in question,Representing the wheelbase of the self-moving robot,Representing the target rudder angle. In some embodiments, the steering drive wheel set includes a first steering wheel and a second steering wheel; The determining the steering angle of each steering wheel in the steering driving wheel group based on the reference steering radius of the driving wheel group comprises the following steps: acquiring the wheelbase of the self-moving robot and the length of a connecting line of the axle centers of the first steering wheel and the second steering wheel; And respectively