WO2020042062A1

WO2020042062A1 - Drift control method and device for ground remote control robot, and ground remote control robot

Info

Publication number: WO2020042062A1
Application number: PCT/CN2018/103188
Authority: WO
Inventors: 龚鼎; 陈超彬
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-08-30
Filing date: 2018-08-30
Publication date: 2020-03-05
Also published as: CN110730705A

Abstract

A drift control method for a ground remote control robot, the method comprising: acquiring a drift control parameter (step 101); and controlling, according to the drift control parameter, a ground remote control robot to move along a drift curve in a drift state (step 102), wherein the drift state is a state where the orientation of a head of the ground remote control robot is not parallel to a direction of movement of the ground remote control robot. In this way, the ground remote control robot automatically realizes the effect of turning in a drift state according to drift control parameters, thereby enriching a control strategy of the ground remote control robot and also reducing the manual operation requirements for a user, such that the interesting of manipulating a ground remote control robot is enhanced.

Description

Drift control method and device for ground remote control robot and ground remote control robot

Technical field

The present application relates to the field of electronic technology, and in particular, to a drift control method and device for a ground remote control robot and a ground remote control robot.

Background technique

In the field of racing, drift is a driving technique, also known as "tail-flicking". The rider can control the car's oversteering to make the body slide sideways. The drift of the car is highly ornamental.

The operation method of the ground remote control robot is remote control. Due to the limitation of the control strategy of the ground remote control robot in the prior art, the ground remote control robot cannot automatically turn in a drifting state when cornering; in addition, if the user wants to manually The way of controlling the ground-controlled remote control robot is to make the ground-controlled remote control robot to turn in a drift state, which has a very high requirement on the user's manual control level. It can be seen that this reduces the controllability of the ground remote robot.

Summary of the Invention

The embodiment of the invention discloses a drift control method and device of a ground remote control robot, and a ground remote control robot, so that the ground remote control robot realizes drifting motion when passing through a curve, and enhances the fun of the ground remote control robot.

A first aspect of an embodiment of the present invention is to provide a drift control method for a ground-based remote control robot, including:

Get drift control parameters;

Controlling the ground remote control robot to move along a drift curve in a drift state according to the drift control parameter, wherein the drift state is a direction in which a head of the ground remote control robot is not parallel to a moving direction of the ground remote control robot status.

A second aspect of the embodiments of the present invention is to provide a drift control device for a ground-based remote control robot, including:

Memory and processor;

The memory is used to store program code;

The processor calls the program code, and when the program code is executed, is used to perform the following operations:

Get drift control parameters;

A third aspect of the embodiments of the present invention is to provide a ground remote control robot, including:

body;

A power system mounted on the fuselage and configured to provide power to the ground remote control robot;

And the drift control device for the ground-based remote control robot provided in the second aspect.

The drift control method and device and the ground remote control robot provided by the embodiments of the present invention control the ground remote control robot to move along a drift curve in a drift state by acquiring a drift control parameter. In this way, the ground-based remote control machine automatically realizes the effect of turning in a drift state according to the drift control parameters, which enriches the control strategy of the ground-based remote control robot and reduces the manual operation requirements of the user, thus enhancing the control of the ground-based remote control robot. Interesting.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a flowchart of a drift control method for a ground-based remote control robot according to an embodiment of the present invention;

2A is a schematic diagram of a drift interface provided by an embodiment of the present invention;

2B is a schematic diagram of a drift interface according to another embodiment of the present invention;

FIG. 2C is a schematic diagram of an included angle change according to an embodiment of the present invention; FIG.

3 is a flowchart of a method for acquiring a drift control parameter according to an embodiment of the present invention;

4 is a flowchart of a method for acquiring a drift control parameter according to another embodiment of the present invention;

5 is a flowchart of a method for acquiring a drift control parameter according to another embodiment of the present invention;

6 is a flowchart of a method for acquiring a drift control parameter according to another embodiment of the present invention;

FIG. 7 is a structural diagram of a drift control device for a ground-based remote control robot according to an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be clearly described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that when a component is called "fixed to" another component, it may be directly on another component or a centered component may exist. When a component is considered to be "connected" to another component, it can be directly connected to another component or a centered component may exist at the same time.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

In the embodiment of the present invention, the orientation of the head of the ground remote control robot is not parallel to the direction of movement of the ground remote control robot, which means that the existence between the head of the ground remote control robot and the direction of movement of the ground remote control robot is greater than 0 degrees and The angle is less than 180 degrees.

In the embodiment of the present invention, the drift control parameter may include at least one of configuration information of a drift curve and configuration information of an angle between a head of the ground remote control robot and a moving direction of the ground remote control robot.

In some embodiments, the configuration information of the drift curve may be used to indicate the drift curve. Exemplarily, the configuration information of the drift curve may include at least one of a curve radius and a curve angle of the drift curve. Taking the schematic diagram of the drift interface shown in FIG. 2A as an example, the drift curve may be composed of an arc, for example, the shape of the drift curve may be circular. The curve radius may be a curvature radius corresponding to the drift curve. The curve angle may be the center angle of the drift curve. Taking FIG. 2A as an example, the curve angle is 90 °.

The ground remote control robot can determine the drift curve according to the configuration information of the drift curve, in order to control the ground remote control robot to move along the determined drift curve in a drift state, and ensure that the head of the ground remote control robot is oriented and The movement direction of the ground remote robot is not parallel. Exemplarily, the ground-based remote control robot may determine the drift curve according to the configuration information of the drift curve, for example, obtaining a curve radius and a curve angle where the ground remote control robot moves in the drift curve, based on the curve radius and the curve angle The ground remote control robot is controlled to move along the determined drift curve in a drift state.

In some embodiments, the configuration information of the included angle between the orientation of the head of the ground remote control robot and the movement direction of the ground remote control robot may be used to indicate the orientation between the head of the ground remote control robot and the movement direction of the ground remote control robot. Angle. Exemplarily, the configuration information of the angle between the orientation of the head of the ground remote control robot and the movement direction of the ground remote control robot may include the maximum angle between the orientation of the head of the ground remote control robot and the movement direction of the ground remote control robot. , Or the angle between the orientation of the head of the ground remote control robot and the movement direction of the ground remote control robot during the movement of the ground remote control robot in the drift curve. Exemplarily, the angle between the orientation of the head of the ground remote control robot and the movement direction of the ground remote control robot may include the angle between the orientation of the head of the ground remote control robot and the movement direction of the ground remote control robot at different times. The angle sequence. Taking the schematic diagram of the drift interface shown in FIG. 2B as an example, an included angle between the head of the ground remote control robot and the moving direction of the ground remote control robot may be ψ.

The ground remote control robot can control the angle between the orientation of the head of the ground remote control robot and the movement direction of the ground remote control robot according to the configuration information of the angle during the process of the ground remote control robot moving along the drift curve. The included angle between the head of the ground remote control robot and the moving direction of the ground remote control robot can be planned according to the maximum angle between the head of the ground remote control robot and the movement direction of the ground remote control robot. For example, the ground remote control robot can control the grip between the direction of the head of the ground remote control robot and the moving direction of the ground remote control robot according to the configuration information of the included angle during the movement of the ground remote control robot along the drift curve. angle.

The configuration information of the angle between the head of the ground remote control robot and the moving direction of the ground remote control robot may be determined by the drift scene. The ground friction coefficients are different in different drift scenarios, and the different ground friction coefficients correspond to the configuration information of the angle between the head of the ground remote control robot and the moving direction of the ground remote control robot. Drift scenes can include grass, tiled ground, carpeted ground, or sand. Exemplarily, different ground friction coefficients may correspond to the maximum angle between the orientation of the head of the ground remote control robot and the moving direction of the ground remote control robot. For example, the ground friction coefficient of grass is large, and the ground remote control robot is on the grass. During the movement, the maximum angle between the direction of the ground remote robot's head and the direction of movement of the ground remote robot is small; the tiled ground friction coefficient is small, and the ground remote robot moves on the tiled ground In the process, the maximum included angle between the head of the ground remote control robot and the moving direction of the ground remote control robot is large.

Taking the schematic diagram of the angle change shown in FIG. 2C as an example, the angle between the direction of the head of the ground remote control robot and the moving direction of the ground remote control robot at different times can be an angle sequence, and the angle sequence can be based on the ground remote control. The maximum angle between the orientation of the robot's head and the movement direction of the ground remote control robot is planned. For example, within the time period of t ₀ , the angle between the orientation of the head of the ground remote control robot and the movement direction of the ground remote control robot is planned. Increase from zero to the maximum included angle, keep the maximum included angle unchanged during the time period of t ₁ , and decrease from the maximum included angle to zero again during the time period of t ₂ . It should be noted that the maximum included angle between the orientation of the head of the ground remote control robot and the moving direction of the ground remote control robot may be determined according to a control instruction input by a user through a joystick on the remote control, or preset Is not specifically limited by the embodiments of the present application.

In the embodiment of the present invention, there may be multiple ways to obtain the drift control parameter.

1. The drift control parameters can be obtained through the environmental sensors of the ground-based remote control robot. The environmental sensor may include a vision sensor (such as a binocular camera, a monocular camera) and / or a distance sensor (such as a TOF camera, lidar). For example, when the ground remote control robot moves to the drift curve or the ground remote control robot moves along the drift curve, at least one of a curve radius and a curve angle of the drift curve is acquired through an environmental sensor. For another example, before the ground remote control robot moves to the drift curve or during the process of the ground remote control robot moving along the drift curve, the drift environment is obtained through the environmental sensor, and the head of the ground remote control robot and the ground remote control are obtained based on the drift environment. The angle between the robot's moving directions.

2. The control terminal sends drift control parameters to the ground-based remote control robot. For example, the control terminal downloads from the server, or obtains at least one of the curve radius and the curve angle of the drift curve based on the detection data of the sensors on the control terminal, and is based on at least one of the curve radius and the curve angle Generate the configuration information of the drift curve, and send the configuration information of the drift curve to the ground remote robot. As another example, the control terminal displays at least one drifting environment, for example, displays at least one description of the drifting environment (text, identifier, etc.). When the user wants the ground-controlled remote robot to realize drifting movements in a specified drifting environment, the user can perform Select the operation to specify the drift environment. When the control terminal detects the user's drift scene selection operation, determine the configuration information of the angle between the head of the ground remote robot corresponding to the selected drift environment and the movement direction of the ground remote robot. And send the configuration information to the ground-based remote control robot. For another example, the control terminal displays at least one drift control parameter of the drift environment. When the user wants the ground-controlled remote robot to drift in the specified drift environment, the user can select the drift control parameter of the specified drift environment. When the control terminal detects the user's drift control parameter input operation, For example, determine the configuration information of the included angle between the head of the ground remote control robot and the moving direction of the ground remote control robot, and send the configuration information to the ground remote control robot. For another example, the user performs a drift control parameter input operation on the control terminal. For example, the user can input at least one of a curve radius and a curve angle of the drift curve to the control terminal, and the control terminal detects the user's drift control parameter input operation. The drift control parameter is determined at all times. The drift control parameter includes the configuration information of the drift curve, and the control terminal sends the drift control parameter to the ground remote control robot.

3. The control terminal sends the drift scene instruction information to the ground remote control robot, and the ground remote control robot determines the configuration information of the included angle according to the drift scene instruction information. For example, the control terminal displays at least one drifting environment. When the user wants the ground-controlled remote robot to drift in the specified drifting environment, the user can select the specified drifting environment. When the control terminal detects the user's drifting scene selection operation, it generates the drifting scene instruction information and the control terminal The ground remote control robot sends indication information of the drift scene, and the ground remote control robot determines the configuration information of the included angle according to the drift scene instruction information.

4. The control terminal sends the ground friction coefficient to the ground remote control robot, and the ground remote control robot determines the configuration information of the included angle according to the ground friction coefficient. For example, the control terminal displays at least one ground friction coefficient. When the user wishes the ground remote robot to drift in the specified drift environment, the user can select the ground friction coefficient of the specified drift environment. When the control terminal detects the user's ground friction coefficient input operation, it generates ground friction. Coefficient indication information, the control terminal sends the ground friction coefficient indication information to the ground remote control robot, and the ground remote control robot determines the configuration information of the included angle according to the ground friction coefficient indication information.

In the embodiment of the present invention, there can be multiple triggering modes for the ground remote control robot to move along the drift curve in a drift state.

1. The ground remote control robot's environment sensor detects the drift control parameters in real time. After the ground remote control robot obtains the drift control parameters, it controls the ground remote control robot to move along the drift curve in a drift state according to the drift control parameters.

2. The control terminal acquires the drift control parameters in real time, and sends the drift control parameters to the ground remote control robot. After the ground remote control robot receives the drift control parameters, it controls the ground remote control robot to move along the drift curve in a drift state according to the drift control parameters.

3. The control terminal obtains the drift scene instruction information in real time, and sends the drift scene instruction information to the ground remote control robot. After receiving the drift scene instruction information, the ground remote control robot controls the ground remote robot to move along the drift curve in the drift state according to the drift scene instruction information. .

4. The control terminal obtains the ground friction coefficient instruction information in real time, and sends the ground friction coefficient instruction information to the ground remote control robot. After the ground remote control robot receives the ground friction coefficient instruction information, it controls the ground remote control robot to move along the drift state according to the ground friction coefficient instruction information. Drift curve moves.

5. The control terminal sends the drift control parameter to the ground remote control robot. After the ground remote control robot receives the control instruction, it controls the ground remote control robot to move along the drift curve in a drift state according to the drift control parameter and the control instruction. For example, the user inputs a control instruction through a joystick on the remote control. The amount of the user input includes a roll, a pitch, a yaw, and a thr. .

6. The ground remote control robot determines the drift control parameters according to the digital map and the position information of the ground remote control robot, and controls the ground remote control robot to move along the drift curve in the drift state according to the drift control parameters. For example, the ground remote control robot recognizes that the ground remote control robot is about to enter a drift curve based on the digital map and the position information of the ground remote control robot. The ground remote control robot can determine the drift control parameters and control the ground remote control robot to drift along the drift state according to the drift control parameters. The curve moves. The electronic map stored on the ground remote control robot may be downloaded from a server, or obtained based on detection data of an environmental sensor on the ground remote control robot.

The following describes a drift control method of a ground-based remote control robot in an embodiment of the present invention by way of example.

An embodiment of the present invention provides a drift control method for a ground remote-control robot. FIG. 1 is a flowchart of a drift control method for a ground-based remote control robot according to an embodiment of the present invention. As shown in FIG. 1, the method includes the following steps:

Step 101: Obtain a drift control parameter.

The ground remote control robot involved in this embodiment may be a device capable of moving by a power system configured by itself. The ground remote control robot may be a device with a certain processing capability, such as a drone or a car.

In a possible implementation manner, the drift control parameter may include at least one of configuration information of a drift curve and configuration information of an angle between a head of the ground remote control robot and a moving direction of the ground remote control robot.

In the embodiment of the present application, the ground-based remote control robot may receive drift control parameters sent by the control terminal; or obtain environmental data by detecting the environment sensors of the ground-based remote control robot, and determine the drift control parameters according to the environment data; or according to digital maps and Position information, determining drift control parameters; or receiving drift scene indication information sent by the control terminal, determining drift control parameters according to the drift scene indication information, and the like, which are not specifically limited by the embodiments of the present application.

Step 102: Control the ground remote control robot to move along the drift curve in a drift state according to the drift control parameter, wherein the drift state is a state where the head of the ground remote control robot is not parallel to the moving direction of the ground remote control robot.

In a possible implementation manner, when the drift control parameter includes configuration information of the drift curve, the ground-based remote control robot may determine the drift curve according to the configuration information of the drift curve, and control the ground remote-control robot to follow the determined drift curve in a drift state. Road moves. For example, the ground-based remote control robot can determine the curve radius and angle of the drift curve based on the configuration information of the drift curve, and then control the ground-based remote control robot to follow the determined drift curve in a drift state based on the curve radius and the curve angle. mobile.

In a possible implementation manner, when the drift control parameter includes configuration information of an angle between a head of the ground remote control robot and a moving direction of the ground remote control robot, a process in which the ground remote control robot moves along a drift curve In the ground remote control robot, the angle between the head of the ground remote control robot and the moving direction of the ground remote control robot can be controlled according to the configuration information of the angle.

In a possible implementation manner, when the drift control parameter includes configuration information of a drift curve, and configuration information of an angle between a head of the ground remote control robot and a moving direction of the ground remote control robot, the ground remote control robot The drift curve can be determined according to the configuration information of the drift curve, and the ground remote control robot can control the orientation of the head of the ground remote control robot and the ground remote control robot during the movement of the ground remote control robot along the drift curve. The angle between the moving directions.

In a possible implementation manner, the ground remote control robot may control the ground remote control robot so that the ground remote control robot is not in a drift state when the ground remote control robot enters and exits a curve. Taking FIG. 2B as an example, before the ground remote control robot enters the drift curve, the ground remote control robot can control the ground remote control robot so that the ground remote control robot is not in a drift state, that is, before the ground remote control robot enters the drift curve, the ground remote control robot The head of the camera is parallel to the moving direction of the ground-based remote control robot. After the ground remote control robot enters the drift curve, the ground remote control robot can control the ground remote control robot to move along the drift curve in a drift state according to the drift control parameters. During the movement, the head of the ground remote control robot is the same as the ground remote control robot ’s. The movement directions are not parallel. When the ground remote control robot exits the drift curve, the ground remote control robot can control the ground remote control robot so that the ground remote control robot is not in a drift state, that is, when the ground remote control robot exits the drift curve, the head of the ground remote control robot is oriented and The ground-controlled robots move in parallel.

Of course, those skilled in the art should understand that the above examples are only for the sake of clarity and are not the only limitation to the present invention.

In the following, the embodiment of FIG. 1 is further optimized and expanded by using specific embodiments.

In contrast to the method shown in FIG. 1 for controlling a ground remote robot to move along a drift curve in a drift state, another embodiment of the present invention provides a method for controlling a ground remote robot to move along a drift curve in a drift state, including: When the parameter includes the configuration information of the drift curve, the configuration information of the angle between the head of the ground remote control robot and the movement direction of the ground remote control robot is generated according to the configuration information of the drift curve, so as to control the ground remote control robot along the drift curve. The track moves, and during the movement, according to the configuration information of the included angle, the included angle between the head of the ground remote control robot and the moving direction of the ground remote control robot is controlled.

In some embodiments, the ground-based remote control robot may generate a maximum angle between the orientation of the head of the ground-based remote control robot and the movement direction of the ground-based remote control robot according to the configuration information of the drift-based curve, thereby controlling the ground-based remote-control robot to move along the drift-shaped curve. And during the movement, the angle between the head of the ground remote control robot and the moving direction of the ground remote control robot is controlled according to the maximum included angle.

Taking FIG. 2B as an example, after the ground remote robot obtains the configuration information of the drift curve, it can determine the direction between the head of the ground remote robot and the moving direction of the ground remote robot according to the curve radius and angle of the drift curve. The maximum included angle is based on the maximum included angle between the head of the ground remote control robot and the movement direction of the ground remote control robot to generate the angle between the head of the ground remote control robot and the movement direction of the ground remote control robot. Furthermore, the ground remote control robot is controlled to move along the drift curve, and during the movement, the angle between the head of the ground remote control robot and the moving direction of the ground remote control robot is controlled. Exemplarily, the maximum included angle and the curve angle between the orientation of the head of the ground remote control robot and the moving direction of the ground remote control robot may be proportional, and may be inversely proportional to the radius of the curve, that is, the curve of the drift curve The smaller the radius of the road and the larger the angle of the curve, the greater the maximum angle between the orientation of the head of the ground remote control robot and the moving direction of the ground remote control robot. Based on the maximum angle between the direction of the ground remote control robot head and the movement direction of the ground remote control robot, the manner of generating the angle between the direction of the ground remote control robot head and the movement direction of the ground remote control robot can be seen in FIG. 2C The description in this embodiment is not repeated here.

In some embodiments, the ground-based remote control robot may generate an included angle between the orientation of the head of the ground-based remote control robot and the movement direction of the ground-based remote control robot according to the configuration information of the drift-shaped turn to control the ground-based remote-control robot to move along the drift curve, and During the movement, the included angle between the head of the ground remote control robot and the moving direction of the ground remote control robot is controlled according to the generated angle.

Taking FIG. 2B as an example, after the ground remote robot obtains the configuration information of the drift curve, it can determine the direction between the head of the ground remote robot and the moving direction of the ground remote robot according to the curve radius and angle of the drift curve. The angle of the ground remote control robot is further controlled to move along the drift curve, and the angle between the head of the ground remote control robot and the movement direction of the ground remote control robot is controlled during the movement. Exemplarily, the included angle and the curve angle between the orientation of the head of the ground remote control robot and the moving direction of the ground remote control robot may be proportional, and may be inversely proportional to the curve radius, that is, the curve of the drift curve The smaller the radius and the larger the angle of the curve, the larger the angle between the orientation of the head of the ground remote control robot and the moving direction of the ground remote control robot.

In contrast to the method for controlling a ground remote robot to move along a drift curve in a drift state as shown in FIG. 1, another embodiment of the present invention provides a method for controlling a ground remote robot to move along a drift curve in a drift state, including: The configuration information of the drift curve is generated by the configuration information of the drift curve, and the drift curve is determined according to the configuration information of the drift curve, and then the ground remote control robot is controlled to move along the determined drift curve. The information controls the included angle between the head of the ground remote control robot and the moving direction of the ground remote control robot.

In some embodiments, the configuration information of the included angle between the orientation of the head of the ground-based remote control robot and the movement direction of the ground-based remote control robot includes the maximum When the angle is included, the ground remote control robot may generate the configuration information of the drift curve according to the maximum angle between the head of the ground remote control robot and the moving direction of the ground remote control robot, and determine the drift curve according to the configuration information of the drift curve. To control the ground remote control robot to move along the determined drift curve, and during the movement, control the ground remote control robot according to the maximum angle between the orientation of the head of the ground remote control robot and the moving direction of the ground remote control robot. The angle between the direction of the nose and the direction of movement of the ground-based remote control robot. For example, the curve angle of the drift curve may be proportional to the maximum angle between the orientation of the head of the ground remote control robot and the moving direction of the ground remote control robot, and the curve radius of the drift curve may be related to the ground remote control. The maximum included angle between the orientation of the robot's head and the movement direction of the ground remote control robot is inversely proportional, that is, the larger the maximum included angle between the orientation of the head of the ground remote control robot and the movement direction of the ground remote control robot, the larger the drift curve. The smaller the curve radius of the road, and the larger the angle of the curve.

In some embodiments, the configuration information of the included angle between the orientation of the head of the ground-based remote control robot and the moving direction of the ground-based remote control robot includes the configuration When the angle is at an angle, the ground remote control robot may generate the configuration information of the drift curve according to the included angle between the head direction of the ground remote control robot and the moving direction of the ground remote control robot, and determine the drift curve according to the configuration information of the drift curve. Furthermore, the ground remote control robot is controlled to move along the determined drift curve, and during the movement, the angle between the head of the ground remote control robot and the moving direction of the ground remote control robot is controlled. For example, the curve angle of the drift curve may be proportional to the included angle between the head of the ground remote control robot and the moving direction of the ground remote control robot, and the curve radius of the drift curve may be related to the ground remote control robot. The included angle between the orientation of the head of the remote control robot and the movement direction of the ground remote control robot is inversely proportional, that is, the larger the included angle between the orientation of the head of the ground remote control robot and the movement direction of the ground remote control robot, the greater the bend of the drift curve The smaller the radius of the road and the larger the angle of the curve.

3 is a flowchart of a method for acquiring a drift control parameter according to an embodiment of the present invention. In the embodiment of the present application, the drift control parameter may include an angle between an orientation of a head of the ground remote control robot and a moving direction of the ground remote control robot. The configuration information is shown in FIG. 3. Based on the above embodiment, the method for acquiring drift control parameters may include the following steps:

Step 301: The control terminal determines the configuration information of the included angle by detecting a user's drift scene selection operation.

In the embodiment of the present application, the control terminal may display at least one drifting environment. When the user wishes the ground remote-controlled robot to drift in the designated drifting environment, the control terminal may select the designated drifting environment. When the control terminal detects the user's drift scene selection operation, it determines the drift scene selected by the user, and determines the configuration information of the included angle corresponding to the selected drift scene. Further, determining the configuration information of the included angle corresponding to the selected drift scene may include: the control terminal may obtain the ground friction coefficient of the drift scene selected by the user, and determine the configuration information of the included angle according to the ground friction coefficient, such as ground remote control The maximum angle between the orientation of the robot's nose and the direction of movement of the ground-based remote control robot.

Exemplarily, the drift scene may include grass, tiled ground, carpeted ground, or sand. For example, the ground friction coefficient of grass is large. During the process of the ground remote control robot moving on the grass, the maximum angle between the direction of the head of the ground remote control robot and the movement direction of the ground remote control robot is small; the tiled floor The friction coefficient is small. During the process of the ground remote control robot moving on the tiled floor, the maximum angle between the orientation of the head of the ground remote control robot and the moving direction of the ground remote control robot is large.

In a possible implementation manner, the control terminal may determine the configuration information of the included angle by detecting a user's ground friction coefficient input operation. For example, the control terminal may display at least one ground friction coefficient. When the user wants the ground remote robot to drift in a specified drift environment, the user may select the ground friction coefficient of the specified drift environment. When the control terminal detects the user's ground friction coefficient input operation, The friction coefficient determines the configuration information of the included angle, such as the maximum included angle between the head of the ground remote control robot and the moving direction of the ground remote control robot.

Step 302: The control terminal sends the configuration information of the included angle to the ground remote control robot.

In this embodiment, the control terminal determines the configuration information of the included angle by detecting the drift scene selection operation of the user, and sends the configuration information of the included angle to the ground remote control robot. The accuracy of the drift control parameter can be improved through human-machine interaction.

FIG. 4 is a flowchart of a method for acquiring a drift control parameter according to another embodiment of the present invention. In the embodiment of the present application, the drift control parameter may include a clamp between a head of the ground remote control robot and a moving direction of the ground remote control robot. As shown in FIG. 4, based on the above embodiment, the method for acquiring drift control parameters may include the following steps:

Step 401: The control terminal determines drift scene indication information by detecting a user's drift scene selection operation.

In the embodiment of the present application, the control terminal may display at least one drifting environment. When the user wishes the ground remote-controlled robot to drift in the specified drifting environment, the control terminal may select the specified drifting environment. When the control terminal detects the user's drift scene selection operation, it determines the drift scene selected by the user, and generates drift scene indication information.

In a possible implementation manner, the control terminal may determine the ground friction coefficient by detecting a user's ground friction coefficient input operation. For example, the control terminal may display at least one ground friction coefficient. When the user wants the remote-controlled robot to drift in the specified drift environment, the control terminal may select the ground friction coefficient of the specified drift environment. To get the ground friction coefficient input by the user.

Step 402: The control terminal sends the drift scene instruction information to the ground remote control robot.

In the embodiment of the present application, the control terminal may send the drift scene instruction information to the ground remote control robot through a communication link with the ground remote control robot, and the ground remote control robot may determine the drift scene selected by the user according to the received drift scene instruction information.

In a possible implementation manner, the control terminal may send the ground friction coefficient to the ground remote control robot.

Step 403: The ground remote control robot determines the configuration information of the included angle according to the drift scene instruction information.

In the embodiment of the present application, the ground-based remote control robot may obtain the ground friction coefficient of the drift scene indicated by the drift scene instruction information, and determine the configuration information of the included angle according to the ground friction coefficient, such as the orientation of the head of the ground remote-control robot and the ground remote-control robot The maximum angle between the moving directions.

In a possible implementation manner, after the ground remote control robot receives the ground friction coefficient, the configuration information of the included angle can be determined according to the ground friction coefficient, for example, between the orientation of the head of the ground remote control robot and the moving direction of the ground remote control robot. Maximum included angle.

FIG. 5 is a flowchart of a method for acquiring a drift control parameter according to another embodiment of the present invention. In the embodiment of the present application, the drift control parameter may include configuration information of a drift curve, as shown in FIG. 5. The method for acquiring drift control parameters may include the following steps:

Step 501: The control terminal determines a drift control parameter by detecting a user's drift control parameter input operation.

In the embodiment of the present application, the user can perform a drift control parameter input operation when the user knows the drift curve that the ground-based remote control robot is about to drift, for example, input configuration information of the drift curve in the control terminal, and the configuration information of the drift curve At least one of a curve radius and a curve angle of the drift curve may be included.

Step 502: The control terminal sends the drift control parameter to the ground remote control robot.

In this embodiment, the control terminal determines a drift control parameter by detecting a user's drift control parameter input operation, and sends the drift control parameter to a ground-based remote control robot. The accuracy of the drift control parameter can be improved through human-machine interaction.

FIG. 6 is a flowchart of a method for acquiring a drift control parameter according to another embodiment of the present invention. As shown in FIG. 6, based on the foregoing embodiment, the method for acquiring a drift control parameter may include the following steps:

Step 601: The ground remote control robot obtains environmental data output by an environment sensor configured on the ground remote control robot.

Wherein, the environmental data detected by the environmental sensor configured on the ground remote-controlling robot may be at least one of image information, depth information, or point cloud detected by the environmental sensor.

Step 602: The ground remote control robot determines a drift control parameter according to the environmental data.

In a possible implementation manner, the ground-based remote control robot may identify a curve area according to the environmental data, and then determine the configuration information of the drift curve based on the identified curve area. For example, a ground-based remote control robot may identify a curve area based on image information detected by an environmental sensor, acquire at least one of a curve radius and a curve angle of the curve area, and generate based on at least one of the curve radius and the curve angle Configuration information for drift curves.

In a possible implementation manner, the ground-based remote control robot can identify obstacles according to the environmental data, and then determine the configuration information of the drift curve based on the identified obstacles. For example, the ground-based remote control robot can identify obstacles based on the image information detected by the environmental sensors, determine the drift curve formed by the ground-based remote control robot in order to bypass the obstacle, and then obtain the configuration information of the drift curve, such as The drift curve has at least one of a curve radius and a curve angle.

In a possible implementation manner, the ground-based remote control robot may determine a drifting environment of the ground-based remote control robot according to environmental data, and determine a configuration of an angle between a head of the ground-based remote control robot and a moving direction of the ground-based remote control robot according to the drift environment. information. For example, the ground-based remote control robot can determine the drift scene of the drift curve according to the environmental data, obtain the ground friction coefficient of the drift scene, and determine the distance between the head of the ground-based remote control robot and the movement direction of the ground-based remote control robot according to the ground friction coefficient. The configuration information of the included angle, for example, the maximum included angle between the head of the ground remote control robot and the moving direction of the ground remote control robot.

In this embodiment, the ground remote control robot obtains the environmental data output by the environmental sensors configured on the ground remote control robot, determines the drift control parameters according to the environmental data, and does not need to interact with the control terminal, which can improve the acquisition efficiency of the drift control parameters.

In contrast to the method for acquiring drift control parameters shown in FIG. 3-6, another embodiment of the present invention provides a method for acquiring drift control parameters, which includes: determining a drift control parameter according to a digital map and position information of a ground-based remote control robot.

In some embodiments, the ground remote control robot recognizes that the ground remote control robot is about to enter a curve area according to the digital map and the position information of the ground remote control robot. The ground remote control robot may obtain the radius and / or the curve of the curve area from the digital map. Road angle. The ground-based remote control robot may determine the drift control parameter according to the radius of the curve area and / or the angle of the curve.

In some embodiments, the ground remote control robot may determine the drift environment of the ground remote control robot according to the digital map and the position of the ground remote control robot, and determine the drift control parameter according to the determined drift environment.

An embodiment of the present invention provides a drift control device for a ground remote robot. FIG. 7 is a structural diagram of a drift control device for a ground remote robot according to an embodiment of the present invention. As shown in FIG. 7, the drift control device 700 for a ground remote robot includes The memory 701 and the processor 702. The memory 702 stores program code. The processor 702 calls the program code in the memory. When the program code is executed, the processor 702 performs the following operations:

Get drift control parameters;

In a possible implementation manner, the drift control parameter includes configuration information of the drift curve and a configuration of an angle between a head of the ground remote control robot and a moving direction of the ground remote control robot. At least one of the messages.

In a possible implementation manner, the drift control parameter includes configuration information of the drift curve, where:

When the processor 702 controls the ground remote robot to move along a drift curve in a drift state according to the drift control parameter, the processor 702 performs the following operations:

The drift curve is determined according to the configuration information of the drift curve, and the ground remote control robot is controlled to move along the determined drift curve in a drift state.

In a possible implementation manner, when the processor 702 calls the program code, it also performs the following operations:

Generating, according to the configuration information of the drift curve, configuration information of an angle between a head of the ground remote control robot and a moving direction of the ground remote control robot;

Controlling the ground remote robot to move along the drift curve, and during the movement, controlling the orientation of the nose of the ground remote robot and the moving direction of the ground remote robot according to the configuration information of the included angle Angle.

In a possible implementation manner, the drift control parameter includes configuration information of an included angle between a head of the ground remote control robot and a moving direction of the ground remote control robot, where:

During the movement of the ground remote control robot along the drift curve, the angle between the head of the ground remote control robot and the moving direction of the ground remote control robot is controlled according to the configuration information of the included angle. .

Generating the configuration information of the drift curve according to the configuration information of the included angle, and determining the drift curve according to the configuration information of the drift curve;

Controlling the ground remote control robot to move along the determined drift curve, and during the movement, controlling the orientation of the head of the ground remote control robot and the ground remote control robot according to the configuration information of the included angle The angle between the moving directions.

Controlling the ground remote control robot so that the ground remote control robot is not in a drift state when the ground remote control robot enters and exits the curve.

In a possible implementation manner, the drift control parameter includes configuration information of an included angle between a head of the ground remote control robot and a moving direction of the ground remote control robot, wherein the included angle The configuration information is determined by the control terminal by detecting a user's drift scene selection operation.

In a possible implementation manner, when acquiring the drift control parameter, the processor 702 performs the following operations:

Acquire the configuration information of the included angle sent by the control terminal, where the configuration information of the included angle is determined by the control terminal according to the detected drift scene selection operation.

Acquiring the drift scene indication information sent by the control terminal, and determining the configuration information of the included angle according to the drift scene indication information, wherein the drift scene indication information is determined by the control terminal according to the detected drift scene selection operation of.

When acquiring the drift control parameter, the processor 702 performs the following operations:

Acquire a drift control parameter sent by a control terminal, where the drift control parameter is determined by the control terminal by detecting a user's drift control parameter input operation.

Acquiring environmental data output by an environmental sensor configured on the ground remote-control robot, and determining a drift control parameter according to the environmental data.

When the processor 702 determines a drift control parameter according to the environmental data, the processor 702 performs the following operations:

The curve area or obstacle is identified according to the environmental data, and the configuration information of the drift curve is determined according to the identified curve area or obstacle.

A drift environment of the ground remote robot is determined according to the environmental data, and configuration information of the included angle is determined according to the drift environment.

Determining the drift control parameter according to a digital map and position information of the ground remote-control robot.

The drift control device of the ground-based remote control robot provided by this embodiment can execute the drift control method of the ground-based remote control robot provided by the foregoing embodiment, and the execution manner and beneficial effects thereof are similar, and are not described herein again.

An embodiment of the present invention further provides a ground remote-control robot. The ground remote-control robot includes:

body;

And the drift control device of the ground remote control robot provided by the above embodiments.

Optionally, the ground remote-control robot further includes: an environmental sensor installed on the fuselage, and configured to detect and obtain environmental data.

Optionally, the environment sensor includes a vision sensor and / or a distance sensor.

Optionally, the ground remote control robot further includes:

A communication device is installed on the fuselage and is used for information interaction with the control terminal.

Optionally, the ground remote-control robot includes at least one of the following: a drone, a car.

The execution method and beneficial effects of the ground-based remote control robot provided in this embodiment are similar to those of the mobile device provided in the foregoing embodiment, and details are not described herein again.

In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are only schematic. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner. For example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, which may be electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objective of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist separately physically, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware, or in the form of hardware plus software functional units.

The above integrated unit implemented in the form of a software functional unit may be stored in a computer-readable storage medium. The software functional unit is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) or a processor to execute the methods described in the embodiments of the present invention Some steps. The aforementioned storage media include: U disks, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks or compact discs, and other media that can store program codes .

Those skilled in the art can clearly understand that for the convenience and brevity of the description, only the above-mentioned division of the functional modules is used as an example. In practical applications, the above-mentioned functions can be allocated by different functional modules according to needs, that is, the device The internal structure is divided into different functional modules to complete all or part of the functions described above. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, and details are not described herein again.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, but not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or to replace some or all of the technical features equivalently; and these modifications or replacements do not depart from the essence of the corresponding technical solutions of the technical solutions of the embodiments of the present invention. range.

Claims

A drift control method for a ground remote-controlled robot, which is characterized by comprising:

Get drift control parameters;

Controlling the ground remote control robot to move along a drift curve in a drift state according to the drift control parameter, wherein the drift state is a direction in which a head of the ground remote control robot is not parallel to a moving direction of the ground remote control robot status.
The method according to claim 1, wherein the drift control parameter comprises configuration information of the drift curve and a distance between a head of the ground remote control robot and a moving direction of the ground remote control robot. At least one of the configuration information of the included angle.
The method according to claim 1 or 2, wherein the drift control parameter includes configuration information of the drift curve, wherein:

The controlling the ground remote robot to move along a drift curve in a drift state according to the drift control parameter includes:

The drift curve is determined according to the configuration information of the drift curve, and the ground remote control robot is controlled to move along the determined drift curve in a drift state.
The method according to claim 3, further comprising: generating a distance between a head of the ground remote robot and a moving direction of the ground remote robot according to the configuration information of the drift curve. Configuration information of the included angle;

The controlling the ground remote robot to move along a drift curve in a drift state according to the drift control parameter includes:

Controlling the ground remote robot to move along the drift curve, and during the movement, controlling the orientation of the nose of the ground remote robot and the moving direction of the ground remote robot according to the configuration information of the included angle Angle.
The method according to any one of claims 1-3, wherein the drift control parameter comprises a configuration of an angle between a head of the ground remote control robot and a moving direction of the ground remote control robot Information, of which

The controlling the ground remote robot to move along a drift curve in a drift state according to the drift control parameter includes:

During the movement of the ground remote control robot along the drift curve, the angle between the head of the ground remote control robot and the moving direction of the ground remote control robot is controlled according to the configuration information of the included angle .
The method according to claim 5, further comprising: generating configuration information of the drift curve according to the configuration information of the included angle, and determining the configuration of the drift curve according to the configuration information of the drift curve. Drift curve

The controlling the ground remote robot to move along a drift curve in a drift state according to the drift control parameter includes:

Control the ground remote control robot to move along the determined drift curve, and during the movement, control the orientation of the head of the ground remote control robot and the direction of the ground remote control robot according to the configuration information of the included angle The angle between the moving directions.
The method according to any one of claims 1-6, further comprising:

Controlling the ground remote control robot so that the ground remote control robot is not in a drift state when the ground remote control robot enters and exits the curve.
The method according to any one of claims 1 to 7, wherein the drift control parameter comprises a configuration of an angle between a head of the ground remote control robot and a moving direction of the ground remote control robot. Information, wherein the configuration information of the included angle is determined by the control terminal by detecting a user's drift scene selection operation.
The method according to claim 8, wherein the acquiring drift control parameters comprises:

Acquire the configuration information of the included angle sent by the control terminal, where the configuration information of the included angle is determined by the control terminal according to the detected drift scene selection operation.
The method according to claim 8, wherein the acquiring drift control parameters comprises:

Acquiring drift scene indication information sent by the control terminal, and determining the configuration information of the included angle according to the drift scene indication information, wherein the drift scene indication information is determined by the control terminal according to a detected drift scene selection operation of.
The method according to any one of claims 1-6, wherein the drift control parameter includes configuration information of the drift curve, wherein:

The acquiring drift control parameters includes:

Acquire a drift control parameter sent by a control terminal, where the drift control parameter is determined by the control terminal by detecting a user's drift control parameter input operation.
The method according to any one of claims 1-6, wherein the acquiring drift control parameters comprises:

Acquiring environmental data output by an environmental sensor configured on the ground remote-control robot, and determining a drift control parameter according to the environmental data.
The method according to claim 12, wherein the drift control parameter includes configuration information of the drift curve, wherein:

The determining a drift control parameter according to the environmental data includes:

The curve area or obstacle is identified according to the environmental data, and the configuration information of the drift curve is determined according to the identified curve area or obstacle.
The method according to claim 12, wherein the drift control parameter comprises configuration information of an angle between a head of the ground remote control robot and a moving direction of the ground remote control robot, wherein,

The determining a drift control parameter according to the environmental data includes:

A drift environment of the ground remote robot is determined according to the environmental data, and configuration information of the included angle is determined according to the drift environment.
The method according to any one of claims 1-6, wherein the acquiring drift control parameters comprises:

Determining the drift control parameter according to a digital map and position information of the ground remote-control robot.
A drift control device for a ground remote-controlling robot, which is characterized by including a memory and a processor;

The memory is used to store program code;

The processor calls the program code, and when the program code is executed, is used to perform the following operations:

Get drift control parameters;

Controlling the ground remote control robot to move along a drift curve in a drift state according to the drift control parameter, wherein the drift state is a direction in which a head of the ground remote control robot is not parallel to a moving direction of the ground remote control robot status.
The device according to claim 16, wherein the drift control parameter includes configuration information of the drift curve and a distance between a head of the ground remote control robot and a moving direction of the ground remote control robot. At least one of the configuration information of the included angle.
The device according to claim 16 or 17, wherein the drift control parameter includes configuration information of the drift curve, wherein:

When the processor controls the ground remote robot to move along a drift curve in a drift state according to the drift control parameter, the processor performs the following operations:

The drift curve is determined according to the configuration information of the drift curve, and the ground remote control robot is controlled to move along the determined drift curve in a drift state.
The apparatus according to claim 18, wherein, when the processor calls the program code, it further performs the following operations:

Generating, according to the configuration information of the drift curve, configuration information of an angle between a head of the ground remote control robot and a moving direction of the ground remote control robot;

When the processor controls the ground remote robot to move along a drift curve in a drift state according to the drift control parameter, the processor performs the following operations:

Controlling the ground remote robot to move along the drift curve, and during the movement, controlling the orientation of the nose of the ground remote robot and the moving direction of the ground remote robot according to the configuration information of the included angle Angle.
The device according to any one of claims 16 to 18, wherein the drift control parameter comprises a configuration of an angle between a head of the ground remote control robot and a moving direction of the ground remote control robot Information, of which

When the processor controls the ground remote robot to move along a drift curve in a drift state according to the drift control parameter, the processor performs the following operations:

During the movement of the ground remote control robot along the drift curve, the angle between the head of the ground remote control robot and the moving direction of the ground remote control robot is controlled according to the configuration information of the included angle. .
The apparatus according to claim 20, wherein, when the processor calls the program code, it further performs the following operations:

Generating the configuration information of the drift curve according to the configuration information of the included angle, and determining the drift curve according to the configuration information of the drift curve;

When the processor controls the ground remote robot to move along a drift curve in a drift state according to the drift control parameter, the processor performs the following operations:

Control the ground remote control robot to move along the determined drift curve, and during the movement, control the orientation of the head of the ground remote control robot and the direction of the ground remote control robot according to the configuration information of the included angle The angle between the moving directions.
The apparatus according to any one of claims 16 to 21, wherein, when the processor calls the program code, it further performs the following operations:

Controlling the ground remote control robot so that the ground remote control robot is not in a drift state when the ground remote control robot enters and exits the curve.
The device according to any one of claims 16 to 22, wherein the drift control parameter includes a configuration of an included angle between a head of the ground remote control robot and a moving direction of the ground remote control robot Information, wherein the configuration information of the included angle is determined by the control terminal by detecting a user's drift scene selection operation.
The apparatus according to claim 23, wherein when the processor obtains a drift control parameter, the processor performs the following operations:

Acquire the configuration information of the included angle sent by the control terminal, where the configuration information of the included angle is determined by the control terminal according to the detected drift scene selection operation.
The apparatus according to claim 23, wherein when the processor obtains a drift control parameter, the processor performs the following operations:

Acquiring the drift scene indication information sent by the control terminal, and determining the configuration information of the included angle according to the drift scene indication information, wherein the drift scene indication information is determined by the control terminal according to the detected drift scene selection operation of.
The device according to any one of claims 16-21, wherein the drift control parameter includes configuration information of the drift curve, wherein:

When the processor obtains the drift control parameters, the processor performs the following operations:

Acquire a drift control parameter sent by a control terminal, where the drift control parameter is determined by the control terminal by detecting a user's drift control parameter input operation.
The device according to any one of claims 16 to 21, wherein the processor performs the following operations when acquiring a drift control parameter:

Acquiring environmental data output by an environmental sensor configured on the ground remote-control robot, and determining a drift control parameter according to the environmental data.
The apparatus according to claim 27, wherein the drift control parameter includes configuration information of the drift curve, wherein:

When the processor determines a drift control parameter according to the environmental data, the processor performs the following operations:

The curve area or obstacle is identified according to the environmental data, and the configuration information of the drift curve is determined according to the identified curve area or obstacle.
The device according to claim 27, wherein the drift control parameter includes configuration information of an angle between a head of the ground remote control robot and a moving direction of the ground remote control robot, wherein,

When the processor determines a drift control parameter according to the environmental data, the processor performs the following operations:

A drift environment of the ground remote robot is determined according to the environmental data, and configuration information of the included angle is determined according to the drift environment.
The device according to claim 16-21, wherein when the processor obtains the drift control parameter, the processor performs the following operations:

Determining the drift control parameter according to a digital map and position information of the ground remote-control robot.
A remotely controlled ground-based robot, comprising:

body;

A power system mounted on the fuselage and configured to provide power to the ground remote control robot;

A drift control device for a ground-based remote control robot according to any one of claims 16-30.
The ground remote control robot according to claim 31, wherein the ground remote control robot further comprises:

An environmental sensor is installed on the fuselage and used to detect and obtain environmental data.
The ground-based remote control robot according to claim 32, wherein the environment sensor comprises a vision sensor and / or a distance sensor.
The ground remote control robot according to claim 31, wherein the ground remote control robot further comprises:

A communication device is installed on the fuselage and is used for information interaction with the control terminal.
The ground remote-controlling robot according to claim 31, wherein the ground remote-controlling robot comprises at least one of the following: a drone, a car.