CN113946156A - Motion path teaching control method and control system of wheeled robot - Google Patents
Motion path teaching control method and control system of wheeled robot Download PDFInfo
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- CN113946156A CN113946156A CN202111561547.5A CN202111561547A CN113946156A CN 113946156 A CN113946156 A CN 113946156A CN 202111561547 A CN202111561547 A CN 202111561547A CN 113946156 A CN113946156 A CN 113946156A
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- 238000000034 method Methods 0.000 title claims abstract description 56
- 238000012545 processing Methods 0.000 claims abstract description 27
- 238000004590 computer program Methods 0.000 claims description 4
- 238000013480 data collection Methods 0.000 claims description 4
- 238000000605 extraction Methods 0.000 claims description 4
- 238000009499 grossing Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 230000007547 defect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
Abstract
The invention discloses a motion path teaching control method and a motion path teaching control system of a wheeled robot, wherein the method comprises the steps of responding to a teaching instruction to control a driving module to release control power, so that the wheeled robot in a non-control state moves under the driving of external power; acquiring motion data generated by the driving module along with the motion of the wheeled robot, processing the motion data to obtain path data and storing the path data; and when an execution command is received, the stored path data is called, and the driving module is controlled to execute the path data so as to drive the wheeled robot to move along the path. The invention can solve the problem that the robot without the automatic path planning capability needs to adopt different paths for different scenes, improve the flexibility and the usability of the robot action and reduce the cost.
Description
Technical Field
The invention relates to the field of robot control, in particular to a motion path teaching control method and a motion path teaching control system of a wheeled robot.
Background
At present, wheeled robots are increasingly present in different forms in homes, schools, factories and even restaurants, such as: the robot comprises a family accompanying wheel type robot, a programmable education wheel type robot, an AGV intelligent transfer robot, a meal delivery robot and the like. The following ways to assist the robot in its action are now commonly used by the market:
1. controlling the equipment to move through a mobile phone app or a remote controller; although the method can flexibly control the movement of the equipment, the equipment cannot move independently of the human body, and even the same path needs to be operated and repeated every time;
2. one path is fixed and can not be changed in circulating operation; the method has the advantages that the method can be repeatedly used after one-time programming, but has the defects that if the scene path changes, a professional engineer is required to reprogram the scene path, and the requirement on the operating capability is strict;
3. auxiliary sensors such as distance, radar, camera and the like are added to adjust paths in multiple scenes; the robot has the advantages of strong adaptability and autonomous operation, but has the defect that a plurality of sensors are required to be additionally arranged to collect environment path information, so that the robot is very high in cost and is not beneficial to popularization.
Disclosure of Invention
In order to overcome the defects of the prior art, one of the objectives of the present invention is to provide a motion path teaching control method for a wheeled robot, which can solve the problem that a robot without automatic path planning capability needs to adopt different paths for different scenes, thereby improving the flexibility and the usability of the robot and reducing the cost.
Another object of the present invention is to provide a control system for a wheeled robot.
It is a further object of the present invention to provide a storage medium.
One of the purposes of the invention is realized by adopting the following technical scheme:
a motion path teaching control method of a wheeled robot includes:
responding to the teaching instruction to control the driving module to release the control right, so that the wheeled robot in the non-control state moves under the driving of external power;
acquiring motion data generated by the driving module along with the motion of the wheeled robot, processing the motion data to obtain path data and storing the path data;
and when an execution command is received, the stored path data is called, and the driving module is controlled to execute the path data so as to drive the wheeled robot to move along the path.
Furthermore, the driving module is a speed measuring motor, and the motion data generated by the driving module during motion comprises the rotation speed, the motion direction and the motion time of the motor.
Further, the method for processing the motion data comprises the following steps:
calculating and obtaining a moving route of the wheeled robot according to the motion data;
and carrying out road section division on the moving route according to a preset length, carrying out path smoothing treatment on each road section, calculating the average value of the rotating speed in each road section, and assigning the average value to the corresponding road section to obtain the processed path data.
Further, in the process of collecting the motion data, if a teaching stopping command triggering an exit event is monitored, the collection of the motion data is immediately stopped, and then the motion data is processed.
Further, in the process of collecting the motion data, if the fact that the time that the wheeled robot stays at the same position exceeds the preset time is detected, the collection of the motion data is automatically stopped, and then the motion data is processed.
Further, after obtaining the path data, the method further includes:
and performing feature extraction on the path data, opening command read-write permission for each feature point on the path, and automatically executing written command operation when the wheeled robot moves to any feature point.
Further, when any instruction is received, prompting information which is pre-stored in a database and is related to the instruction is called, and the prompting information is sent to the wheeled robot for prompting.
Further, the prompt message comprises one or more of voice prompt message, light prompt message and action prompt message.
The second purpose of the invention is realized by adopting the following technical scheme:
a control system of a wheeled robot comprises a driving module and a central processing unit;
the driving module is built in the wheeled robot and comprises a control unit and a speed measuring unit, and the control unit switches the working mode of the driving module into a driven mode from a driving mode after receiving a teaching instruction so that the wheeled robot in a non-control state moves under the driving of external power; the speed measuring unit is used for collecting motion data of the driving module in the moving process until a teaching stopping command is received;
the central processing unit is in signal communication with the driving module and is used for receiving and processing the motion data sent by the speed measuring unit to obtain path data, and the path data is returned to the control unit so that the wheeled robot executes the path data in a driving mode.
The third purpose of the invention is realized by adopting the following technical scheme:
a storage medium having stored thereon a computer program which, when executed, implements the above-described motion path teaching control method for a wheeled robot.
Compared with the prior art, the invention has the beneficial effects that:
the robot can operate according to an expected path in a standby state for teaching input in a pushing or pulling mode, so that the robot can operate according to the path for teaching input later, and compared with a traditional remote control method, the robot is more efficient, more flexible than a traditional control method for burning programs and lower in cost than a control method for sensors; the invention can teach the input path according to different scenes, solves the problem that the robot without the automatic path planning capability needs to adopt different paths for different scenes, and is suitable for all wheeled robots with feedback motors.
Drawings
Fig. 1 is a schematic flow chart of a motion path teaching control method of a wheeled robot according to the present invention;
FIG. 2 is a block diagram of a control system of the wheeled robot of the present invention;
FIG. 3 is a schematic diagram illustrating a working mode switching process of the wheeled robot according to the present invention;
fig. 4 is a schematic flow chart of the wheeled robot in the teaching mode.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
Example one
The embodiment provides a motion path teaching control method of a wheeled robot, the control method of the embodiment can be applied to a server which can be in signal communication with the wheeled robot, and the wheeled robot and the server can be connected through a wireless network; in addition, the control method of the embodiment can also be directly applied to the wheeled robot with the feedback motor, and the control method can also be realized without an external server.
As shown in fig. 1 and fig. 2, the control method of the present embodiment is applied to a wheeled robot, and the wheeled robot may include a central processing unit and a driving module, where the central processing unit is a CPU of the wheeled robot, the driving module is a driving motor for driving the wheeled robot to move, signals between the CPU and the driving motor are communicated, the CPU may control the driving motor to switch its working mode, and the driving motor feeds back rotation data measured by the driving motor to the CPU during working, so as to achieve the purpose of motion path teaching input.
Specifically, the motion path teaching control method of the wheeled robot in this embodiment specifically includes the following steps:
step S1: the central processing unit responds to the teaching instruction to control the driving module to release the control right, so that the wheeled robot in an uncontrolled state moves under the driving of external power;
step S2: the central processing unit collects motion data generated by the driving module along with the motion of the wheeled robot, processes the motion data to obtain path data and stores the path data;
step S3: and when the central processing unit receives the execution command, the stored path data is called, and the driving module is controlled to execute the path data so as to drive the wheeled robot to move along the path.
The driving module of this embodiment is a speed measuring motor, the speed measuring motor includes a control unit and a speed measuring unit, the control unit is configured to switch a working mode of the motor, as shown in fig. 3 and 4, the motor of this embodiment supports a driving mode and a driven mode, when the central processing unit of the wheeled robot receives an execution instruction, the execution instruction is issued to the control unit, the control unit switches the working mode to the driving mode, the motor masters the control right of the wheeled robot in the driving mode, and the movement of the wheeled robot is mainly driven by the motor. When the central processing unit receives the teaching instruction, the control unit switches the working mode into the driven mode, the motor releases the control right in the driven mode to enable the wheeled robot to be in a non-control state, at the moment, a user can apply external power to the wheeled robot in a push-pull mode, the wheeled robot moves according to a route expected by the user under the action of the external power, the wheeled robot drives the motor to work when moving, and at the moment, the speed measuring unit can measure and calculate the motor rotation speed, the movement time, the movement direction and other movement data when the motor moves along with the wheeled robot.
The wheel type robot moves in a driven mode, various motion data measured and calculated by a speed measuring unit of the wheel type robot are reported to a central processing unit, the central processing unit calculates and simulates a moving route where the wheel type robot runs according to the motion data, and speed average processing and path smoothing processing are carried out on the moving route; specifically, the moving route is divided into road segments according to a preset length in advance, for example, the moving route is divided at a fixed length distance of 5cm, and each divided straight line segment or arc road segment is subjected to path smoothing; secondly, calculating the average value of the rotating speed in each road section in the speed averaging processing process, assigning the average value to the corresponding road section so as to equalize the moving speed of the road section, optimizing and compensating the stability of uneven speed route and the like caused by human factors, and enabling the speed to be more stable and smooth in the execution process.
The method comprises the steps that motion data of a driving module are collected all the time in the process that the driving module moves along with the application of external power, and the collection of the motion data is stopped immediately after a teaching stopping command triggering an exit event is monitored; in addition, the data collection can be stopped by judging the stay time of the wheeled robot, and if the speed measurement unit detects that the time that the wheeled robot stays at the same position in the teaching mode exceeds the preset time, the data collection can be automatically stopped.
In this embodiment, after the path data is obtained, feature extraction is further performed on the path data, and a command read-write permission is opened for each feature point on the path, for example, if a turning point exists in the path, a coordinate extraction may be performed on the turning point as a feature point, and a user may add an operation command to the feature point through the permission opened by the feature point, so that the written command operation may be automatically performed when the wheeled robot moves to the feature point, thereby improving flexibility in controlling the movement of the wheeled robot.
In the embodiment, when any instruction is received, for example, when a teaching instruction is received, prompt information which is pre-stored in a database and is related to the teaching instruction can be called, and the prompt information is sent to the wheeled robot for prompting teaching input; if the stop command is received, the prompt information related to the stop command in the database can be called to prompt the user to stop the push-pull operation. The prompt message may be one or a combination of voice prompt message, light prompt message and action prompt message, for example, if the prompt message is a voice prompt message, the voice prompt message may be sent to a speaker of the wheeled robot for voice playing; if the light prompt information is sent to the indicating lamp on the wheel type robot, the light prompt can be carried out.
When the path data are obtained and stored at the designated position, the control unit of the wheeled robot can switch the working mode of the wheeled robot from a driven mode to a driving mode, at the moment, the wheeled robot calls and reads the stored path data and executes the path data, if the reading fails, the reading failure prompt is carried out, so that the wheeled robot can move on the designated moving path expected by a user, and the method can teach and input the path according to the corresponding scene without burning and updating an additional firmware program and is suitable for all the wheeled robots with feedback motors; compared with the traditional remote control method, the method is more efficient, more flexible than the program control method, and lower in cost than the sensor detection method, and the using method of the embodiment is relatively simple, so that anyone can be skillfully mastered in several minutes, and the control effect which is the same as or more concise, flexible and efficient as the programmer program control is realized.
Example two
The present embodiment provides a control system of a wheeled robot, as shown in fig. 2, the control system includes a driving module and a central processing unit, and the driving module and the central processing unit jointly execute the control method of the first embodiment.
The driving module is built in the wheeled robot and comprises a control unit and a speed measuring unit, and the control unit switches the working mode of the driving module into a driven mode from a driving mode after receiving a teaching instruction so that the wheeled robot in a non-control state moves under the driving of external power; the speed measuring unit is used for collecting motion data of the driving module in the moving process until a teaching stopping command is received;
the central processing unit is connected with the driving module through signals, and in this embodiment, the central processing unit is connected with the driving module through an electric wire in a manner of a built-in CPU chip, and is configured to receive and process the motion data sent by the speed measurement unit to obtain path data, and return the path data to the control unit, so that the wheeled robot executes the path data in a driving mode.
In addition, the present embodiment also provides a computer-readable storage medium on which a computer program is stored, the computer program, when executed, implementing the above-described motion path teaching control method.
The device system and the storage medium in this embodiment are based on two aspects of the same inventive concept, and the method implementation process has been described in detail in the foregoing, so that those skilled in the art can clearly understand the structure and implementation process of the device system and the storage medium in this embodiment according to the foregoing description, and for the brevity of the description, no further description is provided here.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (10)
1. A motion path teaching control method for a wheeled robot, comprising:
responding to the teaching instruction to control the driving module to release the control right, so that the wheeled robot in the non-control state moves under the driving of external power;
acquiring motion data generated by the driving module along with the motion of the wheeled robot, processing the motion data to obtain path data and storing the path data;
and when an execution command is received, the stored path data is called, and the driving module is controlled to execute the path data so as to drive the wheeled robot to move along the path.
2. The method for controlling teaching of movement paths of a wheeled robot as claimed in claim 1, wherein the driving module is a tachometer motor, and the movement data generated by the driving module during movement includes motor rotation speed, movement direction and movement time.
3. The method for teaching control of a movement path of a wheeled robot according to claim 2, wherein the method for processing the movement data includes:
calculating and obtaining a moving route of the wheeled robot according to the motion data;
and carrying out road section division on the moving route according to a preset length, carrying out path smoothing treatment on each road section, calculating the average value of the rotating speed in each road section, and assigning the average value to the corresponding road section to obtain the processed path data.
4. The method for controlling teaching of a movement path of a wheeled robot according to claim 1, wherein during the process of collecting the movement data, the collection of the movement data is stopped immediately after a teaching stopping command triggering an exit event is monitored, and then the movement data is processed.
5. The method according to claim 1, wherein the motion data collection is automatically stopped when it is detected that a time period during which the wheeled robot stays at the same position exceeds a preset time period during the motion data collection, and the motion data is processed.
6. The method for controlling teaching of a movement path of a wheeled robot according to claim 1, further comprising, after obtaining the path data:
and performing feature extraction on the path data, opening command read-write permission for each feature point on the path, and automatically executing written command operation when the wheeled robot moves to any feature point.
7. The method for controlling teaching of movement paths of a wheeled robot according to claim 1, wherein when any command is received, prompt information relating to the command, which is stored in a database in advance, is retrieved and sent to the wheeled robot for prompting.
8. The wheeled robot motion path teaching control method according to claim 7, wherein the prompt message includes one or a combination of voice prompt message, light prompt message, and motion prompt message.
9. A control system of a wheeled robot is characterized by comprising a driving module and a central processing unit;
the driving module is built in the wheeled robot and comprises a control unit and a speed measuring unit, and the control unit switches the working mode of the driving module into a driven mode from a driving mode after receiving a teaching instruction so that the wheeled robot in a non-control state moves under the driving of external power; the speed measuring unit is used for collecting motion data of the driving module in the moving process until a teaching stopping command is received;
the central processing unit is in signal communication with the driving module and is used for receiving and processing the motion data sent by the speed measuring unit to obtain path data, and the path data is returned to the control unit so that the wheeled robot executes the path data in a driving mode.
10. A storage medium having stored thereon a computer program which, when executed, implements a method for controlling teaching of a motion path of a wheeled robot according to any one of claims 1 to 8.
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| CN202111561547.5A CN113946156A (en) | 2021-12-20 | 2021-12-20 | Motion path teaching control method and control system of wheeled robot |
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| CN202111561547.5A CN113946156A (en) | 2021-12-20 | 2021-12-20 | Motion path teaching control method and control system of wheeled robot |
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