CN110769987A - Ground remote control robot control method and ground remote control robot - Google Patents
Ground remote control robot control method and ground remote control robot Download PDFInfo
- Publication number
- CN110769987A CN110769987A CN201880038496.8A CN201880038496A CN110769987A CN 110769987 A CN110769987 A CN 110769987A CN 201880038496 A CN201880038496 A CN 201880038496A CN 110769987 A CN110769987 A CN 110769987A
- Authority
- CN
- China
- Prior art keywords
- ground
- acceleration
- robot
- road surface
- angular
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
A control method of a ground remote-controlled robot (10) and the ground remote-controlled robot (10). A ground-based remote-controlled robot (10) includes a sensor (12). The control method comprises the following steps: (01) detecting motion data of the ground remote-controlled robot (10) through a sensor (12); and (02) identifying road condition information of the ground where the ground remote-control robot (10) is located according to the motion data.
Description
Technical Field
The invention relates to the field of remote-controlled robots, in particular to a control method of a ground remote-controlled robot and the ground remote-controlled robot.
Background
When the remote-controlled robot moves on the road surfaces under different conditions, the road surfaces under different conditions can cause different degrees of influence on the remote-controlled robot. To cope with such a change, the remote-controlled robot needs to be appropriately adjusted for the road surface of different situations. The traditional way is that the operator oneself discerns current environment road conditions, however, under some remote environment or the environment that light is weaker, the operator can't acquire current environment road conditions, is not convenient for protect remote control robot and promote remote control robot's the experience of controlling.
Disclosure of Invention
The embodiment of the invention provides a control method of a ground remote-controlled robot and the ground remote-controlled robot.
An embodiment of the present invention provides a method for controlling a ground-based remote-controlled robot, where the ground-based remote-controlled robot includes a sensor, the method including: detecting motion data of the ground remote-controlled robot through the sensor; and identifying road condition information of the ground where the ground remote control robot is located according to the motion data.
The embodiment of the invention provides a ground remote-controlled robot, which comprises a sensor and a controller, wherein the sensor is used for detecting the motion data of the ground remote-controlled robot; and the controller is used for identifying road condition information of the ground where the ground remote control robot is located according to the motion data.
According to the control method of the ground remote-controlled robot and the ground remote-controlled robot, the road condition information of the ground where the ground remote-controlled robot is located is identified according to the motion data detected by the sensor, so that the remote-controlled robot is protected conveniently, and the control experience of the remote-controlled robot is improved.
Additional aspects and advantages of embodiments of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flow chart of a method of controlling a ground-based robot according to some embodiments of the present invention;
fig. 2 is a schematic diagram of a connection state of a ground-based remote-controlled robot and a remote control device according to some embodiments of the present invention;
fig. 3 is a schematic view of an application scenario from a perspective of a control method of a ground-based remote-controlled robot according to some embodiments of the present invention;
fig. 4 is a schematic view of an application scenario of another perspective of the control method of the ground-based remote-controlled robot according to some embodiments of the present invention;
fig. 5 is a flow chart illustrating a method for controlling a ground-based robot according to some embodiments of the present invention;
fig. 6 is a flow chart illustrating a method of controlling a ground-based robot according to some embodiments of the present invention;
fig. 7 is a flow chart illustrating a method of controlling a ground-based robot according to some embodiments of the present invention;
fig. 8 is a flow chart illustrating a method of controlling a ground-based robot according to some embodiments of the present invention;
fig. 9 is a flow chart illustrating a method of controlling a ground-based robot according to some embodiments of the present invention;
fig. 10 is a flow chart illustrating a method of controlling a ground-based robot according to some embodiments of the present invention;
fig. 11 is a flow chart illustrating a method of controlling a ground-based robot according to some embodiments of the present invention;
fig. 12 is a flow chart illustrating a method of controlling a ground-based robot according to some embodiments of the present invention;
fig. 13 is a flow chart illustrating a method of controlling a ground-based robot according to some embodiments of the present invention;
description of the main elements and symbols:
ground remote-controlled robot 10, sensor 12, controller 14, actuator 16, remote control device 30, display device 32.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the embodiments of the present invention, it should be understood that the terms "upper", "front", "rear", "left", "right", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the term "mounted" is to be interpreted broadly, e.g., as being either fixedly attached, detachably attached, or integrally attached; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.
The following disclosure provides many different embodiments or examples for implementing different configurations of embodiments of the invention. In order to simplify the disclosure of embodiments of the invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention.
Referring to fig. 1 and 2 together, the present invention provides a method for controlling a remote-controlled floor robot 10. The ground-based remote-controlled robot 10 includes a sensor 12. The control method comprises the following steps:
01: detecting the motion data of the ground remote-controlled robot 10 through the sensor 12; and
02: and identifying road condition information of the ground where the ground remote-control robot 10 is located according to the motion data.
Referring to fig. 2, an embodiment of the present invention provides a ground remote-controlled robot 10. The ground-based remote-controlled robot 10 includes a sensor 12 and a controller 14. The method for controlling the ground-based remote-controlled robot 10 according to the embodiment of the present invention can be implemented by the ground-based remote-controlled robot 10 according to the embodiment of the present invention. For example, the sensor 12 may be used to execute the control method in 01 and the controller 14 may be used to execute the method in 02. That is, the sensor 12 may be used to detect motion data of the ground-based robot 10. The controller 14 may be configured to identify the traffic information of the ground where the ground-based remote-controlled robot 10 is located according to the motion data.
According to the control method of the ground remote-controlled robot 10 and the ground remote-controlled robot 10 of the embodiment of the invention, the road condition information of the ground where the ground remote-controlled robot 10 is located is identified according to the motion data detected by the sensor 12, so that the ground remote-controlled robot 10 is protected conveniently and the operation experience of the ground remote-controlled robot 10 is improved.
Specifically, referring to fig. 3 and 4, the ground-based robot 10 may be a wheeled ground-based robot 10. The number of wheels may be 1, 2, 3, 4 or more. The embodiment of the present invention will be described by taking the example in which the number of wheels is 4. The ground-based remotely-controlled robot 10 may include a sensor 12, a controller 14, and an actuator 16 (the actuator 16 may be a wheel). The ground-based remote-controlled robot 10 can be controlled by an operator through a remote control device 30, such as a remote controller. The ground remote-controlled robot 10 can communicate with the remote control device 30 by any communication means, such as bluetooth, wifi, ZigBee, and other wireless communication means. In one example, the remote control device 30 sends a control command to the ground-based remote-controlled robot 10, where the control command may be a control command including a speed, an acceleration, an angular velocity, a motion position, an attitude angle, and the like, and after receiving the control command, the controller 14 of the ground-based remote-controlled robot 10 calculates a current motion command by combining the motion data of the ground-based remote-controlled robot 10 detected by the sensor 12, and sends the motion command to the actuator 16 for execution, so as to control the movement of the ground-based remote-controlled robot 10.
In embodiments of the present invention, the sensor 12 may include one or more of an Inertial Measurement Unit (IMU), a code wheel, a vision sensor, an ultrasonic sensor, radar equipment, a hall sensor, an electrical tilt and a TOF camera, the IMU including an accelerometer and a gyroscope. The sensor 12 is used for directly detecting or calculating one or more motion data of the speed, the acceleration, the angular velocity, the angular acceleration, the motion position, the attitude angle, the wheel rotation speed (or the motor rotation speed) and the torque corresponding to the wheel of the ground remote-controlled robot 10.
In correspondence thereto, the motion data may include at least one of a speed, an acceleration, an angular velocity, an angular acceleration, a motion position, an attitude angle, a wheel rotational speed (or a motor rotational speed), or a torque. That is, the motion data may include velocity; alternatively, the motion data comprises acceleration; alternatively, the motion data comprises a pose angle; alternatively, the motion data includes wheel speed and torque; alternatively, the motion data includes velocity, acceleration, angular velocity, attitude angle, and the like, which are not listed herein.
The road condition information may include at least one of road smoothness, road flatness, or road gradient. That is, the road condition information may include road surface smoothness; or the road condition information comprises road surface flatness; or the road condition information comprises road surface gradient; or the road surface information comprises road surface smoothness and road surface flatness; alternatively, the road condition information includes road smoothness, road gradient, and the like, which are not listed herein.
Road smoothness refers to the degree of smoothness of a road surface, indicating that the road surface is smoother when the road surface is smoother. The smoothness of the road surface is expressed in whether the ground robot 10 easily slips or not when moving on the road surface, or the like. For example, when ice is formed, the road surface has high smoothness and is easy to slip.
The road surface evenness refers to the evenness of the road surface, and when the road surface evenness is larger, the road surface is smoother. The flatness of the road surface is represented by whether the ground remote-controlled robot 10 is bumpy or not on the current road surface. For example, when the ground is rugged, such as a stone road or a pothole road, the road surface is not smooth and bumpy.
The road surface gradient refers to the degree of inclination of the road surface, and when the road surface gradient is larger, the road surface is indicated to be more inclined. The road surface gradient is expressed on an uphill slope, a flat ground, a downhill slope, or the like.
Taking fig. 3 and 4 as an example, after the ground remote control robot 10 receives the same control command, the sensor 12 outputs different motion data a, b, and c under three different road conditions A, B, C. The motion data a, b, c each include at least one of speed, acceleration, angular velocity, angular acceleration, motion position, attitude angle, wheel speed, or torque. The controller 14 can correspondingly identify which road condition the ground remote-controlled robot 10 is under according to different motion data. For example, the controller 14 identifies at least one of high road smoothness, and low road gradient of the ground on which the ground remote-controlled robot 10 is located, based on the motion data a, the controller 14 identifies at least one of medium road smoothness, and high road gradient of the ground on which the ground remote-controlled robot 10 is located, based on the motion data b, and the controller 14 identifies at least one of low road smoothness, and medium road gradient of the ground on which the ground remote-controlled robot 10 is located, based on the motion data c. Of course, the result of the road condition information recognized by the controller 14 according to the motion data is not limited to the above example.
Referring again to fig. 1, in some embodiments, the control method further includes:
03: and controlling the motion state of the ground remote-controlled robot 10 according to the road condition information.
In certain embodiments, the controller 14 may be used to perform the method of 03. That is, the controller 14 may also be used to control the motion state of the ground-based robot 10 according to the road condition information.
Specifically, the controller 14 may correspondingly control or adjust at least one of the speed, the acceleration, the angular velocity, the angular acceleration, the motion position, the attitude angle, the wheel rotation speed, or the torque of the ground remote-controlled robot 10 according to at least one of the smoothness of the road surface, or the gradient of the road surface, so as to adapt to different road conditions, and achieve the purposes of protecting the equipment safety of the ground remote-controlled robot 10 and improving the operation experience of the ground remote-controlled robot 10.
Referring to fig. 2 and 5, in some embodiments, the control method further includes:
04: the traffic information is sent to the display device 32 for display.
In certain embodiments, the controller 14 may be used to perform the method in 04. That is, the controller 14 may also be configured to send the traffic information to the display device 32 for display.
Specifically, the display device 32 may be a display screen of the remote control apparatus 30, or a display screen of the ground-based robot 10, or another display device 32 communicating with the ground-based robot 10. The display device 32 is used for displaying the road condition information to remind the operator, so that the operator can know the road condition in time and perform corresponding operations.
Further, when the road information does not change much, for example, the road smoothness, or the road gradient changes less than a threshold value compared to the previous time, the controller 14 may keep the predetermined frequency and send the road information to the display device 32 for displaying, so as to save power consumption; when the road information becomes larger, for example, the variation of any one or more of the road smoothness, or the road gradient is greater than or equal to a threshold value, the controller 14 may appropriately increase the frequency of sending the road condition information to the display device 32 for displaying, so that the user can know the road condition change more timely.
Referring to fig. 6, in some embodiments, the control method further includes:
05: generating a user operation suggestion according to the road condition information; and
06: the user operation advice is sent to the display device 32 for display.
In certain embodiments, the controller 14 may be used to perform the methods of 05 and 06. That is, the controller 14 may also be configured to: generating a user operation suggestion according to the road condition information; and transmits the user operation advice to the display device 32 for display.
Specifically, the display device 32 may be a display screen of the remote control apparatus 30, or a display screen of the ground-based robot 10, or another display device 32 communicating with the ground-based robot 10. The controller 14 generates a user operation suggestion according to the road condition information, and sends the user operation suggestion to the display device 32 for displaying, and the operator can correspondingly control the ground remote-controlled robot 10 according to the user operation suggestion. For example, when it is recognized that the smoothness of the ground where the ground remote-controlled robot 10 is located is high according to the motion data, the ground is smooth, in order to ensure that the ground remote-controlled robot 10 can be effectively controlled and prevent slipping, the ground remote-controlled robot 10 may generate a user operation suggestion that limits the speed or acceleration of the ground remote-controlled robot 10, or generate a user operation suggestion that a rocker of the remote control device 30 of the ground remote-controlled robot 10 slowly strikes a rod, the user operation suggestion is sent to the display device 32 of the remote control device 30 to be displayed, and an operator may correspondingly control the ground remote-controlled robot 10 according to the user operation suggestion, which is beneficial to improving the operation stability of the ground remote-controlled robot 10 and improving the operation experience of the ground remote-controlled robot 10.
Referring to fig. 7, in some embodiments, the road condition information includes road smoothness. The motion data includes wheel speed and torque. Identifying traffic information (i.e., 02) of the ground where the ground remote-controlled robot 10 is located according to the motion data includes:
021: calculating a matching coefficient according to the rotating speed and the torque of the wheel; and
022: and determining the smoothness of the road surface according to the matching coefficient.
In some embodiments, the road condition information includes road smoothness. The motion data includes wheel speed and torque. The controller 14 may be used to execute the methods in 021 and 022. That is, the controller 14 may also be configured to: calculating a matching coefficient according to the rotating speed and the torque of the wheel; and determining the smoothness of the road surface according to the matching coefficient.
Specifically, the matching coefficient may be a ratio of the wheel speed and the torque, and the matching coefficient reflects the maneuvering performance of the ground-based robot 10, or the efficiency of the output of the actuator 16.
It is understood that the smoothness of the road surface is proportional to the degree of slip of the ground-based robot 10, i.e., the higher the smoothness of the road surface, the more severe the degree of slip of the ground-based robot 10 becomes. When the degree of slip of the ground remote-controlled robot 10 is more serious, the wheel rotation speed is high due to poor maneuvering characteristics, but the actual torque is small, so that the matching coefficient calculated according to the wheel rotation speed and the torque is large. Therefore, the controller 14 may calculate a matching coefficient from the wheel speed and the torque, and determine the road surface smoothness from the matching coefficient. When the matching coefficient is larger, the smoothness of the road surface is indicated to be larger; when the matching coefficient is smaller, it indicates that the road surface smoothness is smaller.
Further, the controller 14 may also compare the matching coefficient with a predetermined coefficient section to determine the level of the road surface smoothness. For example, the predetermined coefficient sections include [ S1, S2), [ S2, S3), [ S3, S4), [ S4, S5) and the like in order of magnitude. When the matching coefficient is in the range of [ S1, S2), the controller 14 determines the level of road surface smoothness as less smooth; when the matching coefficient is in the range of [ S2, S3), the controller 14 determines the level of road surface smoothness as standard smoothness; when the matching coefficient is in the range of [ S3, S4), the controller 14 determines that the grade of the road surface smoothness is smoother; when the matching coefficient is in the range of [ S4, S5), the controller 14 determines that the grade of the road surface smoothness is very smooth.
Referring to fig. 8, in some embodiments, the motion data further includes at least one of velocity, acceleration, angular velocity, angular acceleration, motion position, or attitude angle. Identifying the road condition information (i.e. 02) of the ground where the ground remote-controlled robot 10 is located according to the motion data further includes:
023: determining an adjustment time for at least one of a velocity, an acceleration, an angular velocity, an angular acceleration, a motion position, or an attitude angle from at least one of a velocity, an acceleration, an angular velocity, an angular acceleration, a motion position, or an attitude angle;
determining the road surface smoothness (i.e., 022) from the matching coefficients includes:
0221: and determining the smoothness of the road surface according to the matching coefficient and the adjusting time.
In some embodiments, the motion data further comprises at least one of velocity, acceleration, angular velocity, angular acceleration, motion position, or attitude angle. Controller 14 may be used to perform the methods of 023 and 0221. That is, the controller 14 may also be configured to: determining an adjustment time for at least one of a velocity, an acceleration, an angular velocity, an angular acceleration, a motion position, or an attitude angle from at least one of a velocity, an acceleration, an angular velocity, an angular acceleration, a motion position, or an attitude angle; and determining the smoothness of the road surface according to the matching coefficient and the adjusting time.
Specifically, the adjustment time may refer to a time required for the ground-based robot 10 to adjust from the current motion data to the target motion data determined according to the control instruction transmitted from the remote control device 30. Taking the speed as an example, the current speed is 1m/s, the target speed is 2m/s, and the current acceleration is 1m/s2The controller 14 may calculate an adjustment time for the speed to be 1 s. In a similar manner, the controller 14 may calculate the adjustment time of the acceleration, the angular velocity, the angular acceleration, the motion position, and the attitude angle, which are not examples. The adjustment time reflects the control performance of the ground-based remote-controlled robot 10.
When the road surface is smoother, the more severe the slip degree of the ground-based robot 10 is, and since the maneuvering performance of the ground-based robot 10 is not strong, the adjustment time in the control performance is larger than the normal time. The visual reflection is as follows: the ground-based robot 10 has a high wheel rotation speed but a small actual torque, and the time for adjusting to the target speed (or other target motion data) is long due to the loss of the output speed, that is, the time for adjusting the speed is long. The adjustment time of the acceleration becomes large. At this time, the ground remote-controlled robot 10 may have position or attitude drift (as shown in fig. 4, road condition B or C), so that the adjustment time of the movement position and the adjustment time of the attitude angle may also become longer. Therefore, the controller 14 may determine the road surface smoothness in conjunction with the matching coefficient and the adjustment time of at least one of the velocity, the acceleration, the angular velocity, the angular acceleration, the movement position, or the posture angle to make the evaluation result of the road surface smoothness more accurate. Alternatively, the controller 14 may determine the difference between the current adjustment time of at least one of the velocity, the acceleration, the angular velocity, the angular acceleration, the movement position, or the attitude angle and the adjustment time of at least one of the velocity, the acceleration, the angular velocity, the angular acceleration, the movement position, or the attitude angle under the standard road condition, and then combine the matching coefficient with the difference to determine the road surface smoothness.
Referring to fig. 9, in some embodiments, the control method further includes:
07: when the smoothness of the road surface is greater than the predetermined smoothness, the speed and/or acceleration and/or the angular speed and/or the angular acceleration of the movement of the ground-based remote-controlled robot 10 is restricted.
In certain embodiments, the controller 14 may be used to perform the method of 07. That is, the controller 14 may also be used to limit the speed and/or acceleration and/or angular speed and/or angular acceleration of the movement of the ground-based remotely-controlled robot 10 when the smoothness of the road surface is greater than a predetermined smoothness.
Specifically, when the road surface smoothness is high, the speed and/or acceleration and/or angular velocity and/or angular acceleration of the movement of the ground-based remote-controlled robot 10 should not be too high, so as to prevent the movement from slipping and protect the safety of the equipment of the ground-based remote-controlled robot 10. Accordingly, the controller 14 may limit the speed and/or acceleration and/or angular speed and/or angular acceleration of the movement of the ground-based remotely-controlled robot 10 when the smoothness of the road surface is greater than the predetermined smoothness.
For example, the ground-based remote-controlled robot 10 moves at a speed of 3 m/s. In one example, controller 14 may limit the speed of movement of ground-based robot 10 to 5m/s when the road smoothness is greater than the predetermined smoothness, i.e., ground-based robot 10 may also accelerate to a certain degree to reach 5m/s and maintain movement at a speed less than or equal to 5 m/s. Of course, the ground-based remote-controlled robot 10 may not accelerate, and may keep the current speed at 3m/s or may decelerate. In another example, controller 14 may limit the speed of movement of ground-based robot 10 to 2m/s when the road smoothness is greater than the predetermined smoothness, at which time ground-based robot 10 may need to decelerate to 2m/s and maintain movement at a speed less than or equal to 2 m/s.
Referring to fig. 10, in some embodiments, the road condition information includes road flatness. The motion data includes acceleration. Identifying traffic information (i.e., 02) of the ground where the ground remote-controlled robot 10 is located according to the motion data includes:
024: determining the acceleration change of the ground remote-controlled robot 10 in the vertical direction according to the acceleration; and
025: and determining the flatness of the road surface according to the acceleration change.
In some embodiments, the road condition information includes road flatness. The motion data includes acceleration. The controller 14 may be used to execute the methods in 024 and 025. That is, the controller 14 may also be configured to: determining the acceleration change of the ground remote-controlled robot 10 in the vertical direction according to the acceleration; and determining the flatness of the road surface according to the acceleration change.
Specifically, referring to fig. 3 and 4, the acceleration of the ground-based remote-controlled robot 10 in the vertical direction is the acceleration along the Z-axis direction (the X-axis and the Y-axis are both parallel to the ground, and the Y-axis is perpendicular to the X-axis and the Y-axis).
When the ground remote-controlled robot 10 moves at the same speed under different road conditions, the acceleration distribution of the ground remote-controlled robot 10 in the vertical direction will be different. For example, during ground motion with high road flatness, the acceleration of the ground-based robot 10 in the vertical direction is almost constant. When the ground with low road flatness moves, the acceleration of the ground remote-controlled robot 10 in the vertical direction will continuously show the fluctuation of the vertical direction on the basis of the normal acceleration. The fluctuation is larger when the road flatness is lower, i.e. the road flatness is inversely related to the fluctuation amplitude. Therefore, the controller 14 can determine the flatness of the road surface according to the acceleration change of the ground-based robot 10 in the vertical direction. When the acceleration change is larger, the smaller the pavement evenness is shown; when the acceleration change is smaller, it indicates that the road flatness is higher.
Further, the controller 14 may also compare the acceleration change (magnitude) with a predetermined change (magnitude) interval to determine the level of the road flatness. For example, the predetermined variation (amplitude) section includes [ F1, F2), [ F2, F3), [ F3, F4), [ F4, F5) in order in terms of magnitude of the value. When the acceleration change (amplitude) is within the range of [ F1, F2), the controller 14 determines the level of road flatness as very flat; when the acceleration change (amplitude) is within the range of [ F2, F3), the controller 14 determines the level of road flatness as being relatively flat; when the acceleration change (amplitude) is within the range of [ F3, F4), the controller 14 determines the level of road flatness as standard flatness; when the acceleration variation (amplitude) is within the range of [ F4, F5), the controller 14 determines that the level of the road flatness is relatively uneven.
Referring to fig. 11, in some embodiments, the motion data further includes at least one of velocity, acceleration, angular velocity, angular acceleration, motion position, or attitude angle. Identifying the road condition information (i.e. 02) of the ground where the ground remote-controlled robot 10 is located according to the motion data further includes:
026: determining an adjustment time for at least one of a velocity, an acceleration, an angular velocity, an angular acceleration, a motion position, or an attitude angle from at least one of a velocity, an acceleration, an angular velocity, an angular acceleration, a motion position, or an attitude angle;
determining the flatness of the road surface (i.e., 025) from the acceleration changes includes:
0251: and determining the flatness of the road surface according to the acceleration change and the adjusting time.
In some embodiments, the motion data further comprises at least one of velocity, acceleration, angular velocity, angular acceleration, motion position, or attitude angle. The controller 14 may be used to perform the methods of 026 and 0251. That is, the controller 14 may also be configured to: determining an adjustment time for at least one of a velocity, an acceleration, an angular velocity, an angular acceleration, a motion position, or an attitude angle from at least one of a velocity, an acceleration, an angular velocity, an angular acceleration, a motion position, or an attitude angle; and determining the flatness of the road surface according to the acceleration change and the adjusting time.
Specifically, the explanation of the velocity, acceleration, angular velocity, angular acceleration, movement position, and adjustment time of the attitude angle in the foregoing embodiment is also applicable to the present embodiment, and the explanation is not repeated here.
When the road flatness is low, the velocity, acceleration, angular velocity, angular acceleration, motion position, or attitude angle of the ground-based robot 10 may suddenly increase or suddenly decrease. Therefore, the adjustment time of at least one of the calculated velocity, acceleration, angular velocity, angular acceleration, motion position, or attitude angle also fluctuates as the time goes by. The fluctuation is larger when the road flatness is lower, i.e. the road flatness is inversely related to the fluctuation amplitude. Therefore, the controller 14 may determine the road flatness in conjunction with the acceleration change of the ground-based robot 10 in the vertical direction and the adjustment time of at least one of the velocity, the acceleration, the angular velocity, the angular acceleration, the movement position, or the attitude angle, so that the evaluation result of the road flatness is more accurate. Alternatively, the controller 14 may determine the difference between the current adjustment time of at least one of the velocity, the acceleration, the angular velocity, the angular acceleration, the movement position, or the attitude angle and the adjustment time of at least one of the velocity, the acceleration, the angular velocity, the angular acceleration, the movement position, or the attitude angle under the standard road condition, and then combine the acceleration change and the difference to determine the road flatness.
Referring to fig. 12, in some embodiments, the control method further includes:
08: and limiting the speed and/or acceleration and/or angular speed and/or angular acceleration of the movement of the ground-based remotely-controlled robot 10 when the road flatness is less than the predetermined flatness.
In certain embodiments, the controller 14 may be used to perform the method of 08. That is, the controller 14 may also be used to limit the velocity and/or acceleration and/or angular velocity and/or angular acceleration of the movement of the ground-based robot 10 when the road flatness is less than a predetermined flatness.
Specifically, when the road surface flatness is low, the road surface is rugged and uneven, and the speed and/or acceleration and/or angular velocity and/or angular acceleration of the movement of the ground remote-controlled robot 10 should not be too high, so as to simultaneously play a role in protecting the wheels and preventing the overturn, thereby protecting the equipment safety of the ground remote-controlled robot 10. Accordingly, the controller 14 may limit the velocity and/or acceleration and/or angular velocity and/or angular acceleration of the movement of the ground-based robot 10 when the road flatness is less than a predetermined flatness.
For example, the ground-based remote-controlled robot 10 moves at a speed of 3 m/s. In one example, controller 14 may limit the speed of movement of ground-based robot 10 to 5m/s when the road flatness is less than a predetermined flatness, i.e., ground-based robot 10 may also accelerate to a certain degree to reach 5m/s and maintain movement at a speed less than or equal to 5 m/s. Of course, the ground-based remote-controlled robot 10 may not accelerate, and may keep the current speed at 3m/s or may decelerate. In another example, controller 14 may limit the speed of movement of ground-based robot 10 to 2m/s when the road flatness is less than a predetermined flatness, at which time ground-based robot 10 needs to decelerate to 2m/s and maintain movement at a speed less than or equal to 2 m/s.
Of course, in other embodiments, the ground-based robot 10 may also increase the speed of the ground-based robot 10 according to the control command sent by the operator through the remote control device 30, so that the ground-based robot 10 can quickly traverse the rugged road.
Referring to fig. 13, in some embodiments, the road condition information includes a road surface gradient. The motion data includes a pose angle. Identifying traffic information (i.e., 02) of the ground where the ground remote-controlled robot 10 is located according to the motion data includes:
027: and determining the road surface gradient according to the attitude angle.
In some embodiments, the road condition information includes road surface gradient. The motion data includes a pose angle. The controller 14 may be used to perform the method of 027. That is, the controller 14 may also be used to determine the road surface gradient from the attitude angle.
Specifically, when the road surface has a slope, the attitude angle of the ground-based robot 10 changes. For example, when the road surface gradient is +30 degrees (positive degrees indicate an upward slope, negative degrees indicate a downward slope), the pitch angle of the ground remote-controlled robot 10 is +30 degrees; when the gradient of the road surface is 0 degree, the pitch angle of the ground remote-controlled robot 10 is 0 degree; when the road surface gradient is-30 degrees, the pitch angle of the ground remote-controlled robot 10 is-30 degrees. That is, the magnitude (absolute value) of the road surface gradient and the magnitude (absolute value) of the attitude angle are positively correlated. Accordingly, the controller 14 may determine the road surface gradient from the attitude angle. When the attitude angle is larger, the road surface gradient is larger; when the attitude angle is smaller, it indicates that the road surface gradient is smaller.
Further, the controller 14 may also compare the attitude angle with a predetermined attitude angle section to determine the level of the road surface gradient. For example, the predetermined attitude angle sections include [ a1, a2), [ a2, A3), [ A3, a4), [ a4, a5), [ a5, a6) in order of magnitude. When the attitude angle is in the range of [ a1, a2), the controller 14 determines that the grade of the road surface gradient is a downhill of a higher gradient; when the attitude angle is in the range of [ a2, A3), the controller 14 determines that the grade of the road surface gradient is a lower-gradient downhill; when the attitude angle is in the range of [ A3, a4), the controller 14 determines the level of the road surface gradient as no slope; when the attitude angle is in the range of [ a4, a5), the controller 14 determines that the grade of the road surface gradient is an uphill of a lower gradient; when the attitude angle is in the range of [ a5, a6), the controller 14 determines that the grade of the road surface gradient is an uphill gradient of a higher gradient.
With continued reference to fig. 13, in some embodiments, the control method further includes:
09: when the road surface gradient (absolute value) is greater than the predetermined gradient, at least one of the speed, acceleration, angular velocity, angular acceleration, and attitude angle of the movement of the ground-based remotely-controlled robot 10 is restricted.
In certain embodiments, the controller 14 may be used to perform the method of 09. That is, the controller 14 may also be configured to limit at least one of a speed, an acceleration, an angular velocity, an angular acceleration, and an attitude angle of the movement of the ground-based robot 10 when a road surface gradient (absolute value) is greater than a predetermined gradient.
Specifically, when the road surface slope is large, the speed, the acceleration, the angular speed, the angular acceleration, and the attitude angle of the ground remote-controlled robot 10 should not be too high, so as to prevent the wheel from idling, the torque from being too low, or from overturning, which is not beneficial to climbing; or the ground-based remote-controlled robot 10 may tip over. Accordingly, the controller 14 may limit at least one of a speed, an acceleration, an angular speed, an angular acceleration, and an attitude angle of the movement of the ground-remote-controlled robot 10 when the road surface gradient is greater than a predetermined gradient.
For example, the ground-based remote-controlled robot 10 moves at a speed of 3 m/s. In one example, controller 14 may limit the speed at which ground-based robot 10 moves to 5m/s when the road grade is greater than a predetermined grade, i.e., ground-based robot 10 may also accelerate to a certain degree to reach 5m/s and maintain movement at a speed less than or equal to 5 m/s. Of course, the ground-based remote-controlled robot 10 may not accelerate, and may keep the current speed at 3m/s or may decelerate. In another example, controller 14 may limit the speed at which ground-based robot 10 moves to 2m/s when the road slope is greater than a predetermined slope, at which time ground-based robot 10 needs to decelerate to 2m/s and maintain movement at a speed less than or equal to 2 m/s.
In the description herein, references to the description of "certain embodiments" or the like are intended to mean that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment of the present invention. In the present specification, the schematic representations of the above terms do not necessarily refer to the same embodiment. Furthermore, the particular features, structures, or characteristics described may be combined in any suitable manner in any one or more embodiments.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processing module-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection having one or more wires (control method), a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of embodiments of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and those skilled in the art can make changes, modifications, substitutions and alterations to the above embodiments within the scope of the present invention.
Claims (28)
1. A control method of a ground-based robot, the ground-based robot including a sensor, the control method comprising:
detecting motion data of the ground remote-controlled robot through the sensor; and
and identifying road condition information of the ground where the ground remote control robot is located according to the motion data.
2. The control method according to claim 1, characterized by further comprising:
and controlling the motion state of the ground remote control robot according to the road condition information.
3. The control method according to claim 1, characterized by further comprising:
and sending the road condition information to a display device for display.
4. The control method according to claim 1, characterized by further comprising:
generating a user operation suggestion according to the road condition information; and
and sending the user operation suggestion to a display device for displaying.
5. The control method of claim 1, wherein the motion data comprises at least one of a speed, an acceleration, an angular velocity, an angular acceleration, a motion position, an attitude angle, a wheel speed, or a torque.
6. The control method of claim 1, wherein the road condition information includes at least one of a smoothness of a road surface, a flatness of a road surface, or a gradient of a road surface.
7. The control method of claim 1, wherein the traffic information includes road smoothness, the motion data includes wheel speed and torque, and the identifying the traffic information of the ground where the ground-based remote-controlled robot is located according to the motion data includes:
calculating a matching coefficient according to the wheel rotating speed and the torque; and
and determining the road surface smoothness according to the matching coefficient.
8. The control method according to claim 7, wherein the motion data further includes at least one of speed, acceleration, angular velocity, angular acceleration, motion position, or attitude angle, and the identifying the road condition information of the ground where the ground remote-controlled robot is located according to the motion data further includes:
determining an adjustment time for at least one of the velocity, the acceleration, the angular velocity, the angular acceleration, the motion position, or the attitude angle from at least one of the velocity, the acceleration, the angular velocity, the angular acceleration, the motion position, or the attitude angle;
the determining the road surface smoothness according to the matching coefficient includes:
and determining the road surface smoothness according to the matching coefficient and the adjusting time.
9. The control method according to claim 7 or 8, characterized by further comprising:
limiting the speed and/or acceleration and/or angular speed and/or angular acceleration of the ground-based remotely-controlled robot motion when the smoothness of the road surface is greater than a predetermined smoothness.
10. The control method according to claim 1, wherein the traffic information includes a smoothness of a road surface, the motion data includes an acceleration, and the identifying the traffic information of the ground where the ground remote-controlled robot is located according to the motion data includes:
determining the acceleration change of the ground remote control robot in the vertical direction according to the acceleration; and
and determining the road surface flatness according to the acceleration change.
11. The control method according to claim 10, wherein the motion data further includes at least one of speed, acceleration, angular velocity, angular acceleration, motion position, or attitude angle, and the identifying the road condition information of the ground where the ground remote-controlled robot is located according to the motion data further includes:
determining an adjustment time for at least one of the velocity, the acceleration, the angular velocity, the angular acceleration, the motion position, or the attitude angle from at least one of the velocity, the acceleration, the angular velocity, the angular acceleration, the motion position, or the attitude angle;
the determining the road flatness according to the acceleration variation comprises:
and determining the road surface evenness according to the acceleration change and the adjusting time.
12. The control method according to claim 10 or 11, characterized by further comprising:
and when the road surface flatness is less than the preset flatness, limiting the speed and/or acceleration and/or angular speed and/or angular acceleration of the motion of the ground remote-controlled robot.
13. The control method according to claim 1, wherein the traffic information includes road surface gradient, the motion data includes attitude angle, and the identifying the traffic information of the ground where the ground remote-controlled robot is located according to the motion data includes:
and determining the road surface gradient according to the attitude angle.
14. The control method according to claim 13, characterized by further comprising:
and when the road surface gradient is greater than the preset gradient, limiting at least one of the speed, the acceleration, the angular speed, the angular acceleration and the attitude angle of the motion of the ground remote-controlled robot.
15. A ground-based robot, comprising:
a sensor for detecting motion data of the ground-based remotely controlled robot; and
and the controller is used for identifying the road condition information of the ground where the ground remote control robot is located according to the motion data.
16. The ground-based remote controlled robot of claim 15, wherein the controller is further configured to:
and controlling the motion state of the ground remote control robot according to the road condition information.
17. The ground-based remote controlled robot of claim 15, wherein the controller is further configured to:
and sending the road condition information to a display device for display.
18. The ground-based remote controlled robot of claim 15, wherein the controller is further configured to:
generating a user operation suggestion according to the road condition information; and
and sending the user operation suggestion to a display device for displaying.
19. The ground-based robot of claim 15, wherein the motion data comprises at least one of velocity, acceleration, angular velocity, angular acceleration, motion position, attitude angle, wheel speed, or torque.
20. The ground-based remote-controlled robot of claim 15, wherein the road condition information includes at least one of a smoothness of a road surface, a flatness of a road surface, or a gradient of a road surface.
21. The ground-based remote-controlled robot of claim 15, wherein the road condition information comprises road smoothness, the motion data comprises wheel speed and torque, and the controller is further configured to:
calculating a matching coefficient according to the wheel rotating speed and the torque; and
and determining the road surface smoothness according to the matching coefficient.
22. The ground-based teleoperated robot of claim 21, wherein the motion data further comprises at least one of a velocity, an acceleration, an angular velocity, an angular acceleration, a motion position, or an attitude angle, the controller further configured to:
determining an adjustment time for at least one of the velocity, the acceleration, the angular velocity, the angular acceleration, the motion position, or the attitude angle from at least one of the velocity, the acceleration, the angular velocity, the angular acceleration, the motion position, or the attitude angle; and
and determining the road surface smoothness according to the matching coefficient and the adjusting time.
23. The ground-based remotely controlled robot of claim 21 or 22, wherein said controller is further configured to:
limiting the speed and/or acceleration and/or angular speed and/or angular acceleration of the ground-based remotely-controlled robot motion when the smoothness of the road surface is greater than a predetermined smoothness.
24. The ground-based remote-controlled robot of claim 15, wherein the road condition information comprises road flatness, the motion data comprises acceleration, and the controller is further configured to:
determining the acceleration change of the ground remote control robot in the vertical direction according to the acceleration; and
and determining the road surface flatness according to the acceleration change.
25. The ground-based teleoperated robot of claim 24, wherein the motion data further comprises at least one of a velocity, an acceleration, an angular velocity, an angular acceleration, a motion position, or an attitude angle, the controller further configured to:
determining an adjustment time for at least one of the velocity, the acceleration, the angular velocity, the angular acceleration, the motion position, or the attitude angle from at least one of the velocity, the acceleration, the angular velocity, the angular acceleration, the motion position, or the attitude angle; and
and determining the road surface evenness according to the acceleration change and the adjusting time.
26. The ground-based remotely controlled robot of claim 24 or 25, wherein said controller is further configured to:
and when the road surface flatness is less than the preset flatness, limiting the speed and/or acceleration and/or angular speed and/or angular acceleration of the motion of the ground remote-controlled robot.
27. The ground-based remote-controlled robot of claim 15, wherein the road condition information includes a road grade, the motion data includes an attitude angle, and the controller is further configured to:
and determining the road surface gradient according to the attitude angle.
28. The ground-based remotely controlled robot of claim 27, wherein the controller is further configured to:
and when the road surface gradient is greater than the preset gradient, limiting at least one of the speed, the acceleration, the angular speed, the angular acceleration and the attitude angle of the motion of the ground remote-controlled robot.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/113006 WO2020087345A1 (en) | 2018-10-31 | 2018-10-31 | Method for controlling ground-based telerobot and ground-based telerobot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110769987A true CN110769987A (en) | 2020-02-07 |
Family
ID=69328784
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880038496.8A Pending CN110769987A (en) | 2018-10-31 | 2018-10-31 | Ground remote control robot control method and ground remote control robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110769987A (en) |
| WO (1) | WO2020087345A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113551706A (en) * | 2021-07-20 | 2021-10-26 | 上海擎朗智能科技有限公司 | Method and device for robot inspection, electronic equipment and storage medium |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008060689A2 (en) * | 2006-10-06 | 2008-05-22 | Irobot Corporation | Autonomous behaviors for a remote vehicle |
| CN102485528A (en) * | 2010-12-03 | 2012-06-06 | 比亚迪股份有限公司 | Wheel motor slip processing control system and slip processing method of wheel motor |
| US20130231779A1 (en) * | 2012-03-01 | 2013-09-05 | Irobot Corporation | Mobile Inspection Robot |
| CN103903435A (en) * | 2012-12-30 | 2014-07-02 | 王方淇 | Road condition information obtaining method and mobile terminal |
| CN104276162A (en) * | 2013-07-11 | 2015-01-14 | 现代自动车株式会社 | System and method of controlling starting of vehicle |
| CN105563451A (en) * | 2016-01-20 | 2016-05-11 | 詹雨科 | Intelligent following robot |
| CN106155054A (en) * | 2016-07-05 | 2016-11-23 | 中国科学院深圳先进技术研究院 | Wheel carries out control system and the method for composite mobile robot |
| CN206057967U (en) * | 2016-08-09 | 2017-03-29 | 江苏师范大学 | Road condition automatic recognizes robot |
| GB201806629D0 (en) * | 2018-03-01 | 2018-06-06 | Jaguar Land Rover Ltd | Terrain inference method and apparatus |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001078305A (en) * | 1999-09-07 | 2001-03-23 | Sawafuji Electric Co Ltd | Retarder |
| CN207191044U (en) * | 2017-08-03 | 2018-04-06 | 鄂尔多斯市普渡科技有限公司 | A kind of unmanned speed-regulating device based on surface evenness |
-
2018
- 2018-10-31 WO PCT/CN2018/113006 patent/WO2020087345A1/en active Application Filing
- 2018-10-31 CN CN201880038496.8A patent/CN110769987A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008060689A2 (en) * | 2006-10-06 | 2008-05-22 | Irobot Corporation | Autonomous behaviors for a remote vehicle |
| CN102485528A (en) * | 2010-12-03 | 2012-06-06 | 比亚迪股份有限公司 | Wheel motor slip processing control system and slip processing method of wheel motor |
| US20130231779A1 (en) * | 2012-03-01 | 2013-09-05 | Irobot Corporation | Mobile Inspection Robot |
| CN103903435A (en) * | 2012-12-30 | 2014-07-02 | 王方淇 | Road condition information obtaining method and mobile terminal |
| CN104276162A (en) * | 2013-07-11 | 2015-01-14 | 现代自动车株式会社 | System and method of controlling starting of vehicle |
| CN105563451A (en) * | 2016-01-20 | 2016-05-11 | 詹雨科 | Intelligent following robot |
| CN106155054A (en) * | 2016-07-05 | 2016-11-23 | 中国科学院深圳先进技术研究院 | Wheel carries out control system and the method for composite mobile robot |
| CN206057967U (en) * | 2016-08-09 | 2017-03-29 | 江苏师范大学 | Road condition automatic recognizes robot |
| GB201806629D0 (en) * | 2018-03-01 | 2018-06-06 | Jaguar Land Rover Ltd | Terrain inference method and apparatus |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113551706A (en) * | 2021-07-20 | 2021-10-26 | 上海擎朗智能科技有限公司 | Method and device for robot inspection, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020087345A1 (en) | 2020-05-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20190250619A1 (en) | Autonomous bicycle | |
| KR101837820B1 (en) | Autonomous driving vehicle system | |
| JP6266565B2 (en) | Suspension control device | |
| JP6893140B2 (en) | Control devices, control methods, control programs and control systems | |
| CN107456173B (en) | Obstacle crossing method and device | |
| US9244462B2 (en) | Vehicle trajectory planning for autonomous vehicles | |
| US20170015412A1 (en) | Thrust vectoring on a rotor-based remote vehicle | |
| AU2019201524A1 (en) | Autonomous mobile robot | |
| US10810810B2 (en) | Traveling information storing method of leanable vehicle, traveling information processing program, and traveling information storing device | |
| CN106625569B (en) | Self-balancing detection robot with two-axis self-stabilizing cradle head | |
| US10496094B1 (en) | Systems and methods for ground plane estimation | |
| JPWO2019026761A1 (en) | Mobile and computer programs | |
| EP2083340A1 (en) | Inverted type movable body and control method thereof | |
| US20190250615A1 (en) | Autonomous Skateboard | |
| JP2015036840A (en) | Autonomous travel vehicle, control system for said vehicle, control method for said vehicle | |
| CN108225362A (en) | Intelligent driving vehicle positioning method and system, computer storage media and positioning device | |
| EP4261113A1 (en) | Robotic vehicle and a support assembly for a wheel thereof | |
| CN110769987A (en) | Ground remote control robot control method and ground remote control robot | |
| WO2018074117A1 (en) | Moving device and moving device management system | |
| JP2018120526A (en) | Traveling control device, traveling device, traveling control method and traveling control program | |
| CN209167900U (en) | A kind of self-adjusting shifting balance device of posture | |
| US9290109B2 (en) | Inverted pendulum moving apparatus and control method therefor | |
| GB2571587A (en) | Vehicle control method and apparatus | |
| CN111443698A (en) | Posture self-adjusting mobile balancing device and method, electronic terminal and storage medium | |
| JP2021077003A (en) | Travel-through propriety determination device and control device for moving body |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200207 |