CN110076774A - Capture target control mode switching method, device, equipment and storage medium - Google Patents
Capture target control mode switching method, device, equipment and storage medium Download PDFInfo
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- CN110076774A CN110076774A CN201910338228.4A CN201910338228A CN110076774A CN 110076774 A CN110076774 A CN 110076774A CN 201910338228 A CN201910338228 A CN 201910338228A CN 110076774 A CN110076774 A CN 110076774A
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 239000011159 matrix material Substances 0.000 claims description 25
- 238000006243 chemical reaction Methods 0.000 claims description 24
- 230000003044 adaptive effect Effects 0.000 claims description 14
- 238000004422 calculation algorithm Methods 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 10
- 229940125368 controlled substance Drugs 0.000 claims description 6
- 239000000599 controlled substance Substances 0.000 claims description 6
- 230000007704 transition Effects 0.000 claims 1
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- 238000012986 modification Methods 0.000 description 2
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- 230000003068 static effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention is suitable for computer field, provides a kind of captures target control mode switching method, device, computer equipment and storage medium, which comprises according to preset detected rule acquisition controlled object and the current location information of target object；The distance between controlled object and target object are determined according to the current location information of the controlled object and target object；When judging that the distance meets preset control mode switch condition, switching control controlled object captures the control model of target object.Capture target control mode switching method provided in an embodiment of the present invention can use different control models according to the distance of controlled object to target object, can satisfy the demand for control under different scenes, so that the accuracy rate that controlled object captures target object is higher.
Description
Technical field
The invention belongs to computer field more particularly to a kind of capture target control mode switching method, device, equipment and
Storage medium.
Background technique
Remote control refers to by user's (teleoperator) remote-controlled operation remote controler to control robot, unmanned plane, distant
The control that the controlled objects such as control vehicle are moved, and with the development of remote control technology, remote control technology also applies to more and more
In field, such as remote control controlled object goes tracking, captures target object.
However, being all that the simple sense organ for relying on user judges to control when being remotely controlled controlled object capture target object
The movement of controlled object, since user and robot have distance factor there are spatial pose difference and spatially, often
The presence states of perception controlled object promptly and accurately are difficult to, especially for the controlled object that remote control fast moves, the sense of people
Official, which reacts, often has lag and inaccuracy, it is difficult to control the movement of controlled object effectively to capture target, target is caused to catch
The accuracy rate caught is lower, to seriously affect the experience effect of user.
As it can be seen that existing remote control technology is there is also remote control mode is single, the demand for control being unable to satisfy under different scenes.
Summary of the invention
Being designed to provide for the embodiment of the present invention captures target control mode switching method, device, equipment and storage Jie
Matter, it is intended to solve that remote control mode existing for existing remote control technology is single, be unable to satisfy the skill of the lower demand for control of different scenes
Art problem.
The embodiments of the present invention are implemented as follows, a kind of capture target control mode switching method, comprising:
The current location information of controlled object and target object is obtained according to preset detected rule；
It is determined between controlled object and target object according to the current location information of the controlled object and target object
Distance；
When judging that the distance meets preset control mode switch condition, switching control controlled object captures object
The control model of body.
The another object of the embodiment of the present invention is to provide a kind of capture target control mode-changeover device, comprising:
Location information detection unit, for obtaining the current of controlled object and target object according to preset detected rule
Location information；
Distance determining unit, for determining controlled substance according to the current location information of the controlled object and target object
The distance between body and target object；
Control mode switch unit, for switching when judging that the distance meets preset control mode switch condition
Control the control model that controlled object captures target object.
The another object of the embodiment of the present invention is to provide a kind of computer equipment, including memory and processor, described
Computer program is stored in memory, when the computer program is executed by the processor, so that the processor executes
The step of capture target control mode switching method as described above.
The another object of the embodiment of the present invention is to provide a kind of computer readable storage medium, described computer-readable to deposit
Computer program is stored on storage media, when the computer program is executed by processor, so that the processor executes as above
The step of stating the capture target control mode switching method.
A kind of capture target control mode switching method disclosed in the embodiment of the present invention, by being advised according to preset detection
Then obtain the current location information of controlled object and target object, and according to the current of the controlled object and target object
Location information determines the distance between controlled object and target object, the different control mode switchs met according to the distance
Condition, switching control controlled object capture the control model of target object.Capture target control mould provided in an embodiment of the present invention
Formula switching method can use different control models according to the distance of controlled object to target object, can satisfy different scenes
Under demand for control so that controlled object capture target object accuracy rate it is higher.
Detailed description of the invention
Fig. 1 is a kind of step flow chart for capturing target control mode switching method provided in an embodiment of the present invention；
Fig. 2 is another step flow chart for capturing target control mode switching method provided in an embodiment of the present invention；
Fig. 3 is a kind of step for judging the distance and meeting preset operating mode switching condition provided in an embodiment of the present invention
Rapid flow chart；
Fig. 4 is provided in an embodiment of the present invention according to the preset adaptive targets capture algorithm control controlled object side
The step flow chart of method；
Fig. 5 is a kind of applied environment figure for capturing target control mode switching method provided in an embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram for capturing target control mode-changeover device provided in an embodiment of the present invention；
Fig. 7 is another structural schematic diagram for capturing target control mode-changeover device provided in an embodiment of the present invention；
Fig. 8 is the structural schematic diagram of control mode switch unit provided in an embodiment of the present invention；
Fig. 9 is the structural schematic diagram of automatic capture modes switching module provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
It is appreciated that term " first " used in this application, " second " etc. can be used to describe various elements herein,
But unless stated otherwise, these elements should not be limited by these terms.These terms are only used to by first element and another yuan
Part is distinguished.For example, in the case where not departing from scope of the present application, the first xx script can be known as the 2nd xx script,
And similarly, the 2nd xx script can be known as the first xx script.
The embodiment of the present invention is that solution is of the existing technology because remote control mode is single, is unable to satisfy the lower control of different scenes
The lower technical problem of the accuracy rate of target acquisition caused by demand processed, by obtaining controlled object and target object in real time
Current location information, and distance is determined according to location information, different control models is further used according to different distances,
The demand under different scenes is met, to effectively improve the accuracy rate of target acquisition.
As shown in Figure 1, in one embodiment it is proposed that a kind of step process for capturing target control mode switching method
Figure, can specifically include following steps:
Step S102 obtains the current location information of controlled object and target object according to preset detected rule.
In embodiments of the present invention, the controlled object refers to the object being controlled by the user, and specifically can be robot, nothing
Man-machine, racing car etc., the target object is moved towards target for controlled object, for example, the target object of Soccer robot
It can be football, the target object of racing car can be terminal banner.
In embodiments of the present invention, the preset detected rule can be according to actual application environment sets itself, example
Such as according to the different time, periodic acquisition current location information, or instruct depending on the user's operation, when receiving spy
After the operation instruction information of fixed user, current location information is obtained, there are many concrete methods of realizing, and the present invention does not limit this
System.
In embodiments of the present invention, the current location information of the controlled object and target object can be absolute space
Location information, is also possible to relative tertiary location information, and the present invention is herein with no restrictions.
In embodiments of the present invention, the current location information of the controlled object and target object, which can be, passes through setting
Sensor on controlled object obtains, and is also possible to obtain using positioning system, the present invention is same to concrete implementation mode
Without limitation.
In embodiments of the present invention, mesh can also be obtained by the automatic detection to object spatial pose coordinate information
Mark object is adopted with respect to the coordinate conversion matrix of controlled object and the spatial pose coordinate of target, the coordinate conversion matrix as 4*
4 space conversion matrix, the spatial pose coordinate of the target include the position and posture of target object.
As a kind of possible embodiments of the invention, sensor, the cycle sensor are installed on the controlled object
Property the positional relationship for checking controlled object and target object, and establish using controlled object as the three-dimensional system of coordinate of origin, will
Target object is shown relative to the location information of controlled object in the form of three-dimensional coordinate (x, y, z).
Step S104 determines controlled object and target according to the current location information of the controlled object and target object
The distance between object.
In embodiments of the present invention, the distance between the controlled object and target object can pass through controlled object and target
The coordinate value of object, which calculates, to be determined.
As a kind of possible embodiments of the invention, when establishing using controlled object as the three-dimensional system of coordinate of origin, at this time
If target object is (x relative to the location information of controlled object1, y1, z1), then enable vector L1=(x1, y1, z1), controlled object
The distance between target object dist=| | L1 | |.
Step S106, judges whether the distance meets preset control mode switch condition.When judging that the distance is full
When the preset control mode switch condition of foot, step S108 is executed；When judging that the distance is unsatisfactory for preset control model and cuts
When changing condition, other steps are executed.
Step S108, switching control controlled object capture the control model of target object.
As a kind of possible embodiments of the invention, the control model includes MANUAL CONTROL mode and automatic control mould
Formula, when being switched to manual trap mode switching condition, user instruction controls the controlled object based on the received, when being switched to
When automatic capture module switching condition, algorithm is captured according to preset adaptive targets and controls the controlled object, the basis
The process that preset adaptive targets capture algorithm controls the controlled object please refers to following Fig. 4 and its explanation.
As a kind of possible embodiments of the invention, when controlled object distance objective object distance farther out when, use at this time
Manual trap mode can effectively improve the efficiency of capture, and when controlled object distance objective object distance is closer, due to
User can not accurately acquire the position orientation relation of controlled object and target object, not ideal enough to the control of controlled object, at this time
The precision of capture can be effectively improved using automatic capture modes.
A kind of capture target control mode switching method disclosed in the embodiment of the present invention, by being advised according to preset detection
Then obtain the current location information of controlled object and target object, and according to the current of the controlled object and target object
Location information determines the distance between controlled object and target object, the different control mode switchs met according to the distance
Condition, switching control controlled object capture the control model of target object.Capture target control mould provided in an embodiment of the present invention
Formula switching method can satisfy difference for using different control models according to the distance of controlled object to target object
Demand for control under scene, and the accuracy rate for making controlled substance capture target object is higher.
In one embodiment, as shown in Fig. 2, proposing a kind of capture target control mode switching method, with Fig. 1 institute
The method shown is compared, and difference is, before the step S104 further include:
Step S202 determines controlled object to target according to the current location information of the controlled object and target object
Actual vector between object.
In embodiments of the present invention, the three-dimensional coordinate numerical value of controlled object is subtracted i.e. with the three-dimensional coordinate numerical value of target object
Controlled object be can determine to the actual vector between target object, further, when foundation is using controlled object as the three-dimensional of origin
When coordinate system, if at this time target object relative to controlled object location information be (x1, y1, z1), then actual vector and aforementioned step
The vector L1 that rapid S104 is mentioned is identical.
Step S204, user instruction control information determines the mobile vector of controlled object based on the received.
In embodiments of the present invention, the motion control instruction that the remote controler that controlled object will acquire issues is transformed into coordinate system
Under amount of movement and rotation amount, be denoted as Xrd=[xdx, ydy, zdz, xdr, ydr, zdr], wherein mobile vector be L2=(xdr,
ydr,zdr)。
Step S206, according to the actual vector and mobile vector determination deviation angle.
In embodiments of the present invention, actual vector L1=(x1, y1, z1), mobile vector L2=(xdr, ydr, zdr) is then adopted
With cos (α)=(L1L2) known to vector dot product formula/(| | L1 | | × | | L2 | |), α is misalignment angle, | | L | | indicate orientation
Measure the norm of L, that is, α=arccos (L1L2)/(| | L1 | | × | | L2 | |).
The step S106 judges that the distance and misalignment angle meet preset control mode switch condition.When sentencing
When the distance of breaking and misalignment angle meet preset control mode switch condition, step S108 is executed；When judgement it is described away from
From and misalignment angle be unsatisfactory for preset control mode switch condition when, execute other steps.
The embodiment of the invention discloses another kinds to capture target control mode switching method, with a kind of capture shown in fig. 1
Unlike target control mode switching method, the embodiment of the present invention is yet further still according to control motion profile and actual motion rail
The misalignment angle of mark determines whether switching control mode.The embodiment of the present invention by according to misalignment angle and apart from satisfaction not
With the switching condition of control model, it is switched to different control models, meets the demand for control under different scenes, and further
Improve the accuracy rate that controlled substance captures target object.
As shown in figure 3, in one embodiment it is proposed that a kind of judgement distance meets preset operating mode switching
The step flow chart of condition, can specifically include following steps:
Step S302, judges whether the distance meets preset manual trap mode switching condition.When judgement it is described away from
When from meeting preset manual trap mode switching condition, step S304 is executed；When judging that the distance is unsatisfactory for preset hand
When dynamic trap mode switching condition, step S306 is executed.
Step S304, user instruction controls the controlled object based on the received.
Step S306, judges whether the distance meets preset automatic capture module switching condition.When judgement it is described away from
When from meeting preset automatic capture modes switching condition, step S308 is executed；When judge the distance be unsatisfactory for it is preset from
When dynamic trap mode switching condition, other steps are executed.
Step S308 captures algorithm according to preset adaptive targets and controls the controlled object.
In embodiments of the present invention, strict sequence is not present in the step S302 and step S306, i.e., can also be with
First judge whether to meet automatic capture module switching condition, is going to judge whether to meet to capture switching condition manually.
As shown in figure 4, providing a kind of according to the preset adaptive targets capture algorithm control controlled object method
Step flow chart, specifically includes the following steps:
Step S402, according to the current location information of the controlled object and target object determine target object relative to
The coordinate conversion matrix of controlled object.
In embodiments of the present invention, target object is obtained by the automatic detection to object spatial pose coordinate information
The coordinate conversion matrix Tmb of opposite controlled object, the coordinate conversion matrix are adopted as 4*4 space conversion matrix.
Step S404 determines the crawl pose of target object according to the current location information of target object.
In embodiments of the present invention, the crawl pose of the target object can be by the coordinate Xg under object body coordinate system
=[x, y, z, rx, ry, rz] g is indicated.
Step S406 calculates controlled object according to the crawl pose of the coordinate conversion matrix and target object and captures
The crawl posture information of target object.
In embodiments of the present invention, the crawl posture information Xmbg=Tmb*XgT, further, according to crawl pose letter
Breath calculates movement velocity Vmbg, and Vmbg=Xmbg/Kmbg, Kmbg are proportionality coefficient.
Step S408 controls the controlled object according to the crawl posture information.
The controlled object is controlled according to preset adaptive targets capture algorithm the embodiment of the invention provides a kind of
Method determines that controlled object captures grabbing for crawl object by obtaining coordinate conversion matrix and the crawl pose of target object
Fetch bit appearance, to realize adaptive capture target object.
As shown in figure 5, in one embodiment, providing a kind of application environment for capturing target control mode switching method
Figure.
In embodiments of the present invention, the capture target control mode switching method is applied plays football robot O in remote controlR
On, it is described to be remotely controlled the robot O that plays footballRFor controlled object, football OmbFor target object, then played football robot O by remote controlRIt is directed toward foot
Ball OmbVector be L1, the norm of vector L1 is the distance between robot and football, and L2 is that user's remote control is played football machine
The angle of the traffic direction of people, L1 and L2 are deviation angle α, when the distance between robot and football are less than certain threshold value
And deviation angle α again smaller than certain threshold value when, robot enters the adaptive control scheme for capturing target at this time, will be automatically according to
The coordinate conversion matrix and crawl pose of target object determine the path captured, when the distance between robot and football are greater than
When certain threshold value or deviation angle α are greater than certain threshold value, robot enters remote control mode at this time, with remote command L2
Vector direction is mobile.
It, specifically can be with as shown in fig. 6, in one embodiment, provide a kind of capture target control mode-changeover device
Including location information detection unit 610, distance determining unit 620 and control mode switch unit 630.
The location information detection unit 610, for obtaining controlled object and object according to preset detected rule
The current location information of body.
In embodiments of the present invention, the controlled object refers to the object being controlled by the user, and specifically can be robot, nothing
Man-machine, racing car etc., the target object is moved towards target for controlled object, for example, the target object of Soccer robot
It can be football, the target object of racing car can be terminal banner.
In embodiments of the present invention, the preset detected rule can be according to actual application environment sets itself, example
Such as according to the different time, periodic acquisition current location information, or instruct depending on the user's operation, when receiving spy
After the operation instruction information of fixed user, current location information is obtained, there are many concrete methods of realizing, and the present invention does not limit this
System.
In embodiments of the present invention, the current location information of the controlled object and target object, which can be, passes through setting
Sensor on controlled object obtains, and is also possible to obtain using positioning system, the present invention is same to concrete implementation mode
Without limitation.
In embodiments of the present invention, mesh can also be obtained by the automatic detection to object spatial pose coordinate information
Mark object is adopted with respect to the coordinate conversion matrix of controlled object and the spatial pose coordinate of target, the coordinate conversion matrix as 4*
4 space conversion matrix, the spatial pose coordinate of the target include the position and posture of target object.
As a kind of possible embodiments of the invention, sensor, the cycle sensor are installed on the controlled object
Property the positional relationship for checking controlled object and target object, and establish using controlled object as the three-dimensional system of coordinate of origin, will
Target object is shown relative to the location information of controlled object in the form of three-dimensional coordinate (x, y, z).
The distance determining unit 620, it is true for the current location information according to the controlled object and target object
Determine the distance between controlled object and target object.
In embodiments of the present invention, the distance between the controlled object and target object can pass through controlled object and target
The coordinate value of object, which calculates, to be determined.
As a kind of possible embodiments of the invention, when establishing using controlled object as the three-dimensional system of coordinate of origin, at this time
If target object is (x relative to the location information of controlled object1, y1, z1), then enable vector L1=(x1, y1, z1), controlled object
The distance between target object dist=| | L1 | |.
The control mode switch unit 630 judges that the distance meets preset control mode switch condition for working as
When, switching control controlled object captures the control model of target object.
As a kind of possible embodiments of the invention, the control model includes MANUAL CONTROL mode and automatic control mould
Formula, when being switched to manual trap mode switching condition, user instruction controls the controlled object based on the received, when being switched to
When automatic capture module switching condition, algorithm is captured according to preset adaptive targets and controls the controlled object.
As a kind of possible embodiments of the invention, when controlled object distance objective object distance farther out when, use at this time
Manual trap mode can effectively improve the efficiency of capture, and when controlled object distance objective object distance is closer, due to
User can not accurately acquire the position orientation relation of controlled object and target object, not ideal enough to the control of controlled object, at this time
The precision of capture can be effectively improved using automatic capture modes.
A kind of capture target control mode-changeover device disclosed in the embodiment of the present invention, by being advised according to preset detection
Then obtain the current location information of controlled object and target object, and according to the current of the controlled object and target object
Location information determines the distance between controlled object and target object, the different control mode switchs met according to the distance
Condition, switching control controlled object capture the control model of target object.Capture target control mould provided in an embodiment of the present invention
Formula switching method can satisfy difference for using different control models according to the distance of controlled object to target object
Demand for control under scene, and the accuracy rate for making controlled substance capture target object is higher.
As shown in fig. 7, in one embodiment, providing another capture target control mode-changeover device, showing with Fig. 6
A kind of difference of capture target control mode-changeover device out is, further includes actual vector determination unit 710, mobile vector
Determination unit 720 and misalignment angle determination unit 730.
The actual vector determination unit 710, for the present bit confidence according to the controlled object and target object
It ceases and determines controlled object to the actual vector between target object.
In embodiments of the present invention, the three-dimensional coordinate numerical value of controlled object is subtracted i.e. with the three-dimensional coordinate numerical value of target object
Controlled object be can determine to the actual vector between target object, further, when foundation is using controlled object as the three-dimensional of origin
When coordinate system, if at this time target object relative to controlled object location information be (x1, y1, z1), then actual vector and it is aforementioned away from
It is identical from the vector L1 that determination unit 620 is mentioned.
The mobile vector determination unit 720 determines controlled object for the control of user instruction based on the received information
Mobile vector.
In embodiments of the present invention, the motion control instruction that the remote controler that controlled object will acquire issues is transformed into coordinate system
Under amount of movement and rotation amount, be denoted as Xrd=[xdx, ydy, zdz, xdr, ydr, zdr], wherein mobile vector be L2=(xdr,
ydr,zdr)。
The misalignment angle determination unit 730, for according to the actual vector and mobile vector determination deviation angle.
In embodiments of the present invention, actual vector L1=(x1, y1, z1), mobile vector L2=(xdr, ydr, zdr) is then adopted
With cos (α)=(L1L2) known to vector dot product formula/(| | L1 | | × | | L2 | |), α is misalignment angle, | | L | | indicate orientation
Measure the norm of L, that is, α=arccos (L1L2)/(| | L1 | | × | | L2 | |).
The control mode switch unit 630 judges that the distance and misalignment angle meet preset control for working as
When mode changeover condition, switching control controlled object captures the control model of target object.
The embodiment of the invention discloses another kinds to capture target control mode-changeover device, with a kind of capture shown in Fig. 6
Unlike target control mode-changeover device, the embodiment of the present invention is yet further still according to control motion profile and actual motion rail
The misalignment angle of mark determines whether switching control mode.The embodiment of the present invention by according to misalignment angle and apart from satisfaction not
With the switching condition of control model, it is switched to different control models, meets the demand for control under different scenes, and further
Improve the accuracy rate that controlled substance captures target object.
As shown in figure 8, in one embodiment, a kind of structural schematic diagram of control mode switch unit is provided, it is described
Control mode switch unit includes manual trap mode switching module 810 and automatic capture modes switching module 820.
The manual trap mode switching module 810 judges that the distance meets preset manual trap mode for working as
When switching condition, user instruction controls the controlled object based on the received.
The automatic capture modes switching module 820 judges that the distance meets preset automatic capture module for working as
When switching condition, algorithm is captured according to preset adaptive targets and controls the controlled object.
As shown in figure 9, in one embodiment, the structural schematic diagram of automatic capture modes switching module is provided, it is described
Automatic capture modes switching module can specifically include coordinate 910, crawl pose determines secondary module 920, crawl posture information obtains
Take secondary module 930 and control secondary module 940.
The coordinate conversion matrix determines secondary module 910, for according to the current of the controlled object and target object
Location information determines coordinate conversion matrix of the target object relative to controlled object.
In embodiments of the present invention, target object is obtained by the automatic detection to object spatial pose coordinate information
The coordinate conversion matrix Tmb of opposite controlled object, the coordinate conversion matrix are adopted as 4*4 space conversion matrix.
The crawl pose determines secondary module 920, for determining target object according to the current location information of target object
Crawl pose.
In embodiments of the present invention, the crawl pose of the target object can be by the coordinate Xg under object body coordinate system
=[x, y, z, rx, ry, rz] g is indicated.
The crawl posture information obtains secondary module 930, for according to the coordinate conversion matrix and target object
Crawl pose calculates the crawl posture information that controlled object captures target object.
In embodiments of the present invention, the crawl posture information Xmbg=Tmb*XgT, further, according to crawl pose letter
Breath calculates movement velocity Vmbg, and Vmbg=Xmbg/Kmbg, Kmbg are proportionality coefficient.
The control secondary module 940, for controlling the controlled object according to the crawl posture information.
The controlled object is controlled according to preset adaptive targets capture algorithm the embodiment of the invention provides a kind of
Method determines that controlled object captures grabbing for crawl object by obtaining coordinate conversion matrix and the crawl pose of target object
Fetch bit appearance, to realize adaptive capture target object.
In one embodiment it is proposed that a kind of computer equipment, the computer equipment include memory, processor and
It is stored in the computer program that can be run on the memory and on the processor, the processor executes the computer
It is performed the steps of when program
The current location information of controlled object and target object is obtained according to preset detected rule；
It is determined between controlled object and target object according to the current location information of the controlled object and target object
Distance；
When judging that the distance meets preset control mode switch condition, switching control controlled object captures object
The control model of body.
In one embodiment, a kind of computer readable storage medium is provided, is stored on computer readable storage medium
Computer program, when computer program is executed by processor, so that processor executes following steps:
The current location information of controlled object and target object is obtained according to preset detected rule；
It is determined between controlled object and target object according to the current location information of the controlled object and target object
Distance；
When judging that the distance meets preset control mode switch condition, switching control controlled object captures object
The control model of body.
Although should be understood that various embodiments of the present invention flow chart in each step according to arrow instruction successively
It has been shown that, but these steps are not that the inevitable sequence according to arrow instruction successively executes.Unless expressly state otherwise herein,
There is no stringent sequences to limit for the execution of these steps, these steps can execute in other order.Moreover, in each embodiment
At least part step may include multiple sub-steps perhaps these sub-steps of multiple stages or stage be not necessarily
Synchronization executes completion, but can execute at different times, and the execution sequence in these sub-steps or stage also need not
Be so successively carry out, but can at least part of the sub-step or stage of other steps or other steps in turn or
Person alternately executes.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in a non-volatile computer and can be read
In storage medium, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, provided herein
Each embodiment used in any reference to memory, storage, database or other media, may each comprise non-volatile
And/or volatile memory.Nonvolatile memory may include that read-only memory (ROM), programming ROM (PROM), electricity can be compiled
Journey ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include random access memory
(RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms, such as static state RAM
(SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhanced SDRAM
(ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) directly RAM (RDRAM), straight
Connect memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of capture target control mode switching method characterized by comprising
The current location information of controlled object and target object is obtained according to preset detected rule；
According to the current location information of the controlled object and target object determine between controlled object and target object away from
From；
When judging that the distance meets preset control mode switch condition, switching control controlled object captures target object
Control model.
2. capture target control mode switching method according to claim 1, which is characterized in that it is described according to by
Before the current location information of control object and target object determines the distance between controlled object and target object further include:
Determine controlled object to the reality between target object according to the current location information of the controlled object and target object
Border vector；
User instruction control information determines the mobile vector of controlled object based on the received；
According to the actual vector and mobile vector determination deviation angle；
It is described when judging that the distance meets preset control mode switch condition, switching control controlled object capture object
The step of control model of body, specifically includes:
When judging that the distance and misalignment angle meet preset control mode switch condition, switching control controlled object is caught
Catch the control model of target object.
3. capture target control mode switching method according to claim 1, which is characterized in that tell when judgement it is described away from
When from meeting preset operating mode switching condition, switching control controlled object capture target object control model the step of,
Include:
When judging that the distance meets preset manual trap mode switching condition, based on the received described in user instruction control
Controlled object；
When judging that the distance meets preset automatic capture module switching condition, is captured and calculated according to preset adaptive targets
Method controls the controlled object.
4. capture target control mode switching method according to claim 3, which is characterized in that it is described according to it is preset from
Adapting to the step of target acquisition algorithm controls the controlled object includes:
Seat of the target object relative to controlled object is determined according to the current location information of the controlled object and target object
Mark transition matrix；
The crawl pose of target object is determined according to the current location information of target object；
Controlled object, which is calculated, according to the crawl pose of the coordinate conversion matrix and target object captures grabbing for target object
Take posture information；
The controlled object is controlled according to the crawl posture information.
5. a kind of capture target control mode-changeover device characterized by comprising
Location information detection unit, for obtaining the current location of controlled object and target object according to preset detected rule
Information；
Distance determining unit, for according to the current location information of the controlled object and target object determine controlled object with
The distance between target object；
Control mode switch unit, for when judging that the distance meets preset control mode switch condition, switching control
The control model of controlled object capture target object.
6. capture target control mode-changeover device according to claim 5, which is characterized in that further include:
Actual vector determination unit, for determining controlled substance according to the current location information of the controlled object and target object
Body is to the actual vector between target object；
Mobile vector determination unit determines the mobile vector of controlled object for the control of user instruction based on the received information；
Misalignment angle determination unit, for according to the actual vector and mobile vector determination deviation angle；
The control mode switch unit judges that the distance and misalignment angle meet preset control mode switch for working as
When condition, switching control controlled object captures the control model of target object.
7. capture target control mode-changeover device according to claim 5, which is characterized in that the control mode switch
Unit includes:
Manual trap mode switching module, for when judging that the distance meets preset manual trap mode switching condition,
User instruction controls the controlled object based on the received；
Automatic capture modes switching module, for when judging that the distance meets preset automatic capture module switching condition,
Algorithm, which is captured, according to preset adaptive targets controls the controlled object.
8. capture target control mode-changeover device according to claim 7, which is characterized in that the automatic capture modes
Switching module includes:
Coordinate conversion matrix determines secondary module, for being determined according to the current location information of the controlled object and target object
Coordinate conversion matrix of the target object relative to controlled object；
Crawl pose determines secondary module, and the crawl pose of target object is determined for the current location information according to target object；
It grabs posture information and obtains secondary module, for being calculated according to the crawl pose of the coordinate conversion matrix and target object
Controlled object captures the crawl posture information of target object out；
Secondary module is controlled, for controlling the controlled object according to the crawl posture information.
9. a kind of computer equipment, which is characterized in that including memory and processor, computer journey is stored in the memory
Sequence, when the computer program is executed by the processor, so that the processor perform claim requires any one of 1 to 4 power
Benefit requires the step of capture target control mode switching method.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program, when the computer program is executed by processor, so that the processor perform claim requires any one of 1 to 4 right
It is required that the step of capture target control mode switching method.
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