Motion state control method and apparatus, device, and readable storage medium

Patent metadata

Field	Value
Publication number	US-12321180-B2
Application number	US-202217966027-A
Country	US
Kind code	B2
Filing date	Oct 14, 2022
Priority date	Jan 14, 2021
Publication date	Jun 3, 2025
Grant date	Jun 3, 2025

Abstract

This application relates to the field of robot control, and provides a motion state control method and apparatus, a device, and a readable storage medium. The method includes the following steps: Step 301 : Acquire basic data and motion state data, the basic data being used for representing a structural feature of a wheeled robot, and the motion state data being used for representing a motion feature of the wheeled robot. Step 302 : Determine a state matrix of the wheeled robot based on the basic data and the motion state data, the state matrix being related to an interference parameter of the wheeled robot, the interference parameter corresponding to a balance error of the wheeled robot. Step 303 : Determine, based on the state matrix, a torque for controlling the wheeled robot. Step 304 : Control, by using the torque, the wheeled robot to be in a standstill state.

First claim

What is claimed is:

1. A motion state control method, applicable to a wheeled robot, the method comprising:
controlling the wheeled robot to be in an initial motion state, the initial motion state being a motion state of the wheeled robot in a first time period; and
controlling the wheeled robot to switch from the initial motion state to a standstill state, the wheeled robot being in the standstill state through continuous adjustment according to a balance error in a second time period by:
acquiring basic data and motion state data of the wheeled robot, the basic data representing a structural feature of the wheeled robot, and the motion state data representing a motion feature of the wheeled robot, the motion state data comprising a plurality of motion state values comprising: a corrected pitch angle of the wheeled robot that is corrected by an interference parameter, a tilt rate of the wheeled robot, a rotational distance of a wheel of the wheeled robot, and a rotational linear velocity of the wheel of the wheeled robot;
determining an observer based on the basic data;
iteratively updating an estimate of a state matrix, wherein the state matrix comprises the plurality of motion state values and the interference parameter, wherein the estimate of the state matrix is iteratively updated based on an iteration value comprising at least one of the plurality of motion state values and a first matrix parameter that selects which of the plurality of motion state values to use for the iteration value, wherein the estimate of the state matrix is iteratively updated according to a form of the observer that comprises: =Â{circumflex over (ζ)}+{circumflex over (B)}u+L(y m −Ĉ{circumflex over (ζ)}), wherein {circumflex over (ζ)} is the state matrix estimated through the observer, u is a control torque, L is a preset parameter, y m is an actual value of the iteration value, Ĉ is the first matrix parameter, the product Ĉ{circumflex over (ζ)} is an estimated value of the iteration value, and  and {circumflex over (B)} are second and third matrix parameters, respectively, determined based on the basic data;
determining, based on the estimate of the state matrix, a torque to control the wheeled robot; and
applying the torque to the wheeled robot.

2. The method according to claim 1 , wherein
the interference parameter corresponds to the balance error of the wheeled robot.

3. The method according to claim 1 , wherein the determining the observer based on the basic data comprises:
determining the second and third matrix parameters in the observer based on the basic data; and
obtaining, according to the second and third matrix parameters, the observer to determine the state matrix.

4. The method according to claim 1 , further comprising: determining the form of the observer based on a form of the state matrix of the wheeled robot; and determining a form of the iteration value in the observer based on content of the motion state data.

5. The method according to claim 1 , wherein

A
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and

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A

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Assignees

• Tencent Tech Shenzhen Co Ltd

Inventors

• Wang Shuai
• Zhang Jingfan
• Lai Jie
• Zhang Dongsheng
• Chen Ke
• Zheng Yu
• Zhang Zhengyou

Classifications

• G05D1/495

  to ensure stability · CPC title

• B25J19/0008

  Balancing devices · CPC title

• B25J13/085

  Force or torque sensors (B25J13/082, B25J13/084 take precedence) · CPC title

• B25J9/1653

  parameters identification, estimation, stiffness, accuracy, error analysis · CPC title

• B25J9/1633

  compliant, force, torque control, e.g. combined with position control · CPC title