The invention is suitable for the technical field of equipment control, and provides a control method and device of a mobile robot, the mobile robot and a medium. The control method of the mobile robot specifically comprises the following steps: acquiring reference motion data required by a wheel of the mobile robot to reach a target position; according to the reference motion data, controlling the wheel to move, and monitoring motor shaft data of a motor assembly on the wheel and steering shaft data of a steering shaft on the wheel in the motion process of the wheel; based on the motor shaft data and the steering shaft data, the error amount of the wheel reaching the target position is calculated; and re-controlling the wheels to move according to the error amount. According to the embodiment of the invention, the steering precision of the mobile robot can be improved.

    本申请适用于设备控制技术领域,提供了一种移动机器人的控制方法、装置、移动机器人和介质。其中,上述移动机器人的控制方法具体包括:获取移动机器人的轮子到达目标位置所需的参考运动数据;根据所述参考运动数据,控制所述轮子运动,并在所述轮子的运动过程中,监测所述轮子上电机组件的电机轴数据和所述轮子上转向轴的转向轴数据;基于所述电机轴数据和所述转向轴数据,计算所述轮子到达所述目标位置的误差量;根据所述误差量,重新控制所述轮子进行运动。本申请的实施例可以提高移动机器人的转向精度。


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    Titel :

    Control method and device of mobile robot, mobile robot and medium


    Weitere Titelangaben:

    一种移动机器人的控制方法、装置、移动机器人和介质


    Beteiligte:
    ZHOU YONGTAO (Autor:in) / LEI CHUNHUA (Autor:in) / MING RU (Autor:in)

    Erscheinungsdatum :

    2022-04-19


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B62D MOTOR VEHICLES , Motorfahrzeuge



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