The invention provides a control method for an active suspension wheeled robot and computer equipment. The active suspension wheeled robot comprises a plurality of hubs, a plurality of hub motors, a plurality of suspension motors and a plurality of active suspension arms. The control method comprises the steps that under the condition that the robot advances according to a planned path, posture data of the active suspension wheeled robot are obtained; according to the posture data, whether the active suspension wheeled robot has the rollover risk or not is determined; under the condition that the active suspension wheeled robot has the rollover risk, at least part of the suspension motors are adjusted, then the suspension motors drive the active suspension arms to make corresponding adjustment, the moving posture of the active suspension wheeled robot is adjusted in real time, and inclination or shaking of a vehicle body is reduced. Therefore, the obstacle crossing ability and the terrain adaptability of the active suspension wheeled robot are improved.
本说明书提供一种用于主动悬挂轮式机器人的控制方法及计算机设备,所述主动悬挂轮式机器人包括多个轮毂、多个轮毂电机、多个悬挂电机和多个主动悬挂臂。所述控制方法包括:在满足按照规划路径行进的条件下,获取主动悬挂轮式机器人的姿态数据;根据姿态数据,确定主动悬挂轮式机器人是否存在翻车风险;在主动悬挂轮式机器人存在翻车风险的情况下,调节至少部分悬挂电机,进而使悬挂电机驱动主动悬挂臂作出相应调整,进而使主动悬挂轮式机器人的运动姿态得到实时地调节,减小车体倾斜或晃动。从而提高主动悬挂轮式机器人的越障能力以及对地形的适应能力。
Control method for active suspension wheeled robot and computer equipment
用于主动悬挂轮式机器人的控制方法及计算机设备
2024-01-09
Patent
Electronic Resource
Chinese
Control method and device for active suspension wheeled robot and computer equipment
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