Robot and method and apparatus of controlling movement of transport robot

1. A method of controlling movement of a transport robot, comprising:

acquiring an actual moving distance of a left driving wheel and an actual moving distance of a right driving wheel of the transport robot;

determining a following error of the left driving wheel and a following error of the right driving wheel of the transport robot at a current point according to the actual moving distance of the left driving wheel, the actual moving distance of the right driving wheel and a predetermined moving trajectory, wherein determining a following error of the left driving wheel and a following error of the right driving wheel of the transport robot at a current point comprises:

setting a moving distance of the left driving wheel and a moving distance of the right driving wheel to be an abscissa and an ordinate in a Cartesian coordinate system respectively,

setting the predetermined moving trajectory to be a straight line in the Cartesian coordinate system at an angle of 45 degrees to an axis of abscissas in the Cartesian coordinate system, any position point on the predetermined moving trajectory corresponding to a predetermined moving distance of the left driving wheel and a predetermined moving distance of the right driving wheel, and

determining a difference between the actual moving distance and the predetermined moving distance of the left driving wheel as the following error of the left driving wheel, and determining a difference between the actual moving distance and the predetermined moving distance of the right driving wheel as the following error of the right driving wheel;

determining a deviation error between the actual moving trajectory and the predetermined moving trajectory of the transport robot based on the following error of the left driving wheel and the following error of the right driving wheel, and generating a position adjustment instruction of the left driving wheel and a position adjustment instruction of the right driving wheel according to the deviation error; and

transmitting the position adjustment instruction of the left driving wheel and the position adjustment instruction of the right driving wheel to a first servo driving system for driving the left driving wheel and a second servo driving system for driving the right driving wheel respectively, to reduce a deviation between an actual moving trajectory and the predetermined moving trajectory of the transport robot, any position point on the actual moving trajectory corresponding to the actual moving distance of the left driving wheel and the actual moving distance of the right driving wheel.

2. The method according to claim 1 , wherein generating a position adjustment instruction of the left driving wheel and a position adjustment instruction of the right driving wheel comprises:

performing a proportion-integration operation on the deviation error to acquire a position adjustment output;

generating the position adjustment instruction of the left driving wheel and the position adjustment instruction of the right driving wheel based on the position adjustment output.

3. The method according to claim 2 , wherein generating the position adjustment instruction of the left driving wheel and the position adjustment instruction of the right driving wheel based on the position adjustment output comprises:

converting a product of the position adjustment output and an adjustment coefficient of the left driving wheel into the position adjustment instruction of the left driving wheel;

converting a product of the position adjustment output and an adjustment coefficient of the right driving wheel into the position adjustment instruction of the right driving wheel.

4. The method according to claim 1 , wherein

the first servo driving system comprises a first position loop unit outputting a first position instruction, a first speed loop unit and a first motor, wherein the first position instruction is adjusted based on the position adjustment instruction of the left driving wheel to acquire a first control instruction, which acts on the first motor through the first speed loop unit to adjust a rotational speed of the first motor;

the second servo driving system comprises: a second position loop unit outputting a second position instruction, a second speed loop unit and a second motor, wherein the second position instruction is adjusted based on the position adjustment instruction of the right driving wheel to acquire a second control instruction, which acts on the second motor through the second speed loop unit to adjust a rotational speed of the second motor.

5. The method according to claim 1 , wherein acquiring an actual moving distance of a left driving wheel and an actual moving distance of a right driving wheel of the transport robot comprises:

collecting a first pulse information of the left driving wheel with a first encoder, and calculating the actual moving distance of the left driving wheel according to the first pulse information;

collecting a second pulse information of the right driving wheel with a second encoder, and calculating the actual moving distance of the right driving wheel according to the second pulse information.

6. An apparatus of controlling movement of a transport robot, comprising:

memory; and

one or more processors coupled to the memory, which are configured to, based on instructions stored in the memory, implement a method of controlling movement of a transport robot comprising:

acquiring an actual moving distance of a left driving wheel and an actual moving distance of a right driving wheel of the transport robot;

determining a following error of the left driving wheel and a following error of the right driving wheel of the transport robot at a current point according to the actual moving distance of the left driving wheel, the actual moving distance of the right driving wheel and a predetermined moving trajectory, wherein determining a following error of the left driving wheel and a following error of the right driving wheel of the transport robot at a current point comprises:

setting a moving distance of the left driving wheel and a moving distance of the right driving wheel to be an abscissa and an ordinate in a Cartesian coordinate system respectively,

setting the predetermined moving trajectory to be a straight line in the Cartesian coordinate system at an angle of 45 degrees to an axis of abscissas in the Cartesian coordinate system, any position point on the predetermined moving trajectory corresponding to a predetermined moving distance of the left driving wheel and a predetermined moving distance of the right driving wheel, and

determining a difference between the actual moving distance and the predetermined moving distance of the left driving wheel as the following error of the left driving wheel, and determining a difference between the actual moving distance and the predetermined moving distance of the right driving wheel as the following error of the right driving wheel;

determining a deviation error between the actual moving trajectory and the predetermined moving trajectory of the transport robot based on the following error of the left driving wheel and the following error of the right driving wheel, and generating a position adjustment instruction of the left driving wheel and a position adjustment instruction of the right driving wheel according to the deviation error; and

transmitting the position adjustment instruction of the left driving wheel and the position adjustment instruction of the right driving wheel to a first servo driving system for driving the left driving wheel and a second servo driving system for driving the right driving wheel respectively, to reduce a deviation between an actual moving trajectory and the predetermined moving trajectory of the transport robot, any position point on the actual moving trajectory corresponding to the actual moving distance of the left driving wheel and the actual moving distance of the right driving wheel.

7. A transport robot, comprising:

the apparatus of controlling movement of a transport robot according to claim 6 .

8. The transport robot according to claim 7 , further comprising:

a first encoder for collecting a first pulse information of a left driving wheel and a second encoder for collecting a second pulse information of a right driving wheel,

wherein the apparatus of controlling movement of the transport robot calculates an actual moving distance of the left driving wheel according to the first pulse information, and calculates an actual moving distance of the right driving wheel according to the second pulse information.

9. The transport robot according to claim 7 , further comprising:

a first servo driving system and a second servo driving system,

wherein the first servo driving system comprises a first position loop unit outputting a first position instruction, a first speed loop unit and a first motor, wherein the first position instruction is adjusted based on the position adjustment instruction of the left driving wheel to acquire a first control instruction, which acts on the first motor through the first speed loop unit to adjust a rotational speed of the first motor;

wherein the second servo driving system comprises: a second position loop unit outputting a second position instruction, a second speed loop unit and a second motor, wherein the second position instruction is adjusted based on the position adjustment instruction of the right driving wheel to acquire a second control instruction, which acts on the second motor through the second speed loop unit to adjust a rotational speed of the second motor.

10. The apparatus according to claim 6 , wherein generating a position adjustment instruction of the left driving wheel and a position adjustment instruction of the right driving wheel comprises:

performing a proportion-integration operation on the deviation error to acquire a position adjustment output;

generating the position adjustment instruction of the left driving wheel and the position adjustment instruction of the right driving wheel based on the position adjustment output.

11. The apparatus according to claim 6 , wherein generating the position adjustment instruction of the left driving wheel and the position adjustment instruction of the right driving wheel based on the position adjustment output comprises:

converting a product of the position adjustment output and an adjustment coefficient of the left driving wheel into the position adjustment instruction of the left driving wheel;

converting a product of the position adjustment output and an adjustment coefficient of the right driving wheel into the position adjustment instruction of the right driving wheel.

12. The apparatus according to claim 6 , wherein acquiring an actual moving distance of a left driving wheel and an actual moving distance of a right driving wheel of the transport robot comprises:

collecting a first pulse information of the left driving wheel with a first encoder, and calculating the actual moving distance of the left driving wheel according to the first pulse information;

collecting a second pulse information of the right driving wheel with a second encoder, and calculating the actual moving distance of the right driving wheel according to the second pulse information.

13. A non-transitory computer-readable storage medium in which instructions are stored, which when executed by one or more processors implement a method of controlling movement of a transport robot comprising:

acquiring an actual moving distance of a left driving wheel and an actual moving distance of a right driving wheel of the transport robot;

determining a following error of the left driving wheel and a following error of the right driving wheel of the transport robot at a current point according to the actual moving distance of the left driving wheel, the actual moving distance of the right driving wheel and a predetermined moving trajectory, wherein determining a following error of the left driving wheel and a following error of the right driving wheel of the transport robot at a current point comprises:

setting a moving distance of the left driving wheel and a moving distance of the right driving wheel to be an abscissa and an ordinate in a Cartesian coordinate system respectively,

setting the predetermined moving trajectory to be a straight line in the Cartesian coordinate system at an angle of 45 degrees to an axis of abscissas in the Cartesian coordinate system, any position point on the predetermined moving trajectory corresponding to a predetermined moving distance of the left driving wheel and a predetermined moving distance of the right driving wheel, and

determining a difference between the actual moving distance and the predetermined moving distance of the left driving wheel as the following error of the left driving wheel, and determining a difference between the actual moving distance and the predetermined moving distance of the right driving wheel as the following error of the right driving wheel;

determining a deviation error between the actual moving trajectory and the predetermined moving trajectory of the transport robot based on the following error of the left driving wheel and the following error of the right driving wheel, and generating a position adjustment instruction of the left driving wheel and a position adjustment instruction of the right driving wheel according to the deviation error; and

transmitting the position adjustment instruction of the left driving wheel and the position adjustment instruction of the right driving wheel to a first servo driving system for driving the left driving wheel and a second servo driving system for driving the right driving wheel respectively, to reduce a deviation between an actual moving trajectory and the predetermined moving trajectory of the transport robot, any position point on the actual moving trajectory corresponding to the actual moving distance of the left driving wheel and the actual moving distance of the right driving wheel.

14. The storage medium according to claim 13 , wherein generating a position adjustment instruction of the left driving wheel and a position adjustment instruction of the right driving wheel comprises:

performing a proportion-integration operation on the deviation error to acquire a position adjustment output;

generating the position adjustment instruction of the left driving wheel and the position adjustment instruction of the right driving wheel based on the position adjustment output.

15. The storage medium according to claim 13 , wherein generating the position adjustment instruction of the left driving wheel and the position adjustment instruction of the right driving wheel based on the position adjustment output comprises:

converting a product of the position adjustment output and an adjustment coefficient of the left driving wheel into the position adjustment instruction of the left driving wheel;

converting a product of the position adjustment output and an adjustment coefficient of the right driving wheel into the position adjustment instruction of the right driving wheel.

16. The storage medium according to claim 13 , wherein acquiring an actual moving distance of a left driving wheel and an actual moving distance of a right driving wheel of the transport robot comprises:

collecting a first pulse information of the left driving wheel with a first encoder, and calculating the actual moving distance of the left driving wheel according to the first pulse information;

collecting a second pulse information of the right driving wheel with a second encoder, and calculating the actual moving distance of the right driving wheel according to the second pulse information.