Slip monitoring method and device of mobile robot and mobile robot

Abstract

The invention provides a slip monitoring method and device of a mobile robot and the mobile robot. The method comprises the following steps that the control capability occupancy rate of the mobile robot at the current moment is acquired; wherein the control capability occupancy rate is used for representing the control capability of a controller of the mobile robot to an execution mechanism; a speed error parameter of the mobile robot at the current moment is acquired; wherein the speed error parameter is used for representing the slipping possibility of the mobile robot; and slip monitoring is performed on the mobile robot according to the control capability occupancy rate and the speed error parameter. Through a mode of combining the control capability occupancy rate and the speed error, the mobile robot adopts different control modes when facing different conditions, so that an excessive control condition caused by singly adopting a speed error parameter for judgment is avoided, and the operation efficiency of the mobile robot is effectively improved.

Description

technical field [0001] The present application relates to the technical field of robot control, in particular to a slip monitoring method and device for a mobile robot and the mobile robot. Background technique [0002] With the maturity of unmanned automatic processing technology, in order to improve work efficiency, mobile robots have been widely used, among which the more common mobile robots are AGV (Automated Guided Vehicle, automatic guidance equipment) or AMR (Autonomous Mobile Robots, autonomous mobile Robot), which can automatically move from one location to another, is an automated, informationized and intelligent device. [0003] In the actual application scenarios of mobile robots, skidding is an abnormal situation with relatively large damage, such as collisions caused by out-of-control positions, or the lifting of goods caused by sudden acceleration changes. However, not all abnormalities are slipping abnormalities, such as uneven ground, load changes, etc., s...

AI Technical Summary

Problems solved by technology

However, not all abnormalities are slipping abnormalities, such as uneven ground, load changes, etc., so that the data of the IMU (Inertial Measurement Unit, inertial measurement unit) has noise interference related to the scene, and it is impossible to accurately measure the mobile robot through errors. slipping control, it is easy to cause the corresponding missing detection or excessive control, etc.

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