CN110244724A - A kind of direction of travel control method and device and equipment based on caterpillar type robot - Google Patents
A kind of direction of travel control method and device and equipment based on caterpillar type robot Download PDFInfo
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- CN110244724A CN110244724A CN201910505089.XA CN201910505089A CN110244724A CN 110244724 A CN110244724 A CN 110244724A CN 201910505089 A CN201910505089 A CN 201910505089A CN 110244724 A CN110244724 A CN 110244724A
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- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The direction of travel control method and device and equipment that the invention discloses a kind of based on caterpillar type robot.Wherein, the described method includes: according to the angle of the gyroscope of the caterpillar type robot of reading, calculate the direction of travel angular deviation of the caterpillar type robot, with the direction of travel angular deviation for detecting the calculated caterpillar type robot, detect whether the direction of travel angular deviation is less than preset threshold, with when detecting that the direction of travel angular deviation is no less than the preset threshold, it tables look-up to obtain the speed of travel after the caterpillar type robot corrects by the angular deviation, and manipulates the caterpillar type robot and walk by the speed of travel after the correction of the acquirement.Avoided by the closed-loop control that can be realized to the direction of travel of caterpillar type robot of tabling look-up by the above-mentioned means, can be realized using complicated floating-point operation mode, can on common single-chip microcontroller real-time control caterpillar type robot direction of travel.
Description
Technical field
The present invention relates to caterpillar type robot technical field more particularly to a kind of direction of travel based on caterpillar type robot
Control method and device and equipment.
Background technique
Caterpillar type robot if direction of travel has deviation, can bring very big offset, influence to wipe when long range is walked
Effect.
The existing direction of travel control program based on caterpillar type robot, generally use PID (Proportion,
Integral, Differential, proportional, integral-Derivating controller) control mode, the crawler frame that gyroscope is measured
The walking angular deviation of people carries out closed loop PID control as feedback quantity, according to the operation result of PID, adjustment crawler belt revolving speed is gone to change
Become caterpillar type robot direction of travel, until angular error within the allowable range.
But at least there are the following problems in the prior art for inventor's discovery:
The existing direction of travel control program based on caterpillar type robot, generallys use pid control mode, PID control
It is versatile, but need to cannot achieve the real-time control crawler type machine on common single-chip microcontroller using complicated floating-point operation
The direction of travel of device people.
Summary of the invention
In view of this, it is an object of the invention to propose a kind of direction of travel control method based on caterpillar type robot and
Device and equipment, can be realized can be realized by tabling look-up to the closed-loop control of the direction of travel of caterpillar type robot, be avoided
Using complicated floating-point operation mode, can on common single-chip microcontroller real-time control caterpillar type robot direction of travel.
According to an aspect of the present invention, a kind of direction of travel control method based on caterpillar type robot is provided, comprising:
By the walking of initial velocity control caterpillar type robot；
According to the walking by initial velocity control caterpillar type robot, to the travel time of the caterpillar type robot
It is arranged according to delay specified time；
Within the delay specified time of the setting, the angle of the gyroscope of the caterpillar type robot is read；
According to the angle of the gyroscope of the caterpillar type robot of the reading, the row of the caterpillar type robot is calculated
Walk orientation angle deviation；
The direction of travel angular deviation for detecting the calculated caterpillar type robot, detects the direction of travel angle
Whether degree deviation is less than preset threshold；
Whether it is less than the testing result of preset threshold according to the detection direction of travel angular deviation, in the detection
The result is that tabling look-up to obtain by the angular deviation when detecting that the direction of travel angular deviation is no less than the preset threshold
The speed of travel after the caterpillar type robot correction；
The caterpillar type robot is manipulated to walk by the speed of travel after the correction of the acquirement.
Wherein, the testing result that preset threshold whether is less than according to the detection direction of travel angular deviation,
It is inclined by the angle when the testing result is to detect that the direction of travel angular deviation is no less than the preset threshold
Difference tables look-up to obtain the speed of travel after the caterpillar type robot correction, comprising:
Whether it is less than the testing result of preset threshold according to the detection direction of travel angular deviation, in the detection
The result is that controlling crawler frame by initial velocity when detecting that the direction of travel angular deviation is less than the preset threshold
The walking of people.
Wherein, the manipulation caterpillar type robot is by the speed of travel walking after the correction of the acquirement, comprising:
Using when the direction of travel angular deviation is towards left avertence difference, manipulation reduces the right shoe of the caterpillar type robot
The revolving speed of band and the left crawler belt for manipulating the caterpillar type robot restore the mode of initial velocity, manipulate the caterpillar type robot
By the speed of travel walking after the correction of the acquirement.
Wherein, the manipulation caterpillar type robot is by the speed of travel walking after the correction of the acquirement, comprising:
Using when the direction of travel angular deviation is towards right avertence difference, manipulation reduces the left shoe of the caterpillar type robot
The revolving speed of band and the right-hand track chiain for manipulating the caterpillar type robot restore the mode of initial velocity, manipulate the caterpillar type robot
By the speed of travel walking after the correction of the acquirement.
Wherein, after the speed of travel walking after the correction in the manipulation caterpillar type robot by the acquirement,
Further include:
According to the walking path of the caterpillar type robot walking, keep the caterpillar type robot former by the walking path
Road returns.
According to another aspect of the present invention, a kind of direction of travel control device based on caterpillar type robot is provided, is wrapped
It includes:
Control module, read module, computing module, detection module, obtains module and operational module at setup module；
The control module, for the walking by initial velocity control caterpillar type robot；
The setup module, for controlling the walking of caterpillar type robot by initial velocity according to, to the crawler belt
The travel time of formula robot is arranged according to delay specified time；
The read module, for reading the top of the caterpillar type robot within the delay specified time of the setting
The angle of spiral shell instrument；
The computing module calculates institute for the angle according to the gyroscope of the caterpillar type robot of the reading
State the direction of travel angular deviation of caterpillar type robot；
The detection module, for detecting the direction of travel angular deviation of the calculated caterpillar type robot,
Detect whether the direction of travel angular deviation is less than preset threshold；
It is described to obtain module, for whether being less than the inspection of preset threshold according to the detection direction of travel angular deviation
It surveys as a result, when the testing result is to detect that the direction of travel angular deviation is no less than the preset threshold, by institute
Angular deviation is stated to table look-up to obtain the speed of travel after the caterpillar type robot correction；
The operational module, for manipulating the caterpillar type robot by the speed of travel row after the correction of the acquirement
It walks.
Wherein, the control module, is specifically used for:
Whether it is less than the testing result of preset threshold according to the detection direction of travel angular deviation, in the detection
The result is that controlling crawler frame by initial velocity when detecting that the direction of travel angular deviation is less than the preset threshold
The walking of people.
Wherein, the operational module, is specifically used for:
Using when the direction of travel angular deviation is towards left avertence difference, manipulation reduces the right shoe of the caterpillar type robot
The revolving speed of band and the left crawler belt for manipulating the caterpillar type robot restore the mode of initial velocity, manipulate the caterpillar type robot
By the speed of travel walking after the correction of the acquirement.
Wherein, the operational module, is specifically used for:
Using when the direction of travel angular deviation is towards right avertence difference, manipulation reduces the left shoe of the caterpillar type robot
The revolving speed of band and the right-hand track chiain for manipulating the caterpillar type robot restore the mode of initial velocity, manipulate the caterpillar type robot
By the speed of travel walking after the correction of the acquirement.
Wherein, the direction of travel control device based on caterpillar type robot, further includes:
Return module；
The return module makes the crawler frame for the walking path according to the caterpillar type robot walking
People presses the walking path backtracking.
According to a further aspect of the invention, a kind of direction of travel control equipment based on caterpillar type robot, packet are provided
It includes:
At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
A processor executes so that at least one described processor be able to carry out it is described in any of the above embodiments based on caterpillar type robot
Direction of travel control method.
According to a further aspect of the invention, a kind of computer readable storage medium is provided, computer program is stored with, institute
It states and realizes the direction of travel control described in any of the above embodiments based on caterpillar type robot when computer program is executed by processor
Method.
It can be found that above scheme, the walking of caterpillar type robot can be controlled by initial velocity, and can press according to this
Initial velocity controls the walking of caterpillar type robot, sets to the travel time of the caterpillar type robot according to delay specified time
It sets, and the angle of the gyroscope of the caterpillar type robot can be read, and can basis within the delay specified time of the setting
The angle of the gyroscope of the caterpillar type robot of the reading calculates the direction of travel angular deviation of the caterpillar type robot, and
Whether the direction of travel angular deviation that can detecte the calculated caterpillar type robot detects the direction of travel angular deviation
Less than preset threshold, and whether can be less than the testing result of preset threshold according to the detection direction of travel angular deviation,
The testing result is when detecting that the direction of travel angular deviation is no less than the preset threshold, to table look-up to obtain by the angular deviation
The speed of travel after caterpillar type robot correction, and the caterpillar type robot can be manipulated by the row after the correction of the acquirement
Speed walking is walked, can be realized can realize by tabling look-up to the closed-loop control of the direction of travel of caterpillar type robot, avoid
Using complicated floating-point operation mode, can on common single-chip microcontroller real-time control caterpillar type robot direction of travel.
Further, whether above scheme the direction of travel angular deviation can be less than preset threshold according to the detection
Testing result, when the testing result is to detect that the direction of travel angular deviation is less than the preset threshold, by initial velocity
The walking of caterpillar type robot is controlled, such benefit is that by the direction of travel angular deviation in caterpillar type robot and exists
When in allowed band, caterpillar type robot can be controlled and restore initial velocity walking, can ensure the walking of caterpillar type robot
Direction is within the allowable range.
Further, above scheme, can be using when the direction of travel angular deviation be towards left avertence difference, and manipulation reduces should
The revolving speed of the right-hand track chiain of caterpillar type robot and the left crawler belt for manipulating the caterpillar type robot restore the mode of initial velocity, manipulation
For the caterpillar type robot by the speed of travel walking after the correction of the acquirement, such benefit, which is that by, manipulates the crawler type
Robot can pass through the row that can be realized to caterpillar type robot of tabling look-up by the speed of travel walking after the correction of the acquirement
Walk the closed-loop control in direction.
Further, above scheme, can be using when the direction of travel angular deviation be towards right avertence difference, and manipulation reduces should
The revolving speed of the left crawler belt of caterpillar type robot and the right-hand track chiain for manipulating the caterpillar type robot restore the mode of initial velocity, manipulation
For the caterpillar type robot by the speed of travel walking after the correction of the acquirement, such benefit, which is that by, manipulates the crawler type
Robot can pass through the row that can be realized to caterpillar type robot of tabling look-up by the speed of travel walking after the correction of the acquirement
Walk the closed-loop control in direction.
Further, above scheme can make the crawler frame according to the walking path of the caterpillar type robot walking
People presses the walking path backtracking, and such benefit, which is that by, enables caterpillar type robot backtracking.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the flow diagram of one embodiment of direction of travel control method the present invention is based on caterpillar type robot；
Fig. 2 is the flow diagram of another embodiment of direction of travel control method the present invention is based on caterpillar type robot；
Fig. 3 is the structural schematic diagram of one embodiment of direction of travel control device the present invention is based on caterpillar type robot；
Fig. 4 is the structural schematic diagram of another embodiment of direction of travel control device the present invention is based on caterpillar type robot；
Fig. 5 is that the present invention is based on the structural schematic diagrams of the direction of travel of caterpillar type robot control one embodiment of equipment.
Specific embodiment
With reference to the accompanying drawings and examples, the present invention is described in further detail.It is emphasized that following implement
Example is merely to illustrate the present invention, but is not defined to the scope of the present invention.Likewise, following embodiment is only portion of the invention
Point embodiment and not all embodiments, institute obtained by those of ordinary skill in the art without making creative efforts
There are other embodiments, shall fall within the protection scope of the present invention.
The present invention provides a kind of direction of travel control method based on caterpillar type robot, can be realized by the way that table look-up can
Enough closed-loop controls realized to the direction of travel of caterpillar type robot, avoid using complicated floating-point operation mode, Neng Gou
The direction of travel of real-time control caterpillar type robot on common single-chip microcontroller.
Referring to Figure 1, Fig. 1 is the process of one embodiment of direction of travel control method the present invention is based on caterpillar type robot
Schematic diagram.It is noted that if having substantially the same as a result, method of the invention is not with process sequence shown in FIG. 1
Limit.As shown in Figure 1, this method comprises the following steps:
S101: by the walking of initial velocity control caterpillar type robot.
In the present embodiment, if caterpillar type robot is known as initial velocity doing variable motion, incipient speed, this
Invention is not limited.
S102: according to the walking by initial velocity control caterpillar type robot, when to the walking of the caterpillar type robot
Between be arranged according to delay specified time.
In the present embodiment, caterpillar type robot may include the robot for carrying crawler body mechanism, crawler belt moving machine
Device people has many advantages, such as that tractive force is big, is not easy to skid, cross-country ability is good, and the present invention is not limited.
S103: within the delay specified time of the setting, the angle of the gyroscope of the caterpillar type robot is read.
In the present embodiment, gyroscope can be the moment of momentum sensitivity shell relative inertness space with high-speed rotator around just
Meet at the angular movement detection device of one or two axis of the axis of rotation.It is risen using angular movement detection device made of other principles same
Sample function is referred to as gyroscope, and the present invention is not limited.
S104: according to the angle of the gyroscope of the caterpillar type robot of the reading, the row of the caterpillar type robot is calculated
Walk orientation angle deviation.
In the present embodiment, gyroscope may include the sensor for measuring the angular speed of caterpillar type robot, work as gyroscope
When moving with caterpillar type robot, gyroscope can measure the angular speed that caterpillar type robot is rotated around each axis, by diagonal
Speed carries out integral operation, can obtain the angle of caterpillar type robot rotation, can be according to the angle calculation crawler frame
The direction of travel angular deviation of people, the present invention are not limited.
S105: detecting the direction of travel angular deviation of the calculated caterpillar type robot, detects the direction of travel angle
Whether degree deviation is less than preset threshold.
S106: whether it is less than the testing result of preset threshold according to the detection direction of travel angular deviation, in the detection
The result is that tabling look-up to obtain the crawler belt by the angular deviation when detecting that the direction of travel angular deviation is no less than the preset threshold
The speed of travel after formula robot calibration.
Wherein, testing result that preset threshold whether is less than according to the detection direction of travel angular deviation, in the inspection
It surveys the result is that tabling look-up to obtain the shoe by the angular deviation when detecting that the direction of travel angular deviation is no less than the preset threshold
The speed of travel after belt robot calibration may include:
Whether it is less than the testing result of preset threshold according to the detection direction of travel angular deviation, is in the testing result
When detecting that the direction of travel angular deviation is less than the preset threshold, the walking of caterpillar type robot is controlled by initial velocity,
Such benefit be that by caterpillar type robot direction of travel angular deviation within the allowable range when, shoe can be controlled
Belt robot restores initial velocity walking, can ensure the direction of travel of caterpillar type robot within the allowable range.
S107: it manipulates the caterpillar type robot and walks by the speed of travel after the correction of the acquirement.
Wherein, the manipulation caterpillar type robot may include: by the speed of travel walking after the correction of the acquirement
Using when the direction of travel angular deviation is towards left avertence difference, manipulation reduces the right-hand track chiain of the caterpillar type robot
Revolving speed and the left crawler belt for manipulating the caterpillar type robot restore the mode of initial velocity, manipulate the caterpillar type robot by the acquirement
Correction after the speed of travel walking, such benefit be that by manipulate the caterpillar type robot by the correction of the acquirement after
The speed of travel walking, the closed-loop control that can be realized to the direction of travel of caterpillar type robot of tabling look-up can be passed through.
Wherein, the manipulation caterpillar type robot may include: by the speed of travel walking after the correction of the acquirement
Using when the direction of travel angular deviation is towards right avertence difference, manipulation reduces the left crawler belt of the caterpillar type robot
Revolving speed and the right-hand track chiain for manipulating the caterpillar type robot restore the mode of initial velocity, manipulate the caterpillar type robot by the acquirement
Correction after the speed of travel walking, such benefit be that by manipulate the caterpillar type robot by the correction of the acquirement after
The speed of travel walking, the closed-loop control that can be realized to the direction of travel of caterpillar type robot of tabling look-up can be passed through.
It wherein, can be with after the speed of travel walking after the correction in the manipulation caterpillar type robot by the acquirement
Include:
According to the walking path of the caterpillar type robot walking, return the caterpillar type robot by the walking path original road
It returns, such benefit, which is that by, enables caterpillar type robot backtracking.
In the present embodiment, it can be adjusted according to the range of the angular deviation, a point three-level, adjust three speed parameters, this
Three speed can be lower than initial velocity；The lookup table mode can divide three-level to adjust according to the range of the angular deviation,
Need to adjust three speed parameters, these three speed are below initial velocity；To avoid shaking back and forth, to caterpillar type robot
The revolving speed adjustment of crawler belt should not be too big；Can also according to the actual situation, using the speed control of other multistages, simple occasion is very
It to only being controlled with level-one, that is, does not need through lookup table mode, the row of control caterpillar type robot can be removed using a fixed speed
Direction is walked, the present invention is not limited.
It can be found that in the present embodiment, the walking of caterpillar type robot can be controlled by initial velocity, and can basis
The walking by initial velocity control caterpillar type robot, to the travel time of the caterpillar type robot according to delay specified time
It is arranged, and the angle of the gyroscope of the caterpillar type robot can be read within the delay specified time of the setting, and can be with
According to the angle of the gyroscope of the caterpillar type robot of the reading, the direction of travel angle for calculating the caterpillar type robot is inclined
Difference, and can detecte the direction of travel angular deviation of the calculated caterpillar type robot, it is inclined to detect the direction of travel angle
Whether difference is less than preset threshold, and whether can be less than the detection knot of preset threshold according to the detection direction of travel angular deviation
Fruit is looked into when the testing result is to detect that the direction of travel angular deviation is no less than the preset threshold by the angular deviation
Table obtains the speed of travel after caterpillar type robot correction, and can manipulate the caterpillar type robot by the correction of the acquirement
Speed of travel walking afterwards, can be realized through the closed loop control that can be realized to the direction of travel of caterpillar type robot of tabling look-up
System is avoided using complicated floating-point operation mode, can on common single-chip microcontroller real-time control caterpillar type robot row
Walk direction.
Further, in the present embodiment, whether default threshold the direction of travel angular deviation can be less than according to the detection
The testing result of value, when the testing result is to detect that the direction of travel angular deviation is less than the preset threshold, by initial
The walking of speed control caterpillar type robot, it is inclined that such benefit is that by the direction of travel angle in caterpillar type robot
Difference within the allowable range when, can control caterpillar type robot restore initial velocity walking, can ensure caterpillar type robot
Direction of travel is within the allowable range.
Further, in the present embodiment, can be using when the direction of travel angular deviation be towards left avertence difference, manipulation drop
The revolving speed of the right-hand track chiain of the low caterpillar type robot and the left crawler belt for manipulating the caterpillar type robot restore the mode of initial velocity,
It manipulates the caterpillar type robot to walk by the speed of travel after the correction of the acquirement, such benefit, which is that by, manipulates the shoe
Belt robot can be realized by tabling look-up to caterpillar type robot by the speed of travel walking after the correction of the acquirement
Direction of travel closed-loop control.
Further, in the present embodiment, can be using when the direction of travel angular deviation be towards right avertence difference, manipulation drop
The revolving speed of the left crawler belt of the low caterpillar type robot and the right-hand track chiain for manipulating the caterpillar type robot restore the mode of initial velocity,
It manipulates the caterpillar type robot to walk by the speed of travel after the correction of the acquirement, such benefit, which is that by, manipulates the shoe
Belt robot can be realized by tabling look-up to caterpillar type robot by the speed of travel walking after the correction of the acquirement
Direction of travel closed-loop control.
Fig. 2 is referred to, Fig. 2 is the stream of another embodiment of direction of travel control method the present invention is based on caterpillar type robot
Journey schematic diagram.In the present embodiment, method includes the following steps:
S201: by the walking of initial velocity control caterpillar type robot.
Can be as above described in S101, therefore not to repeat here.
S202: according to the walking by initial velocity control caterpillar type robot, when to the walking of the caterpillar type robot
Between be arranged according to delay specified time.
Can be as above described in S102, therefore not to repeat here.
S203: within the delay specified time of the setting, the angle of the gyroscope of the caterpillar type robot is read.
Can be as above described in S103, therefore not to repeat here.
S204: according to the angle of the gyroscope of the caterpillar type robot of the reading, the row of the caterpillar type robot is calculated
Walk orientation angle deviation.
Can be as above described in S104, therefore not to repeat here.
S205: detecting the direction of travel angular deviation of the calculated caterpillar type robot, detects the direction of travel angle
Whether degree deviation is less than preset threshold.
S206: whether it is less than the testing result of preset threshold according to the detection direction of travel angular deviation, in the detection
The result is that tabling look-up to obtain the crawler belt by the angular deviation when detecting that the direction of travel angular deviation is no less than the preset threshold
The speed of travel after formula robot calibration.
Can be as above described in S106, therefore not to repeat here.
S207: it manipulates the caterpillar type robot and walks by the speed of travel after the correction of the acquirement.
Can be as above described in S107, therefore not to repeat here.
S208: according to the walking path of the caterpillar type robot walking, make the caterpillar type robot by walking path original
Road returns.
It can be found that in the present embodiment, the crawler type can be made according to the walking path of the caterpillar type robot walking
The walking path backtracking is pressed by robot, and such benefit, which is that by, enables caterpillar type robot backtracking.
The present invention also provides a kind of direction of travel control device based on caterpillar type robot, can be realized by tabling look-up i.e.
It can be realized the closed-loop control to the direction of travel of caterpillar type robot, avoid using complicated floating-point operation mode, it can
The direction of travel of real-time control caterpillar type robot on common single-chip microcontroller.
Fig. 3 is referred to, Fig. 3 is the structure of one embodiment of direction of travel control device the present invention is based on caterpillar type robot
Schematic diagram.It should include control module 31, setting mould based on the direction of travel control device 30 of caterpillar type robot in the present embodiment
Block 32, computing module 34, detection module 35, obtains module 36 and operational module 37 at read module 33.
The control module 31, for the walking by initial velocity control caterpillar type robot.
The setup module 32, the walking for controlling caterpillar type robot according to initial velocity should be pressed, to the crawler type machine
The travel time of device people is arranged according to delay specified time.
The read module 33, for reading the gyroscope of the caterpillar type robot within the delay specified time of the setting
Angle.
The computing module 34 calculates the crawler belt for the angle according to the gyroscope of the caterpillar type robot of the reading
The direction of travel angular deviation of formula robot.
The detection module 35 is detected for detecting the direction of travel angular deviation of the calculated caterpillar type robot
Whether the direction of travel angular deviation is less than preset threshold.
This obtains module 36, for whether being less than the detection knot of preset threshold according to the detection direction of travel angular deviation
Fruit is looked into when the testing result is to detect that the direction of travel angular deviation is no less than the preset threshold by the angular deviation
Table obtains the speed of travel after caterpillar type robot correction.
The operational module 37 is walked for manipulating the caterpillar type robot by the speed of travel after the correction of the acquirement.
Optionally, the control module 31, can be specifically used for:
Whether it is less than the testing result of preset threshold according to the detection direction of travel angular deviation, is in the testing result
When detecting that the direction of travel angular deviation is less than the preset threshold, by the walking of initial velocity control caterpillar type robot.
Optionally, the operational module 37, can be specifically used for:
Using when the direction of travel angular deviation is towards left avertence difference, manipulation reduces the right-hand track chiain of the caterpillar type robot
Revolving speed and the left crawler belt for manipulating the caterpillar type robot restore the mode of initial velocity, manipulate the caterpillar type robot by the acquirement
Correction after the speed of travel walking.
Optionally, the operational module 37, can be specifically used for:
Using when the direction of travel angular deviation is towards right avertence difference, manipulation reduces the left crawler belt of the caterpillar type robot
Revolving speed and the right-hand track chiain for manipulating the caterpillar type robot restore the mode of initial velocity, manipulate the caterpillar type robot by the acquirement
Correction after the speed of travel walking.
Fig. 4 is referred to, Fig. 4 is the knot of another embodiment of direction of travel control device the present invention is based on caterpillar type robot
Structure schematic diagram.It is different from an embodiment, the direction of travel control device 40 based on caterpillar type robot described in the present embodiment is also
Including return module 41.
The return module 41, for the walking path according to the caterpillar type robot walking, make the caterpillar type robot by
The walking path backtracking.
Each unit module of the direction of travel control device 30/40 based on caterpillar type robot can execute above-mentioned respectively
Step is corresponded in embodiment of the method, therefore each unit module is not repeated herein, and saying for the above corresponding step is referred to
It is bright.
The present invention provides a kind of direction of travel control equipment based on caterpillar type robot again, as shown in Figure 5, comprising: extremely
A few processor 51；And the memory 52 with the communication connection of at least one processor 51；Wherein, memory 52 is stored with
The instruction that can be executed by least one processor 51, instruction is executed by least one processor 51, so that at least one processor
51 are able to carry out the above-mentioned direction of travel control method based on caterpillar type robot.
Wherein, memory 52 is connected with processor 51 using bus mode, and bus may include any number of interconnection
Bus and bridge, bus is by one or more processors 51 together with the various circuit connections of memory 52.Bus can also incite somebody to action
Together with various other circuit connections of management circuit or the like, these are all abilities for such as peripheral equipment, voltage-stablizer
Well known to domain, therefore, it will not be further described herein.Bus interface is provided between bus and transceiver and is connect
Mouthful.Transceiver can be an element, is also possible to multiple element, such as multiple receivers and transmitter, provides for passing
The unit communicated on defeated medium with various other devices.The data handled through processor 51 are carried out on the radio medium by antenna
Transmission, further, antenna also receives data and transfers data to processor 51.
Processor 51 is responsible for management bus and common processing, can also provide various functions, including timing, periphery connects
Mouthful, voltage adjusting, power management and other control functions.And memory 52 can be used for storage processor 51 and execute behaviour
Used data when making.
The present invention provides a kind of computer readable storage medium again, is stored with computer program.Computer program is processed
Device realizes above method embodiment when executing.
It can be found that above scheme, the walking of caterpillar type robot can be controlled by initial velocity, and can press according to this
Initial velocity controls the walking of caterpillar type robot, sets to the travel time of the caterpillar type robot according to delay specified time
It sets, and the angle of the gyroscope of the caterpillar type robot can be read, and can basis within the delay specified time of the setting
The angle of the gyroscope of the caterpillar type robot of the reading calculates the direction of travel angular deviation of the caterpillar type robot, and
Whether the direction of travel angular deviation that can detecte the calculated caterpillar type robot detects the direction of travel angular deviation
Less than preset threshold, and whether can be less than the testing result of preset threshold according to the detection direction of travel angular deviation,
The testing result is when detecting that the direction of travel angular deviation is no less than the preset threshold, to table look-up to obtain by the angular deviation
The speed of travel after caterpillar type robot correction, and the caterpillar type robot can be manipulated by the row after the correction of the acquirement
Speed walking is walked, can be realized can realize by tabling look-up to the closed-loop control of the direction of travel of caterpillar type robot, avoid
Using complicated floating-point operation mode, can on common single-chip microcontroller real-time control caterpillar type robot direction of travel.
Further, whether above scheme the direction of travel angular deviation can be less than preset threshold according to the detection
Testing result, when the testing result is to detect that the direction of travel angular deviation is less than the preset threshold, by initial velocity
The walking of caterpillar type robot is controlled, such benefit is that by the direction of travel angular deviation in caterpillar type robot and exists
When in allowed band, caterpillar type robot can be controlled and restore initial velocity walking, can ensure the walking of caterpillar type robot
Direction is within the allowable range.
Further, above scheme, can be using when the direction of travel angular deviation be towards left avertence difference, and manipulation reduces should
The revolving speed of the right-hand track chiain of caterpillar type robot and the left crawler belt for manipulating the caterpillar type robot restore the mode of initial velocity, manipulation
For the caterpillar type robot by the speed of travel walking after the correction of the acquirement, such benefit, which is that by, manipulates the crawler type
Robot can pass through the row that can be realized to caterpillar type robot of tabling look-up by the speed of travel walking after the correction of the acquirement
Walk the closed-loop control in direction.
Further, above scheme, can be using when the direction of travel angular deviation be towards right avertence difference, and manipulation reduces should
The revolving speed of the left crawler belt of caterpillar type robot and the right-hand track chiain for manipulating the caterpillar type robot restore the mode of initial velocity, manipulation
For the caterpillar type robot by the speed of travel walking after the correction of the acquirement, such benefit, which is that by, manipulates the crawler type
Robot can pass through the row that can be realized to caterpillar type robot of tabling look-up by the speed of travel walking after the correction of the acquirement
Walk the closed-loop control in direction.
Further, above scheme can make the crawler frame according to the walking path of the caterpillar type robot walking
People presses the walking path backtracking, and such benefit, which is that by, enables caterpillar type robot backtracking.
In several embodiments provided by the present invention, it should be understood that disclosed system, device and method can
To realize by another way.For example, device embodiments described above are only schematical, for example, module or
The division of unit, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units
Or component can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, institute
Display or the mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, device or unit
Indirect coupling or communication connection can be electrical property, mechanical or other forms.
Unit may or may not be physically separated as illustrated by the separation member, shown as a unit
Component may or may not be physical unit, it can and it is in one place, or may be distributed over multiple networks
On unit.It can select some or all of unit therein according to the actual needs to realize the mesh of present embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can integrate in one processing unit, it can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units.It is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.
It, can if integrated unit is realized in the form of SFU software functional unit and when sold or used as an independent product
To be stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention substantially or
Say that all or part of the part that contributes to existing technology or the technical solution can embody in the form of software products
Out, which is stored in a storage medium, including some instructions are used so that a computer equipment
(can be personal computer, server or the network equipment etc.) or processor (processor) execute each implementation of the present invention
The all or part of the steps of methods.And storage medium above-mentioned include: USB flash disk, mobile hard disk, read-only memory (ROM,
Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. it is various
It can store the medium of program code.
The foregoing is merely section Examples of the invention, are not intended to limit protection scope of the present invention, all utilizations
Equivalent device made by description of the invention and accompanying drawing content or equivalent process transformation are applied directly or indirectly in other correlations
Technical field, be included within the scope of the present invention.
Claims (10)
1. a kind of direction of travel control method based on caterpillar type robot characterized by comprising
By the walking of initial velocity control caterpillar type robot；
According to the walking by initial velocity control caterpillar type robot, to the travel time of the caterpillar type robot according to
Delay specified time is arranged；
Within the delay specified time of the setting, the angle of the gyroscope of the caterpillar type robot is read；
According to the angle of the gyroscope of the caterpillar type robot of the reading, the walking side of the caterpillar type robot is calculated
To angular deviation；
The direction of travel angular deviation for detecting the calculated caterpillar type robot, it is inclined to detect the direction of travel angle
Whether difference is less than preset threshold；
Whether it is less than the testing result of preset threshold according to the detection direction of travel angular deviation, in the testing result
It is to table look-up to obtain by the angular deviation described when detecting that the direction of travel angular deviation is no less than the preset threshold
The speed of travel after caterpillar type robot correction；
The caterpillar type robot is manipulated to walk by the speed of travel after the correction of the acquirement.
2. the direction of travel control method based on caterpillar type robot as described in claim 1, which is characterized in that the basis
Whether the detection direction of travel angular deviation is less than the testing result of preset threshold, is to detect in the testing result
When the direction of travel angular deviation is no less than the preset threshold, table look-up to obtain the crawler type machine by the angular deviation
The speed of travel after device people correction, comprising:
Whether it is less than the testing result of preset threshold according to the detection direction of travel angular deviation, in the testing result
It is when detecting that the direction of travel angular deviation is less than the preset threshold, by initial velocity control caterpillar type robot
Walking.
3. the direction of travel control method based on caterpillar type robot as described in claim 1, which is characterized in that the manipulation
The caterpillar type robot is by the speed of travel walking after the correction of the acquirement, comprising:
Using when the direction of travel angular deviation is towards left avertence difference, manipulation reduces the right-hand track chiain of the caterpillar type robot
Revolving speed and the left crawler belt for manipulating the caterpillar type robot restore the mode of initial velocity, manipulate the caterpillar type robot by institute
Speed of travel walking after stating the correction of acquirement.
4. the direction of travel control method based on caterpillar type robot as described in claim 1, which is characterized in that the manipulation
The caterpillar type robot is by the speed of travel walking after the correction of the acquirement, comprising:
Using when the direction of travel angular deviation is towards right avertence difference, manipulation reduces the left crawler belt of the caterpillar type robot
Revolving speed and the right-hand track chiain for manipulating the caterpillar type robot restore the mode of initial velocity, manipulate the caterpillar type robot by institute
Speed of travel walking after stating the correction of acquirement.
5. the direction of travel control method based on caterpillar type robot as described in claim 1, which is characterized in that in the behaviour
After the caterpillar type robot is controlled by the speed of travel walking after the correction of the acquirement, further includes:
According to the walking path of the caterpillar type robot walking, return the caterpillar type robot by walking path original road
It returns.
6. a kind of direction of travel control device based on caterpillar type robot characterized by comprising
Control module, read module, computing module, detection module, obtains module and operational module at setup module；
The control module, for the walking by initial velocity control caterpillar type robot；
The setup module, for controlling the walking of caterpillar type robot by initial velocity according to, to the crawler type machine
The travel time of device people is arranged according to delay specified time；
The read module, for reading the gyroscope of the caterpillar type robot within the delay specified time of the setting
Angle；
The computing module calculates the shoe for the angle according to the gyroscope of the caterpillar type robot of the reading
The direction of travel angular deviation of belt robot；
The detection module is detected for detecting the direction of travel angular deviation of the calculated caterpillar type robot
Whether the direction of travel angular deviation is less than preset threshold；
It is described to obtain module, for whether being less than the detection knot of preset threshold according to the detection direction of travel angular deviation
Fruit, when the testing result is to detect that the direction of travel angular deviation is no less than the preset threshold, by the angle
Degree deviation tables look-up to obtain the speed of travel after the caterpillar type robot correction；
The operational module is walked for manipulating the caterpillar type robot by the speed of travel after the correction of the acquirement.
7. the direction of travel control device based on caterpillar type robot as claimed in claim 6, which is characterized in that the control
Module is specifically used for:
Whether it is less than the testing result of preset threshold according to the detection direction of travel angular deviation, in the testing result
It is when detecting that the direction of travel angular deviation is less than the preset threshold, by initial velocity control caterpillar type robot
Walking.
8. the direction of travel control device based on caterpillar type robot as claimed in claim 6, which is characterized in that the manipulation
Module is specifically used for:
Using when the direction of travel angular deviation is towards left avertence difference, manipulation reduces the right-hand track chiain of the caterpillar type robot
Revolving speed and the left crawler belt for manipulating the caterpillar type robot restore the mode of initial velocity, manipulate the caterpillar type robot by institute
Speed of travel walking after stating the correction of acquirement.
9. the direction of travel control device based on caterpillar type robot as claimed in claim 6, which is characterized in that the manipulation
Module is specifically used for:
Using when the direction of travel angular deviation is towards right avertence difference, manipulation reduces the left crawler belt of the caterpillar type robot
Revolving speed and the right-hand track chiain for manipulating the caterpillar type robot restore the mode of initial velocity, manipulate the caterpillar type robot by institute
Speed of travel walking after stating the correction of acquirement.
10. the direction of travel control device based on caterpillar type robot as claimed in claim 6, which is characterized in that the base
In the direction of travel control device of caterpillar type robot, further includes:
Return module；
The return module, for the walking path according to the caterpillar type robot walking, make the caterpillar type robot by
The walking path backtracking.
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Application publication date: 20190917 |