CN113934254B - Long-time long-distance remote control method of ground mobile robot based on double-rocker handle - Google Patents
Long-time long-distance remote control method of ground mobile robot based on double-rocker handle Download PDFInfo
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- CN113934254B CN113934254B CN202111151463.4A CN202111151463A CN113934254B CN 113934254 B CN113934254 B CN 113934254B CN 202111151463 A CN202111151463 A CN 202111151463A CN 113934254 B CN113934254 B CN 113934254B
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Abstract
The invention relates to a long-time long-distance remote control method of a ground mobile robot based on a double-rocker handle. A user sends a remote control command to the ground mobile robot through the double-rocker handle to carry out motion control, and the motion control modes comprise a manual direct control mode, a manual intervention mode and a standby mode. The manual direct control mode comprises an omnidirectional direct control sub-mode and a unidirectional direct control sub-mode, and in the mode, a user directly controls the moving speed and the steering speed of the robot. The manual intervention mode comprises a speed keeping sub-mode and a temporary straight pipe sub-mode; in the speed keeping sub-mode, the robot is in a speed keeping state, and a user carries out intervention type adjustment on a speed value which is a relative geodetic coordinate system; in the temporary straight pipe mode, a user temporarily directly controls the moving speed and the steering speed of the robot. In the standby mode, the ground mobile robot is kept in a stationary state. The invention has good usability and practicability, and is easy to popularize and transplant.
Description
Technical Field
The invention relates to the technical field of human-computer interaction, and provides a long-time long-distance remote control method for a ground mobile robot based on a double-rocker handle.
Background
The omnidirectional mobile service robot based on the wheel type chassis and the foot type bionic robot based on the four-foot and double-foot configurations have been moved to human life from laboratories, and have wide application prospects in various fields such as service guidance, article transportation, factory inspection, field reconnaissance, detection and rescue and the like.
In the current state of the art, real-time operation based on a remote control system is the main control mode of such ground mobile robots. Dual-rocker joysticks from and developed in the field of electronic entertainment, such as the XBOX joystick from microsoft corporation, the PS-series joystick from sony corporation, the Switch joystick from nintendo corporation, etc., are widely used in the design of hand-held remote control systems for ground mobile robots due to their ergonomic advantages. Compared with voice input and touch screen input, the game handle can provide a more sensitive and faster operation instruction input mode which is more in line with human intuition; compared with a special control device, the gamepad can also reduce the learning cost of a user.
On the other hand, in tasks requiring continuous long-term operation, such as commanding the robot to continuously move along a road or commanding the robot to move along with a person ahead for a long time, continuous operation of the handle without interruption easily causes finger fatigue of the user and seriously affects subsequent operations. Moreover, it is also difficult for the user to maintain the precise operation of the handle stick for a long time due to the shaking of the fingers, fatigue factors, etc., which also causes a limitation in the performance of part of the task.
Therefore, how to fully exert the intuitive operation characteristics of the double-rocker handle and give consideration to the actual requirements of long-time and long-distance tasks on control comfort and relaxation is of great practical significance to the application and popularization of the ground mobile robot.
Disclosure of Invention
In view of the above, the present invention provides a long-term and long-distance remote control method for a ground mobile robot based on a double-rocker handle, which is directed to the control requirements of the ground mobile robot in long-term and long-distance tasks.
In order to realize the purpose, the invention adopts the technical scheme that:
a long-time long-distance remote control method of a ground mobile robot based on a double-rocker handle is characterized by comprising the following steps:
the ground mobile robot has the capability of moving along the front-back direction and the left-right direction of the body and the steering capability;
the double-rocker handle comprises a left rocker, a right rocker and a plurality of keys, wherein the left rocker corresponds to the output of the double-shaft offset, and the right rocker at least corresponds to the output of the single-shaft offset; under the condition that the rocker is not pushed, the corresponding state is recorded as zero output, and otherwise, the corresponding state is recorded as non-zero output; the specific form of the double-rocker handle comprises a game handle;
receiving a remote control command sent by a user to the ground mobile robot through the double-rocker handle so as to carry out motion control, wherein the motion control mode comprises a manual direct control mode, a manual intervention mode and a standby mode;
in the manual direct control mode, receiving an instruction of a user for directly controlling the moving speed and the steering speed of the ground mobile robot, wherein the ground mobile robot is in a direct control motion state;
the manual intervention mode comprises a speed keeping sub-mode and a temporary straight pipe sub-mode; in the speed keeping sub-mode, the ground mobile robot is in a speed keeping state, a speed value is Vkeep, an intervention type adjusting instruction of a user on the speed value Vkeep is received, and a default value of the speed value Vkeep is Vdefault; in the temporary straight pipe sub-mode, receiving an instruction of a user for directly controlling the moving speed and the steering speed of the ground mobile robot within a given time length;
in the standby mode, keeping the ground mobile robot in a static state;
and executing the selection switching operation of the manual direct control mode, the manual intervention mode and the standby mode by operating the double-rocker handle.
Preferably, the manual direct control mode comprises an omnidirectional direct control sub-mode and a unidirectional direct control sub-mode.
In the omnidirectional direct control sub-mode, the up-down, left-right pushing of the left rocker in the double-rocker handle is directly corresponding to the forward, backward, left-right linear velocity control of the ground mobile robot, the left-right pushing of the right rocker in the double-rocker handle is directly corresponding to the left-turn and right-turn angular velocity control of the ground mobile robot, the pushing amplitude of the left rocker and the right rocker in the double-rocker handle is corresponding to the magnitude of the corresponding velocity value, if the double shafts of the left rocker of the double-rocker handle are output simultaneously, the linear velocity of the ground mobile robot is determined by the double-shaft offset together, namely the motion synthesis in the front-back direction and the left-right direction.
In the one-way direct control sub-mode, the upward, downward, leftward and rightward pushing of the left rocker in the double-rocker handle is directly corresponding to the forward, backward, leftward and rightward linear velocity control of the ground mobile robot, the pushing amplitudes of the left rocker and the right rocker in the double-rocker handle are corresponding to the corresponding velocity values, if the double shafts of the left rocker of the double-rocker handle are output simultaneously, the linear velocity of the ground mobile robot is determined by the larger of the double-shaft offset, namely the linear velocity is determined by the larger of the front-back direction and the left-right direction.
Preferably, under the condition that the current motion control mode is the standby mode, if the left rocker is in non-zero output and the Key1 in the double-rocker handle is pressed simultaneously, the current motion control mode is converted into the one-way direct control sub-mode.
Under the condition that the current motion control mode is the standby mode, if one of the left rocker and the right rocker is non-zero output and the Key Key1 in the double-rocker handle is not pressed at the moment, the current motion control mode is converted into the omnidirectional direct control sub-mode.
Under the condition that the current motion control mode is the omnidirectional direct control sub-mode, if one of the left rocker and the right rocker is non-zero output and the Key Key1 in the double-rocker handle is not pressed at the moment, the current motion control mode is continuously kept to be the omnidirectional direct control sub-mode.
Under the condition that the current motion control mode is the omnidirectional direct control sub-mode, if the left rocker is in non-zero output and the Key Key1 in the handle of the double rockers is pressed simultaneously, the current motion control mode is converted into the unidirectional direct control sub-mode.
Under the condition that the current motion control mode is the unidirectional direct control sub-mode, if the left rocker is in non-zero output and the Key Key1 in the handle of the double rockers is not pressed at the moment, the current motion control mode is continuously kept to be the unidirectional direct control sub-mode.
Under the condition that the current motion control mode is the unidirectional direct control sub-mode, if the left rocker is in non-zero output and the Key Key1 in the handle of the double rockers is not pressed at the moment, the current motion control mode is converted into the omnidirectional direct control sub-mode.
Under the condition that the current motion control mode is the manual direct control mode, if the left rocker and the right rocker are both zero output, the current motion control mode is converted into a standby mode; under the condition that the current motion control mode is the manual direct control mode, if the left rocker is zero output and the Key Key1 in the double-rocker handle is pressed simultaneously, the current motion control mode is converted into the standby mode.
Preferably, when the current exercise control mode is the speed keeping sub-mode, if the left rocker is in non-zero output and the Key2 in the double-rocker handle is pressed simultaneously, the speed component in the speed value Vkeep in the front-back direction of the body is adjusted, the adjusted acceleration value directly corresponds to the up-and-down pushing amplitude of the left rocker, if the left rocker is pushed upwards, the acceleration is positive, and if the left rocker is pushed downwards, the acceleration is negative.
Preferably, when the current exercise control mode is the speed holding sub-mode, if the Key3 in the double-rocker handle is pressed, the current exercise control mode is converted into the temporary straight pipe sub-mode, and the value of Vkeep before conversion is recorded as Vprev.
Under the condition that the current motion control mode is the temporary straight pipe sub-mode, if the Key Key3 in the double-rocker handle is kept pressed, the current motion control mode is continuously kept to be the temporary straight pipe sub-mode, and at the moment, the moving speed and the steering speed of the ground mobile robot are directly determined by the output of the left rocker and the right rocker.
And under the condition that the current motion control mode is the temporary straight pipe sub-mode, if the Key Key3 in the double-rocker handle is not pressed, the current motion control mode is converted into the speed keeping sub-mode, and the value of the Vprev is assigned to the Vkeep.
Preferably, when the current exercise control mode is the temporary straight pipe sub-mode, if the Key3, the Key4, and the Key5 in the double-rocker handle are not pressed, the current exercise control mode is converted into the speed maintenance sub-mode, and the value of Vprev is assigned to Vkeep.
Under the condition that the current motion control mode is the temporary straight pipe submode, if the Key3 in the double-rocker handle is not pressed and the Key4 in the double-rocker handle is pressed, the current motion control mode is converted into a speed keeping submode, and the current actual speed value of the ground mobile robot is given to Vkeep.
Under the condition that the current motion control mode is the temporary straight pipe sub-mode, if the Key Key3 in the double-rocker handle is not pressed and the Key Key5 in the double-rocker handle is pressed, the current motion control mode is converted into a speed maintaining sub-mode, and the value of Vdefault is assigned to Vkeep.
Preferably, when the current motion control mode is the manual direct control mode, if the Key4 in the double-rocker handle is pressed, the current motion control mode is converted into the speed keeping sub-mode, and the current actual speed value of the ground mobile robot is given to the Vkeep.
Under the condition that the current motion control mode is the manual direct control mode, if a Key Key5 in a double-rocker handle is pressed, the current motion control mode is converted into a speed keeping sub-mode, and the value of Vdefault is assigned to Vkeep.
Preferably, in a case where the current exercise manipulation mode is the standby mode, if the Key5 in the dual rocker handle is pressed, the current exercise manipulation mode is converted into the speed maintenance sub-mode, and the value of Vdefault is assigned to Vkeep.
Under the condition that the current motion control mode is the manual intervention mode, if a Key Key6 in the double-rocker handle is pressed, the current motion control mode is converted into a standby mode, and the ground mobile robot is enabled to keep a static state.
Preferably, the motion control mode comprises a manual direct control mode, a manual intervention mode, a standby mode and a hard locking mode; under the condition that the current motion control mode is the hard locking mode, except that the Key Key4 and the Key Key6 in the double-rocker handle are operated effectively, the operation on all the other rockers and keys is ineffective.
Under the condition that the current motion control mode is a hard locking mode, if a Key6 in a double-rocker handle is pressed, the current motion control mode is converted into a standby mode, and the ground mobile robot is enabled to keep a static state.
Under the condition that the current motion control mode is the hard locking mode, if a Key Key4 in a double-rocker handle is pressed, the current motion control mode is converted into a speed keeping sub-mode, and the current actual speed value of the ground mobile robot is given to Vkeep.
Under the condition that the current motion control mode is one of a manual direct control mode, a manual intervention mode and a standby mode, if a Key Key7 in a double-rocker handle is pressed, the current motion control mode is converted into a hard locking mode.
Preferably, the velocity value Vkeep is a relative geodetic coordinate system; in the speed keeping sub-mode, if the deviation between the direction of the current actual speed of the ground mobile robot and the direction of the speed value Vkeep in the geodetic coordinate system exceeds a preset threshold, the ground mobile robot automatically adjusts the steering so that the direction of the current actual speed of the ground mobile robot and the direction of the speed value Vkeep in the geodetic coordinate system are consistent.
Through the technical scheme, compared with the prior art, the invention has the beneficial effects that:
(1) The type design of the exercise control mode is reasonable, and the increase of the learning and training cost of the user due to the existence of more control modes is avoided. Each motion control mode and the conversion among the partial motion control modes are designed according to an intuitive control principle, so that the usability is ensured.
(2) The robot meets the emergency stop requirement of an emergency and actively stops the standby state to design the standby mode, and can be quickly switched to the standby mode in a unified mode under any motion control mode except the mode, so that the motion stop of the robot is realized.
(3) The functions of omnidirectional direct control, straight line walking, temporary user intervention to bypass obstacles in front, rapid adjustment, forward speed keeping, flexible switching of control intentions and the like can be realized, the system is suitable for long-distance mobile task scenes of ground mobile robots, and the system has good practicability.
(4) The control scheme completely based on the double-rocker handle is easy to popularize and transplant.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of one embodiment of a ground mobile robot provided in the present invention;
FIG. 2 is a schematic view of a dual rocker handle provided by the present invention; wherein, fig. 2 (a) is an operation identification diagram of the handle rocker, and fig. 2 (b) and fig. 2 (c) are schematic diagrams of setting examples of the handle keys;
FIG. 3 is a schematic diagram of the types of exercise manipulation modes and the switching manner therebetween provided by the present invention;
FIG. 4 is a schematic diagram of an example of an application of a manual intervention mode provided by the present invention;
fig. 5 is a schematic diagram of an application example of the manual direct control mode provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Embodiments of the invention are described in detail below with reference to the following figures:
as shown in figure 1, the long-time long-distance remote control method of the ground mobile robot based on the double-rocker handle is suitable for the ground mobile robot, and the ground mobile robot has the capability of moving along the front-back direction and the left-right direction of the body and the steering capability. The figure shows a four-footed ground mobile robot which can move towards any direction around under the condition that the body orientation is basically kept unchanged and has the pivot steering capability. In addition to the quadruped ground mobile robot, a wheeled robot equipped with mecanum wheels provides another example of a ground mobile robot that also has the ability to translate in any direction along the flat ground.
As shown in fig. 2, the double-rocker handle comprises a left rocker, a right rocker and a plurality of keys, wherein the left rocker corresponds to the output of the double-shaft offset, and the right rocker corresponds to the output of the single-shaft offset at least; under the condition that the rocker is not pushed, the corresponding state is recorded as zero output, and otherwise, the corresponding state is recorded as non-zero output; the specific form of the double-rocker handle comprises a gamepad. As shown in fig. 2 (a), the output state corresponding to the left rocker is represented by a circular icon filled with a gridline, a small circle without filling in the circular icon represents the current position of the left rocker, the position of the circle center of the circular icon corresponds to the zero output state of the left rocker, and otherwise, corresponds to the non-zero output state of the left rocker; the output state corresponding to the right rocker is represented by a circular icon filled with a transverse line, a small circle without filling in the circular icon represents the current position of the right rocker, the circle center position of the circular icon corresponds to the zero output state of the right rocker, and otherwise, the output state corresponds to the non-zero output state of the right rocker. As shown in fig. 2 (b), an actual configuration scheme of the keys Key1 to Key6 is given, in which the keys Key1 to Key6 each uniquely correspond to a real handle physical Key. As shown in fig. 2 (c), a practical configuration scheme of the Key7 is given, in which the Key7 corresponds to a combination of two real handle physical keys, that is, when the two physical keys are pressed simultaneously, the Key7 is pressed. The rocker and Key example shown in fig. 2 only provides a possibility, and flexible configuration can be performed according to actual needs in practical application, and the flexible configuration includes directly setting Key positions, and also includes selecting on single Key correspondence and combination Key correspondence, i.e., the keys Key1 to Key7 of the present invention only represent a Key logic operation; for some keys, it is even possible to set their actual physical keys to be the same, e.g., key1 and Key2 to be keys whose actual Key operations are exactly the same; likewise, the left and right rockers can be flexibly configured, for example, the rocker actually located on the left side of the handle is set as the right rocker, and the rocker actually located on the right side of the handle is set as the left rocker.
As shown in fig. 3, a user sends a remote control command to the ground mobile robot through a double-rocker handle to perform a motion control, wherein the motion control mode includes a manual direct control mode, a manual intervention mode and a standby mode; a user directly selects and switches among a manual direct control mode, a manual intervention mode and a standby mode by operating the double-rocker handle, specifically comprising the operation of the left rocker, the right rocker and the key. In FIG. 3, the meaning of the corresponding rocker operation icon is shown in FIG. 2 (a), where the button is indicated by the solid box representing that the button is pressed, the dotted box with "! The "identified key represents that the key has not been pressed.
In the manual direct control mode, a user directly controls the moving speed and the steering speed of the ground mobile robot, and the ground mobile robot is in a direct control motion state at the moment.
The manual intervention mode comprises a speed keeping sub-mode and a temporary straight pipe sub-mode; in the speed keeping sub-mode, the ground mobile robot is in a speed keeping state, the speed value is Vkeep, a user carries out intervention type adjustment on the speed value Vkeep, and the default value of the speed value Vkeep is Vdefault; in the temporary straight pipe sub-mode, a user temporarily and directly controls the moving speed and the steering speed of the ground mobile robot.
In the standby mode, the ground mobile robot is kept in a stationary state.
The manual direct control mode comprises an omnidirectional direct control sub-mode and a unidirectional direct control sub-mode.
In the omnidirectional direct control sub-mode, the up-down, left-right pushing of the left rocker in the double-rocker handle is directly corresponding to the forward, backward, left-right linear velocity control of the ground mobile robot, the left-right pushing of the right rocker in the double-rocker handle is directly corresponding to the left-turn and right-turn angular velocity control of the ground mobile robot, the pushing amplitude of the left rocker and the right rocker in the double-rocker handle is corresponding to the magnitude of the corresponding velocity value, if the double shafts of the left rocker of the double-rocker handle are output simultaneously, the linear velocity of the ground mobile robot is determined by the double-shaft offset together, namely the motion synthesis in the front-back direction and the left-right direction.
In the one-way direct control sub-mode, the upward, downward, leftward and rightward pushing of the left rocker in the double-rocker handle is directly corresponding to the forward, backward, leftward and rightward linear velocity control of the ground mobile robot, the pushing amplitudes of the left rocker and the right rocker in the double-rocker handle are corresponding to the corresponding velocity values, if the double shafts of the left rocker of the double-rocker handle are output simultaneously, the linear velocity of the ground mobile robot is determined by the larger of the double-shaft offset, namely the linear velocity is determined by the larger of the front-back direction and the left-right direction. The one-way direct control sub-mode provides a control mode for a user to accurately and quickly move along the front, the back, the left and the right of the robot, and the ground mobile robot cannot move obliquely due to operation deviation or vibration of fingers.
Under the condition that the current motion control mode is the standby mode, if the left rocker is in non-zero output and the Key Key1 in the double-rocker handle is pressed simultaneously, the current motion control mode is converted into a one-way direct control sub-mode.
Under the condition that the current motion control mode is the standby mode, if one of the left rocker and the right rocker is non-zero output and the Key Key1 in the double-rocker handle is not pressed at the moment, the current motion control mode is converted into the omnidirectional direct control sub-mode.
Under the condition that the current motion control mode is the omnidirectional direct control sub-mode, if one of the left rocker and the right rocker is non-zero output and the Key Key1 in the double-rocker handle is not pressed at the moment, the current motion control mode is continuously kept to be the omnidirectional direct control sub-mode.
Under the condition that the current motion control mode is the omnidirectional direct control sub-mode, if the left rocker is in non-zero output and the Key Key1 in the double-rocker handle is pressed simultaneously, the current motion control mode is converted into the unidirectional direct control sub-mode.
Under the condition that the current motion control mode is the unidirectional direct control sub-mode, if the left rocker is in non-zero output and the Key Key1 in the handle of the double rockers is not pressed at the moment, the current motion control mode is continuously kept to be the unidirectional direct control sub-mode.
Under the condition that the current motion control mode is the unidirectional direct control sub-mode, if the left rocker is in non-zero output and the Key Key1 in the handle of the double rockers is not pressed at the moment, the current motion control mode is converted into the omnidirectional direct control sub-mode.
Under the condition that the current motion control mode is the manual direct control mode, if the left rocker and the right rocker are both zero output, the current motion control mode is converted into a standby mode; under the condition that the current motion control mode is the manual direct control mode, if the left rocker is zero output and the Key Key1 in the double-rocker handle is pressed simultaneously, the current motion control mode is converted into the standby mode.
Under the condition that the current motion control mode is a speed keeping sub-mode, if the left rocking bar is in non-zero output and the Key Key2 in the double-rocking-bar handle is pressed simultaneously, the speed component in the speed value Vkeep along the front and back directions of the body is adjusted, the adjusted acceleration value directly corresponds to the upper and lower pushing amplitudes of the left rocking bar, if the left rocking bar is pushed upwards, the acceleration is positive, and if the left rocking bar is pushed downwards, the acceleration is negative.
Under the condition that the current motion control mode is the speed keeping sub-mode, if a Key Key3 in a double-rocker handle is pressed, the current motion control mode is converted into a temporary straight pipe sub-mode, and the value of Vkeep before conversion is recorded as Vprev.
Under the condition that the current motion control mode is the temporary straight pipe sub-mode, if the Key Key3 in the double-rocker handle is kept pressed, the current motion control mode is continuously kept to be the temporary straight pipe sub-mode, and at the moment, the moving speed and the steering speed of the ground mobile robot are directly determined by the output of the left rocker and the right rocker.
Under the condition that the current motion control mode is a temporary straight pipe submode, if the Key Key3, the Key Key4 and the Key Key5 in the double-rocker handle are not pressed, the current motion control mode is converted into a speed keeping submode, and the value of Vprev is assigned to Vkeep.
Under the condition that the current motion control mode is the temporary straight pipe sub-mode, if the Key Key3 in the double-rocker handle is not pressed and the Key Key4 in the double-rocker handle is pressed, the current motion control mode is converted into a speed keeping sub-mode, and the current actual speed value of the ground mobile robot is given to Vkeep.
Under the condition that the current motion control mode is the temporary straight pipe sub-mode, if the Key3 in the double-rocker handle is not pressed and the Key5 in the double-rocker handle is pressed, the current motion control mode is converted into a speed maintaining sub-mode, and the value of Vddefault is assigned to Vkeep.
Under the condition that the current motion control mode is the manual direct control mode, if a Key Key4 in a double-rocker handle is pressed, the current motion control mode is converted into a speed keeping sub-mode, and the current actual speed value of the ground mobile robot is given to Vkeep.
Under the condition that the current motion control mode is the manual direct control mode, if a Key5 in a double-rocker handle is pressed, the current motion control mode is converted into a speed keeping sub-mode, and a value Vdefult is assigned to Vkeep.
Under the condition that the current motion control mode is the standby mode, if a Key Key5 in a double-rocker handle is pressed, the current motion control mode is converted into a speed keeping sub-mode, and the value of Vdefault is assigned to Vkeep.
Under the condition that the current motion control mode is the manual intervention mode, if a Key Key6 in the double-rocker handle is pressed, the current motion control mode is converted into a standby mode, and the ground mobile robot is enabled to keep a static state.
The motion control modes comprise a manual direct control mode, a manual intervention mode, a standby mode and a hard locking mode; under the condition that the current motion control mode is the hard locking mode, except that the Key4 and the Key6 in the double-rocker handle are operated effectively, the operation on all the other rockers and keys is ineffective.
Under the condition that the current motion control mode is the hard locking mode, if a Key Key6 in the double-rocker handle is pressed, the current motion control mode is converted into a standby mode, and the ground mobile robot is enabled to keep a static state.
Under the condition that the current motion control mode is the hard locking mode, if a Key Key4 in a double-rocker handle is pressed, the current motion control mode is converted into a speed keeping sub-mode, and the current actual speed value of the ground mobile robot is given to Vkeep.
Under the condition that the current motion control mode is one of a manual direct control mode, a manual intervention mode and a standby mode, if a Key Key7 in a double-rocker handle is pressed, the current motion control mode is converted into a hard locking mode.
A velocity value Vkeep, which is a relative geodetic coordinate system; in the speed keeping sub-mode, if the deviation between the direction of the current actual speed of the ground mobile robot and the direction of the speed value Vkeep in the geodetic coordinate system exceeds a preset threshold, the ground mobile robot automatically adjusts the steering so that the direction of the current actual speed of the ground mobile robot and the direction of the speed value Vkeep in the geodetic coordinate system are consistent. The speed setting mode based on the geodetic coordinate system enables the robot to automatically adjust to the original direction after the direction deviates due to sole/wheel sole slipping and action execution errors, thereby being suitable for the traveling control task in a long-distance straight road section.
Fig. 4 shows an example of the operation of the ground mobile robot in the manual intervention mode. And when the time does not reach the time t1, the control mode of the robot is a speed keeping sub-mode, and the moving speed of the robot is kept at a fixed value. When a user finds that an obstacle exists in the front of the robot, a Key3 Key on a double-rocker handle is pressed and kept pressed at the moment of t1, at the moment, the robot records the value of Vkeep as Vprev, and the control mode is converted into a temporary straight pipe sub-mode; before the time does not reach the time of t3, the user always keeps the Key3 Key pressed down, and the moving speed of the robot is adjusted through the left rocker; in the time period from t1 to t2, the robot mainly moves to the right, and in the time period from t2 to t3, the robot mainly moves forwards, so that the robot avoids obstacles; the main cause of fluctuation in the command value of the forward speed in the time period t1 to t3 is the operation deviation of the user. And when the user successfully drives the robot to bypass the obstacle, releasing a Key3 Key on a double-rocker handle at the moment of t3, assigning the value of Vprev to Vkeep by the robot, converting the control mode to restore the speed maintaining sub-mode, and keeping the robot to move at the speed before encountering the obstacle.
Fig. 5 shows an example of the operation of the ground mobile robot in the manual direct control mode. The manual direct control mode is the preferred mode for the robot to pass through a curved road section, but when the robot wants to pass through a locally narrow straight road section, the unidirectional direct control sub-mode has the flexibility of the rocker to directly control the direction and the accuracy of direction keeping. After the robot is enabled to face the alignment road section by adjusting the right rocker, a Key1 Key is pressed down temporarily, and the omnidirectional direct control sub-mode enters the unidirectional direct control sub-mode, so that the robot is effectively helped to pass through the narrow straight road section in the example graph; at this time, in the case where the left stick is kept pushed forward, the left stick moves to the left and right by a small amount due to finger vibration and operation deviation, and a left and right movement command is not generated, and the robot is kept moving forward. After the robot passes through the straight road section, the Key1 Key is loosened, and the robot is switched to the omnidirectional direct control sub-mode again.
The variable-stiffness unidirectional-drive swing joint for the large-load high-dynamic foot type robot is described in detail, a specific example is applied in the description to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A long-time long-distance remote control method of a ground mobile robot based on a double-rocker handle is characterized by comprising the following steps:
the ground mobile robot has the capability of moving along the front-back direction and the left-right direction of the body and the steering capability;
the double-rocker handle comprises a left rocker, a right rocker and a plurality of keys, wherein the left rocker corresponds to the output of the double-shaft offset, and the right rocker at least corresponds to the output of the single-shaft offset; under the condition that the rocker is not pushed, the corresponding state is recorded as zero output, and otherwise, the corresponding state is recorded as non-zero output; the specific form of the double-rocker handle comprises a game handle;
receiving a remote control command sent by a user to the ground mobile robot through the double-rocker handle to perform motion control, wherein the motion control modes comprise a manual direct control mode, a manual intervention mode and a standby mode;
in the manual direct control mode, receiving an instruction of a user for directly controlling the moving speed and the steering speed of the ground mobile robot, wherein the ground mobile robot is in a direct control motion state;
the manual intervention mode comprises a speed keeping sub-mode and a temporary straight pipe sub-mode; in the speed keeping sub-mode, the ground mobile robot is in a speed keeping state, the speed value is Vkeep, an instruction of a user for carrying out intervention type adjustment on the speed value Vkeep is received, and the default value of the speed value Vkeep is Vdefault; in the temporary straight pipe sub-mode, receiving an instruction of a user for directly controlling the moving speed and the steering speed of the ground mobile robot within a given time length;
in the standby mode, the ground mobile robot is kept in a static state;
and executing the selection switching operation of the manual direct control mode, the manual intervention mode and the standby mode by operating the double-rocker handle.
2. The long-time long-distance remote control method of the ground mobile robot based on the double-rocker handle as claimed in claim 1, characterized in that:
the manual direct control mode comprises an omnidirectional direct control sub-mode and a unidirectional direct control sub-mode;
in the omnidirectional direct control sub-mode, the up-down, left-right pushing of the left rocker in the double-rocker handle directly corresponds to the forward, backward, left-right linear velocity control of the ground mobile robot, the left-right pushing of the right rocker in the double-rocker handle directly corresponds to the left-turn and right-turn angular velocity control of the ground mobile robot, the pushing amplitudes of the left rocker and the right rocker in the double-rocker handle correspond to the corresponding velocity values, if the double shafts of the left rocker of the double-rocker handle are output simultaneously, the linear velocity of the ground mobile robot is determined by the double-shaft offset jointly, namely the motion synthesis in the front-back direction and the left-right direction;
in the one-way direct control sub-mode, the upper, lower, left and right pushing of the left rocker in the double-rocker handle is directly corresponding to the forward, backward, left and right linear velocity control of the ground mobile robot, the pushing amplitude of the left rocker and the right rocker in the double-rocker handle is corresponding to the magnitude of the corresponding velocity value, if the double shafts of the left rocker of the double-rocker handle are output simultaneously, the linear velocity of the ground mobile robot is determined by the larger of the double shaft offset, namely the linear velocity is one of the forward and backward direction and the left and right direction.
3. The long-time long-distance remote control method of the ground mobile robot based on the double-rocker handle as claimed in claim 2, characterized in that:
under the condition that the current motion control mode is the standby mode, if the left rocker is in non-zero output and the Key Key1 in the double-rocker handle is pressed simultaneously, the current motion control mode is converted into the unidirectional direct control sub-mode;
under the condition that the current motion control mode is the standby mode, if one of the left rocker and the right rocker is in non-zero output and the Key Key1 in the double-rocker handle is not pressed at the moment, the current motion control mode is converted into the omnidirectional direct control sub-mode;
under the condition that the current motion control mode is the omnidirectional direct control sub-mode, if one of the left rocker and the right rocker is in non-zero output and the Key Key1 in the double-rocker handle is not pressed at the moment, the current motion control mode is continuously kept in the omnidirectional direct control sub-mode;
under the condition that the current motion control mode is the omnidirectional direct control sub-mode, if the left rocker is in non-zero output and the Key Key1 in the double-rocker handle is pressed simultaneously, the current motion control mode is converted into the unidirectional direct control sub-mode;
under the condition that the current motion control mode is the one-way direct control sub-mode, if the left rocker is in non-zero output and the Key Key1 in the double-rocker handle is not pressed at the moment, the current motion control mode is continuously kept to be the one-way direct control sub-mode;
under the condition that the current motion control mode is the unidirectional direct control sub-mode, if the left rocker is in non-zero output and the Key Key1 in the double-rocker handle is not pressed at the moment, the current motion control mode is converted into the omnidirectional direct control sub-mode;
under the condition that the current motion control mode is the manual direct control mode, if the left rocker and the right rocker are both zero output, the current motion control mode is converted into the standby mode; and under the condition that the current motion control mode is the manual direct control mode, if the left rocker has zero output and simultaneously presses down a Key Key1 in the double-rocker handle, the current motion control mode is converted into the standby mode.
4. The long-time long-distance remote control method of the ground mobile robot based on the double-rocker handle as claimed in claim 1, characterized in that:
under the condition that the current motion control mode is the speed keeping sub-mode, if the left rocking bar is in non-zero output and the Key Key2 in the double-rocking-bar handle is pressed simultaneously, the speed component in the speed value Vkeep along the front and back directions of the body is adjusted, the adjusted acceleration value directly corresponds to the upper and lower pushing amplitudes of the left rocking bar, if the left rocking bar is pushed upwards, the acceleration is positive, and if the left rocking bar is pushed downwards, the acceleration is negative.
5. The long-time long-distance remote control method of the ground mobile robot based on the double-rocker handle as claimed in claim 1, characterized in that:
under the condition that the current movement control mode is the speed keeping sub-mode, if a Key Key3 in the double-rocker handle is pressed, the current movement control mode is converted into the temporary straight pipe sub-mode, and the value of Vkeep before conversion is recorded as Vprev;
under the condition that the current motion control mode is the temporary straight pipe sub-mode, if a Key Key3 in the double-rocker handle is kept pressed, the current motion control mode is continuously kept to be the temporary straight pipe sub-mode, and the moving speed and the steering speed of the ground mobile robot are directly determined by the output of the left rocker and the right rocker at the moment;
and under the condition that the current motion control mode is the temporary straight pipe sub-mode, if the Key Key3 in the double-rocker handle is not pressed, the current motion control mode is converted into the speed keeping sub-mode, and the value of the Vprev is assigned to the Vkeep.
6. The long-time long-distance remote control method of the ground mobile robot based on the double-rocker handle as claimed in claim 5, characterized in that:
under the condition that the current motion control mode is the temporary straight pipe sub-mode, if the Key Key3, the Key Key4 and the Key Key5 in the double-rocker handle are not pressed, the current motion control mode is converted into the speed keeping sub-mode, and the value of the Vprev is assigned to the Vkeep;
under the condition that the current motion control mode is the temporary straight pipe sub-mode, if the Key Key3 in the double-rocker handle is not pressed and the Key Key4 in the double-rocker handle is pressed, the current motion control mode is converted into the speed keeping sub-mode, and the current actual speed value of the ground mobile robot is given to the Vkeep;
and under the condition that the current motion control mode is the temporary straight pipe sub-mode, if the Key Key3 in the double-rocker handle is not pressed and the Key Key5 in the double-rocker handle is pressed, the current motion control mode is converted into the speed keeping sub-mode, and the Vddelaut value is assigned to the Vkeep.
7. The long-time long-distance remote control method of the ground mobile robot based on the double-rocker handle as claimed in claim 1, characterized in that:
under the condition that the current motion control mode is the manual direct control mode, if a Key4 in the double-rocker handle is pressed, the current motion control mode is converted into the speed keeping sub-mode, and the current actual speed value of the ground mobile robot is given to the Vkeep;
and under the condition that the current motion control mode is the manual direct control mode, if a Key Key5 in the double-rocker handle is pressed, the current motion control mode is converted into the speed keeping sub-mode, and the Vddefault value is assigned to the Vkeep.
8. The long-time long-distance remote control method of the ground mobile robot based on the double-rocker handle as claimed in claim 1, characterized in that:
under the condition that the current motion control mode is the standby mode, if a Key Key5 in the double-rocker handle is pressed, the current motion control mode is converted into the speed keeping sub-mode, and the value of Vdefault is assigned to Vkeep;
and under the condition that the current motion control mode is the manual intervention mode, if a Key6 in the double-rocker handle is pressed, the current motion control mode is converted into the standby mode, so that the ground mobile robot keeps a static state.
9. The long-time long-distance remote control method of the ground mobile robot based on the double-rocker handle as claimed in claim 1, characterized in that:
the motion control modes comprise a manual direct control mode, a manual intervention mode, a standby mode and a hard locking mode; under the condition that the current motion control mode is the hard locking mode, except that the Key Key4 and the Key Key6 in the double-rocker handle are operated effectively, all the other rockers and keys are operated inefficiently;
under the condition that the current motion control mode is the hard locking mode, if a Key6 in the double-rocker handle is pressed, the current motion control mode is converted into the standby mode, and the ground mobile robot is enabled to keep a static state;
under the condition that the current motion control mode is the hard locking mode, if a Key4 in the double-rocker handle is pressed, the current motion control mode is converted into the speed keeping sub-mode, and the current actual speed value of the ground mobile robot is given to the Vkeep;
and if the Key Key7 in the double-rocker handle is pressed, the current motion control mode is converted into the hard locking mode.
10. The long-time long-distance remote control method of the ground mobile robot based on the double-rocker handle as claimed in claim 1, characterized in that:
the speed value Vkeep is a relative geodetic coordinate system; in the speed keeping sub-mode, if the deviation between the direction of the current actual speed of the ground mobile robot and the direction of the speed value Vkeep in the geodetic coordinate system exceeds a preset threshold value, the ground mobile robot automatically adjusts the steering to keep the direction of the current actual speed of the ground mobile robot and the direction of the speed value Vkeep in the geodetic coordinate system consistent with each other.
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