CN101369134A - Method and equipment for constructing all-directional mobile device movement model - Google Patents
Method and equipment for constructing all-directional mobile device movement model Download PDFInfo
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- CN101369134A CN101369134A CNA2008102002082A CN200810200208A CN101369134A CN 101369134 A CN101369134 A CN 101369134A CN A2008102002082 A CNA2008102002082 A CN A2008102002082A CN 200810200208 A CN200810200208 A CN 200810200208A CN 101369134 A CN101369134 A CN 101369134A
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Abstract
The invention provides a method and a device of a motion model for establishing an omnidirectional moving apparatus. The method of the motion model for establishing the omnidirectional moving apparatus comprises the following steps: the omnidirectional moving apparatus can be controlled to move in parallel according to the preset motion parameter, and the speed of each omnidirectional wheel of the omnidirectional moving apparatus can be recorded; the omnidirectional moving apparatus can be controlled to rotate according to the preset motion parameter, and the speed of each omnidirectional wheel of the omnidirectional moving apparatus can be recorded; according to motion message of the centroid in the process of the omnidirectional moving apparatus levelly moving and rotating and the recorded speeds of the omnidirectional wheel, the motorial transfer matrixes of the omnidirectional moving apparatus from the omnidirectional wheel to the centroid at the levelly moving and rotating direction are respectively established; the motorial transfer matrixes of the omnidirectional moving apparatus from the omnidirectional wheel to the centroid at the levelly moving and rotating direction can be fitted, so as to form the motion model of the omnidirectional moving apparatus. The device and method can establish the motion model of the random omnidirectional moving apparatus.
Description
Technical field
The present invention relates to modeling method and modeling equipment, particularly can means by experiment set up the method and apparatus that makes up all-directional mobile device movement model arbitrarily.
Background technology
Along with the progress of society, robot has progressed in the people's work life, and it can replace people to finish a series of work.And wheeled mobile robot is because it in the wide application prospect of every profession and trade, has become an important branch in robot research field.Early stage wheeled mobile robot is the wheeled robot of nonholonomic constraint mostly, though its adjustment through attitude in open work space can reach direction and locational moving arbitrarily, but it is, just no longer suitable in the work space of compactness like this because it does not have the ability of sideway movement.
The generation of wheeled all directionally movable robot makes the mobile robot keep the constant prerequisite lower edge any direction of body attitude to move.As shown in Figure 1, it is a kind of directional wheel synoptic diagram of existing wheeled mobile robot.This directional wheel comprises controlled tangential driving wheel 103 and uncontrollable radially engaged wheel 105, and this driving wheel 103 and the structure that engaged wheel 105 combines make problems such as the path planning, track following of wheeled mobile robot become relative simple.
And, generally needing to set up earlier mobile robot's motion model in order to control mobile robot's motion better, so-called motion model is exactly a series of formula of expression moveable robot movement state.As Patent Office's application number is piloting method and the device that 02150239.0 patent has proposed a kind of robot location and attitude, it is by installing measuring wheel additional in driven wheel side, and in each degree of freedom of each wheel of comprehensive wheeled robot odometer is installed.Combination by different odometer information then, obtain many group radiuss of turn and steering angle, obtain the radius of turn and the steering angle of movement locus again by information fusion technology, last position and direction in conjunction with mobile robot's circular motion and straight-line motion model acquisition mobile robot.
As long as the position and the attitude of the radius of turn that the piloting method of above-mentioned robot location and attitude and device obtain all directionally movable robot, steering angle, last sampling instant, just can utilize its motion model to extrapolate its current location and attitude, not only improved bearing accuracy, improved antijamming capability, and can be used for out-of-flatness ground, and be suitable for the online in real time location.
But present wheeled mobile robot all is to use the method for parsing to set up its motion model.Promptly suppose the various parameters of mobile robot's wheel structure, comprise the number of wheel, information such as installation site.Used the distance between wheel before and after the mobile robot as the motion model of being mentioned in the piloting method of above-mentioned robot location and attitude and the device.Yet generally speaking, true mobile robot's correlation parameter can not accurately be known, perhaps because problem such as machining accuracy and design parameter have certain deviation, at this moment, this motion model that obtains by the parsing of out of true parameter will deviation occur with the actual motion model, can reduce the controllability of device when serious.In addition, if all directionally movable robot does not provide design drawing, promptly the various parameters of all directionally movable robot are unknowable, and then existing modeling method can't obtain the motion model of this all directionally movable robot.
In sum, there is following defective in the modeling method of the motion model of existing all directionally movable robot:
1, the modeling method of the motion model of existing all directionally movable robot must if mobile robot's physical construction is unknowable, then can't obtain its motion model by existing modeling method based on mobile robot's physical construction.
When 2, setting up the motion model of all directionally movable robot,, reduce mobile robot's controllability if mobile robot's structural parameters out of true can cause the motion model and the actual motion model that obtain deviation to occur by existing modeling method.
Summary of the invention
The purpose of this invention is to provide a kind of method that makes up all-directional mobile device movement model,, during as if physical construction the unknown or out of true, then can't set up the problem of accurate movement model to solve in the prior art.
Another object of the present invention provides a kind of equipment that makes up all-directional mobile device movement model, to solve in the prior art, during as if physical construction the unknown or out of true, then can't set up the problem of accurate movement model.
The present invention proposes a kind of method that makes up all-directional mobile device movement model, and in order to demarcate the motion model of comprehensive mobile device, this comprehensive mobile device has at least three directional wheels.It may further comprise the steps: at first, control comprehensive mobile device and carry out translation according to predefined kinematic parameter, and note the speed of comprehensive each directional wheel of mobile device.Secondly, control comprehensive mobile device and rotate, and note the speed of comprehensive each directional wheel of mobile device according to predefined kinematic parameter.Then, according to the speed of the movable information of comprehensive mobile device barycenter in translation and rotation process and each directional wheel of being write down, set up the transfer matrix of the directional wheel of comprehensive mobile device on translation and rotation direction respectively to center of mass motion.At last, the directional wheel on comprehensive mobile device translation of match and the rotation direction forms the motion model of comprehensive mobile device to the transfer matrix of center of mass motion.
According to the method for the described structure all-directional mobile device movement model of preferred embodiment of the present invention, the translation parameter of setting comprises sets start angle, angle increase span, starting velocity, speed increase span and translation number of times.The rotational parameters of setting comprises the initial angle speed of setting, angular velocity increase span and number of revolutions.
According to the method for the described structure all-directional mobile device movement model of preferred embodiment of the present invention, comprehensive mobile device is autonomous action in translation and rotation process.
According to the method for the described structure all-directional mobile device movement model of preferred embodiment of the present invention, the translation of comprehensive mobile device and rotation are controlled by the PID control method.
The present invention proposes a kind of equipment that makes up all-directional mobile device movement model in addition, in order to demarcate the motion model of comprehensive mobile device, comprehensive mobile device comprises at least three directional wheels and in order to measure the measuring instrument of each directional wheel speed, comprises parallel moving mechanism, rotating mechanism and host computer.Parallel moving mechanism carries out translation in order to make comprehensive mobile device.Rotating mechanism is arranged to relative with parallel moving mechanism vertical, and it rotates in order to make comprehensive mobile device.Host computer its respectively with measuring instrument, parallel moving mechanism and rotating mechanism link to each other, action parameter when comprehensive mobile device translation being set and rotating, the speed data of each directional wheel when comprehensive mobile device translation that reception and preservation measuring instrument return and rotation, and according to the speed of center of mass motion information and directional wheel, set up the transfer matrix of the directional wheel of comprehensive mobile device on translation and rotation direction respectively to center of mass motion, and the directional wheel on comprehensive mobile device translation of match and the rotation direction forms the motion model of comprehensive mobile device to the transfer matrix of center of mass motion.
Equipment according to the described structure all-directional mobile device movement model of preferred embodiment of the present invention, its parallel moving mechanism also comprises belt, a plurality of power wheel and the translation control motor that rotates in order to the control power wheel, belt is placed on the power wheel, and translation control motor connects power wheel and host computer respectively.
Equipment according to the described structure all-directional mobile device movement model of preferred embodiment of the present invention, its rotating mechanism also comprises in order to the stationary installation of fixing comprehensive mobile device, has the whirligig of scale and rotate the control motor, and whirligig links to each other with stationary installation and rotation control motor respectively.
According to the equipment of the described structure all-directional mobile device movement model of preferred embodiment of the present invention, it also comprises the positive dirction concentrator marker, and it links to each other with rotating mechanism, in order to indicate comprehensive mobile device translation and positive dirction when rotating.
According to the equipment of the described structure all-directional mobile device movement model of preferred embodiment of the present invention, its host computer comprises the PID control device, and it is in order to send pwm control signal to parallel moving mechanism and rotating mechanism, with the action of control parallel moving mechanism and rotating mechanism.
According to the equipment of the described structure all-directional mobile device movement model of preferred embodiment of the present invention, host computer also comprises wireless communication module, in order to receive the speed of each directional wheel that measuring instrument measures.
Compared with prior art, the present invention has following advantage:
1, the equipment of structure all-directional mobile device movement model of the present invention can be realized stable translation and the uniform rotation of angular velocity arbitrarily under the arbitrarily angled arbitrary speed of comprehensive mobile device, and, just can set up its motion model in conjunction with the wheel speed information of comprehensive mobile device.Therefore the present invention need not know that the structural parameters of comprehensive mobile device just can set up its motion model, broken through the limitation of existing motion model method for building up, can set up motion model more easily and come comprehensive mobile device is controlled, have very high practical value.
2, known for physical construction, the comprehensive mobile device that the theory movement model can be set up, can utilize modeling equipment of the present invention and modeling method to detect uncertain factor in the structural parameters of comprehensive mobile device and the difference between definite theory movement model and the actual act.
Description of drawings
Fig. 1 is a kind of directional wheel synoptic diagram of existing wheeled mobile robot;
Fig. 2 is a kind of equipment structure chart that makes up all-directional mobile device movement model of the embodiment of the invention;
Fig. 3 is a kind of omnibearing translational velocity synoptic diagram of directional wheel;
Fig. 4 is a kind of synoptic diagram of arranging of four-wheel directional wheel;
Fig. 5 is a kind of method flow diagram that makes up all-directional mobile device movement model of the embodiment of the invention.
Embodiment
Principle of the present invention is: make comprehensive mobile device carry out translation and rotation respectively, and according to the velocity information of its center of mass motion information and wheel in translation and rotation process, set up wheel speed on translation and the rotation direction respectively to the equation of transfer of center of mass motion, merge the equation of transfer on translation and the rotation direction at last, obtain the transfer matrix of comprehensive mobile device from the center of mass motion to the wheel speed.Wherein, barycenter is the mass centre of a system of particles, the center of its expression object quality.Comprehensive mobile device of the present invention both can be an all directionally movable robot, also can be any movably mechanical body.
Below in conjunction with accompanying drawing, specify the present invention.
At first introduce a kind of equipment that makes up all-directional mobile device movement model that to realize modeling method of the present invention, as shown in Figure 2, it is in order to demarcate the motion model of any comprehensive mobile device 214, wherein comprehensive mobile device 214 comprises at least three directional wheels 216 and the measuring instrument (measuring instrument is arranged at comprehensive mobile device 214 inside, and Gu Tuzhong does not indicate) in order to measure each directional wheel 216 speed.This equipment that makes up all-directional mobile device movement model comprises parallel moving mechanism, rotating mechanism and host computer 201.Parallel moving mechanism comprises the translation control motor 207 that belt 203, a plurality of power wheel 205 and control power wheel rotate again.This parallel moving mechanism is used to make comprehensive mobile device to carry out translation, and its belt 203 is placed on the power wheel 205, and translation control motor 207 is connected respectively to power wheel 205 and host computer 201.Rotating mechanism comprises stationary installation 209 again, has the whirligig 211 of scale and rotates control motor 213.This rotating mechanism is used to make comprehensive mobile device 214 to rotate, and its whirligig links to each other with stationary installation 209 and rotation control motor 213 respectively.Host computer 201 is the computing machines with data processing function, and it links to each other with translation control motor 207 and rotation control motor 213 respectively.
Before this modeling equipment work,, need carry out the initial setting of equipment in order to obtain good test data.At first comprehensive mobile device 214 is fixed between belt 203 and the whirligig 211 by stationary installation 209.To indicate the positive dirction of a motion then for comprehensive mobile device 214, as shown in Figure 2, be provided with a positive dirction pointer 218 on whirligig 211 next doors, the positive dirction of comprehensive mobile device 214 is aimed at positive dirction pointer 218, and as the positive dirction of initial motion.
After the initial position of comprehensive mobile device 214 is adjusted, comprise the parameter of translation and the parameter of rotation by the kinematic parameter of comprehensive mobile device 214 tests of host computer 201 inputs.The parameter of translation can be that start angle, angle increase span, starting velocity, speed increase span and translation number of times etc.The parameter of rotating can be that initial angle speed, angular velocity increase span and number of revolutions etc.Wherein, the testing time of translation and rotation is greater than certain numerical value, and could guarantee follow-uply has abundant data that matrix parameter is carried out match.
Parameter just can be tested after setting completed, and the equipment that makes up all-directional mobile device movement model can fully independently carry out translation and rotate test by the control of host computer 201.Wherein, the translation test is two with the rotation test and separates the action of carrying out, and that is to say when carrying out the translation test, rotates control motor 213 and is in locked state, and when rotating test, translation is controlled motor 207 and is in locked state.Such as will be with 30 ° of angles, when speed 1.5m/s carries out translation when comprehensive mobile device 214, at first forward on the position with 30 ° of positive dirction angles by whirligig 211, translation control motor 207 control power wheels 205 rotate with the speed of 1.5m/s then, and this moment, whirligig 211 can keep locking state.So it is zero translational motion that comprehensive mobile device 214 has carried out velocity of rotation.After translation this time finished, equipment entered next test action from the comprehensive mobile device 214 of the command of execution.In addition, 201 pairs of parallel moving mechanisms of host computer and rotating mechanism can adopt traditional PID control method, and control signal is the PWM ripple.
When equipment operation, the action parameter of setting can be recorded in the host computer 201.And when the action of comprehensive mobile device 214 reached the parameter value of setting, measuring instrument just began to obtain the velocity information of each directional wheel 216 in a period of time, and the velocity information of directional wheel 216 is transferred in the host computer 201 preserved.Measuring instrument and host computer 201 can adopt the mode of wireless telecommunications, in host computer 201, be provided with field programmable gate array (FPGA, Field Programmable Gate Array) and field programmable gate array has wireless communication module, host computer 201 is gathered the velocity information that measuring instrument obtains by wireless communication module.
Such as when setting action parameter, the translation parameter is 0 ° of a start angle, and angle increases 30 ° of spans, and it is 5 times that angle increases number of times, starting velocity 0.5m/s, and speed increases span 0.5m/s, and speed increases number of times 4 times.Rotational parameters is initial angle speed 0.5rad/s, and angular velocity increases span 0.4rad/s, and number of revolutions is 8 times.According to such setting, host computer 201 can receive translation from measuring instrument and test 20 groups of data, rotates 8 groups of data of test.
When comprehensive mobile device 214 translations and rotate after test finishes, host computer 201 can be browsed and handle data, whenever read in a test file, such as 30 ° of set angles, the data of speed 1.5m/s will demonstrate the measured velocity value of corresponding directional wheel on the screen of host computer 201.The speed of directional wheel demonstrates the sequence characteristic of white noise, as shown in Figure 3, it is a kind of omnibearing translational velocity synoptic diagram of directional wheel, the comprehensive mobile device of being tested 214 among the figure has four directional wheels, in order to improve computational accuracy, can remove the speed spike that produces because of the motor adjustment by the pulling timeline.
The process that comprehensive mobile device 214 is set up motion model that is to say the process of host computer 201 deal with data.The foundation of motion model is divided into two kinds of situations: a kind of is the motion model to comprehensive mobile device 214 of setting up arbitrary structures, promptly sets up its motion model under the unclear situation of the structure of comprehensive mobile device 214; Another kind is to know given its accurate movement model under comprehensive mobile device 214 structure situation.
Under the situation of not knowing comprehensive mobile device 214 structures, the speed of each directional wheel 216 that collects according to host computer 201 at first can be in the hope of the speed average of directional wheel 216.As with
Represent n speed that wheel returns in the k time test, obtain the speed average v=(v of the k time n wheel according to this speed
1, v
2..., v
k)
T
According to the translation and the rotational parameters that are stored in the host computer 201, calculate the center of mass motion data of comprehensive mobile device 214 again.If with V
k=(x
k, y
k, θ
k)
TThe setting value of representing the k time test, the center of mass motion information of comprehensive mobile device can be from V when also promptly testing for the k time
k=(x
k, y
k, θ
k)
TIn draw.If the k time test be for rotation, then for center of mass motion information, V
kIn preceding two x
kWith y
kBe zero; If the k time test is translation, for center of mass motion information, V
kIn the 3rd θ
kBe zero.
And then the speed of directional wheel 216 and the center of mass motion data of comprehensive mobile device 214 carried out linear regression processing according to model (1), just can obtain on translation and the rotation direction directional wheel to the transfer matrix of center of mass motion.Transfer matrix on two components of last comprehensive translation and rotation just can obtain the motion model of comprehensive mobile device 214:
v＝A·V，...............(1)
Wherein A is n * 3 matrixes, is the transfer matrix from center of mass motion to directional wheel speed.The present invention finally will determine A by the means of test exactly.
In application process, can obtain control command by path planning and motion control to comprehensive mobile device 214, command forms for provide center of mass motion V=(x, y, θ)
TSo, by motion model v=AV, computing the motor that this control command sends to the directional wheel of comprehensive mobile device 214 is controlled, can realize control to comprehensive mobile device 214.
When setting up motion model, the present invention also has another kind of situation, and can given its accurate movement model under comprehensive mobile device 214 structure situation when having known.Top method is applicable under the unknown prerequisite of comprehensive mobile device 214 structures, or the very difficult occasion that accurately obtains comprehensive mobile device 214 structures, but because the mode of linear fit is used in the calculating of transfer matrix, so the error mean allocation is on each matrix parameter, that is to say the restriction relation of not considering between the parameter, certain deviation certainly will be occurred like this, control accuracy can't be guaranteed.Some the time, we can calculate the theoretical model of comprehensive mobile device 214 motion models by the Machine Design drawing, but because mismachining tolerance or other reasons, there are certain deviation in actual motion model and theoretical model, this moment, the utility theory model can't give comprehensive mobile device 214 good control performance, can revise by modeling equipment of the present invention this moment equally, because project organization is known, so we can set up restriction relation between the transfer matrix parameter by theoretical model, so can provide the accurate movement model by the nonlinear optimization under the restriction relation.
Below illustrate with concrete example.
See also Fig. 4, it is a kind of synoptic diagram of arranging of four-wheel directional wheel, and 4 wheel notes are made W
1, W
2, W
3, W
4, 1,4 preceding, 2,3 after.The barycenter of getting dolly is that initial point is set up the coordinate system ∑
R, the axis of symmetry of dolly is the x axle.The axle center of each wheel is at ∑
RUnder position vector be P
1, P
2, P
3, P
4Note P
iLength be L
i, the direction of motion of each wheel (all getting counterclockwise) is at ∑
RUnder vector be D
iEach wheel and P
iThe vector of vertical direction is T
iIf D
iWith the angle of x axle be
T
iWith the angle of x axle be γ
iConsider to allow T here from complicated model more
i, D
iBecome different angles.So can obtain aforesaid v=AV, form as follows:
As seen exist restriction relation between a plurality of parameters in the rotation matrix, be subjected to simultaneously such as first row and secondary series
With the constraint of θ, and first row and the 3rd row exist
Constraint, so only can't embody such restriction relation by linear fit, so need the parameter that following formula is total to be found the solution, just can obtain the accurate movement equation by the nonlinear optimization means.Therefore, can utilize modeling equipment of the present invention and modeling method to detect uncertain factor in the structural parameters of comprehensive mobile device and the difference between definite theory movement model and the actual act.
Especially; the equipment of the described structure all-directional mobile device movement model of Fig. 2 does not limit the present invention; as long as possessed the modeling equipment of parallel moving mechanism, rotating mechanism and host computer, and any apparatus that can realize function of the present invention is all in protection scope of the present invention.
The present invention also proposes a kind of method that makes up all-directional mobile device movement model, and in order to demarcate the motion model of comprehensive mobile device, comprehensive mobile device has at least one directional wheel.See also Fig. 5, it is a kind of method flow diagram that makes up all-directional mobile device movement model of the embodiment of the invention, and this method that makes up all-directional mobile device movement model may further comprise the steps:
S501 controls comprehensive mobile device and carries out translation according to default kinematic parameter, and notes the speed of comprehensive each directional wheel of mobile device.
Before carrying out translation, demarcate earlier an initial positive dirction, and be 0 ° of start angle with this positive dirction.Set the translation parameter then, the translation parameter can be that start angle, angle increase span, starting velocity, speed increase span and translation number of times etc.
And the speed of each directional wheel of record in the translation process, the record of speed can self be finished by comprehensive mobile device, and portion is provided with the fast device of note within it, the speed of record wheel when it carries out translation.
Such as 0 ° of start angle is set, angle increases 30 ° of spans, and it is 5 times that angle increases number of times, starting velocity 0.5m/s, and speed increases span 0.5m/s, and speed increases number of times 4 times.According to this setting, comprehensive mobile device need carry out 20 translations, and 20 groups of speed datas are also promptly arranged.
S503 controls comprehensive mobile device and rotates, and notes the speed of comprehensive each directional wheel of mobile device.
Before rotating, set rotational parameters earlier, rotational parameters can be that initial angle speed, angular velocity increase span and number of revolutions etc.And under the speed record with directional wheel in rotating process, the speed of directional wheel equally also can itself be come record by comprehensive mobile device.
Such as initial angle speed 0.5rad/s is set, angular velocity increases span 0.4rad/s, and number of revolutions is 8 times, and 8 groups of speed datas are so promptly arranged.
S505 according to the speed of the movable information of comprehensive mobile device barycenter in translation and rotation process and each directional wheel of being write down, sets up the transfer matrix of the directional wheel of comprehensive mobile device on translation and rotation direction to center of mass motion respectively.
The process of setting up equation of transfer is the process that data are handled, after comprehensive mobile device translation and rotation finish, respectively the information of center of mass motion under translation and the rotation situation and the speed of directional wheel are handled, and obtained preceding two row and back one column data of transfer matrix by linear regression.
Wherein, the information of the center of mass motion of comprehensive mobile device is to draw with rotating in the default parameter value by translation, and the speed of directional wheel measures in translation and rotating process.
With V
k=(x
k, y
k, θ
k)
TThe setting value of representing the k time test is an example, and the center of mass motion information of comprehensive mobile device can be from V when also promptly testing for the k time
k=(x
k, y
k, θ
k)
TIn draw, if the k time test be for rotation, then for center of mass motion information, V
kIn preceding two x
kWith y
kBe zero; If the k time test is translation, for center of mass motion information, V
kIn the 3rd θ
kBe zero.
With
Represent n speed that wheel returns in the k time test, obtain the speed average v=(v of n wheel according to this speed
1, v
2..., v
k)
T
And, just can use data v=(v according to model (1)
1, v
2..., v
k)
TAnd V
k=(x
k, y
k, θ
k)
TCarry out linear regression, thereby obtain directional wheel on translation and the rotation direction respectively to the transfer matrix of center of mass motion.
S507, the directional wheel on comprehensive mobile device translation of match and the rotation direction form the motion model of comprehensive mobile device to the transfer matrix of center of mass motion.
Here be that the above-mentioned translation that obtains and the directional wheel on the rotation direction are carried out match to the equation of transfer of center of mass motion, draw the motion model of comprehensive mobile device:
v＝A·V，
Wherein A is n * 3 matrixes, is the transfer matrix from center of mass motion to directional wheel speed.Of the present inventionly final to determine A by the means of test exactly.
In addition, when comprehensive mobile device carries out translation and rotates, need to gather data, could guarantee that abundant data carry out match to matrix parameter greater than certain number of times.
In actual applications, can obtain control command to comprehensive mobile device by path planning and motion control, command forms for provide center of mass motion V=(x, y, θ)
TSo, by motion model v=AV, computing the motor that this control command sends to the directional wheel of robot is controlled, can realize control to all directionally movable robot.
If the structure of comprehensive mobile device is known, also can set up the accurate movement model by modeling method of the present invention, be example with the synoptic diagram of arranging of the four-wheel directional wheel of Fig. 4,4 wheels notes are made W
1, W
2, W
3, W
4, 1,4 preceding, 2,3 after.The barycenter of getting dolly is that initial point is set up the coordinate system ∑
R, the axis of symmetry of dolly is the x axle.The axle center of each wheel is at ∑
RUnder position vector be P
1, P
2, P
3, P
4Note P
iLength be L
i, the direction of motion of each wheel (all getting counterclockwise) is at ∑
RUnder vector be D
iEach wheel and P
iThe vector of vertical direction is T
iIf D
iWith the angle of x axle be
T
iWith the angle of x axle be γ
iConsider to allow T here from complicated model more
i, D
iBecome different angles.So can obtain aforesaid v=AV, form as follows:
As seen exist restriction relation between a plurality of parameters in the rotation matrix, be subjected to simultaneously such as first row and secondary series
With the constraint of θ, and first row and the 3rd row exist
Constraint, so only can't embody such restriction relation by linear fit, so need the parameter that following formula is total to be found the solution, just can obtain the accurate movement equation by the nonlinear optimization means.Therefore, can utilize modeling equipment of the present invention and modeling method to detect uncertain factor in the structural parameters of comprehensive mobile device and the difference between definite theory movement model and the actual act.
Compared with prior art, the present invention has following advantage:
1, the equipment of structure all-directional mobile device movement model of the present invention can be realized stable translation and the uniform rotation of angular velocity arbitrarily under the arbitrarily angled arbitrary speed of comprehensive mobile device, and, just can set up its motion model in conjunction with the wheel speed information of comprehensive mobile device.Therefore the present invention need not know that the structural parameters of comprehensive mobile device just can set up its motion model, broken through the limitation of existing motion model method for building up, can set up motion model more easily and come comprehensive mobile device is controlled, have very high practical value.
2, known for physical construction, the comprehensive mobile device that the theory movement model can be set up, can utilize modeling equipment of the present invention and modeling method to detect uncertain factor in the structural parameters of comprehensive mobile device and the difference between definite theory movement model and the actual act.
More than disclosed only be several specific embodiment of the present invention, but the present invention is not limited thereto, any those skilled in the art can think variation, all should drop in protection scope of the present invention.
Claims (10)
1. method that makes up all-directional mobile device movement model, in order to demarcate the motion model of a comprehensive mobile device, this comprehensive mobile device has at least three directional wheels, it is characterized in that, may further comprise the steps:
Control this comprehensive mobile device and carry out translation, and note the speed of this comprehensive each directional wheel of mobile device according to predefined kinematic parameter;
Control this comprehensive mobile device and rotate, and note the speed of this comprehensive each directional wheel of mobile device according to predefined kinematic parameter;
According to the speed of the movable information of this comprehensive mobile device barycenter in translation and rotation process and each directional wheel of being write down, set up the transfer matrix of the directional wheel of this comprehensive mobile device on translation and rotation direction respectively to center of mass motion;
Directional wheel on this comprehensive mobile device translation of match and the rotation direction forms the motion model of this comprehensive mobile device to the transfer matrix of center of mass motion.
2. the method for structure all-directional mobile device movement model as claimed in claim 1 is characterized in that, sets the translation parameter and comprises that setting start angle, angle increase span, starting velocity, speed increase span and translation number of times; Set rotational parameters and comprise the initial angle speed of setting, angular velocity increase span and number of revolutions.
3. the method for structure all-directional mobile device movement model as claimed in claim 1 is characterized in that, this comprehensive mobile device is autonomous action in translation and rotation process.
4. the method for structure all-directional mobile device movement model as claimed in claim 1 is characterized in that, the translation of this comprehensive mobile device and rotation are controlled by the PID control method.
5. equipment that makes up all-directional mobile device movement model, in order to demarcate the motion model of a comprehensive mobile device, this comprehensive mobile device comprises at least three directional wheels and in order to measure a measuring instrument of each directional wheel speed, it is characterized in that, comprising:
One parallel moving mechanism carries out translation in order to this comprehensive mobile device of order;
One rotating mechanism, it is arranged to relative with this parallel moving mechanism vertical, rotates in order to this comprehensive mobile device of order;
One host computer, its respectively with this measuring instrument, this parallel moving mechanism and this rotating mechanism link to each other, action parameter when this comprehensive mobile device translation being set and rotating, the speed data of each directional wheel when receiving and preserving this comprehensive mobile device translation that this measuring instrument returns with rotation, and according to the speed of center of mass motion information and directional wheel, set up the transfer matrix of the directional wheel of this comprehensive mobile device on translation and rotation direction respectively to center of mass motion, and the directional wheel on this comprehensive mobile device translation of match and the rotation direction forms the motion model of this comprehensive mobile device to the transfer matrix of center of mass motion.
6. the equipment of structure all-directional mobile device movement model as claimed in claim 5, it is characterized in that, this parallel moving mechanism comprises a belt, a plurality of power wheel and in order to control the translation control motor that those power wheels rotate, this belt is placed on those power wheels, and this translation control motor connects this host computer and those power wheels respectively.
7. the equipment of structure all-directional mobile device movement model as claimed in claim 5, it is characterized in that, this rotating mechanism comprises that this whirligig links to each other with this stationary installation and this rotation control motor respectively in order to a stationary installation of fixing this comprehensive mobile device, the whirligig with scale and a rotation control motor.
8. the equipment of structure all-directional mobile device movement model as claimed in claim 5 is characterized in that, it also comprises a positive dirction concentrator marker, and it links to each other with this rotating mechanism, in order to indicate this comprehensive mobile device translation and positive dirction when rotating.
9. the equipment of structure all-directional mobile device movement model as claimed in claim 5, it is characterized in that, this host computer comprises a PID control device, and it is in order to send pwm control signal to this parallel moving mechanism and this rotating mechanism, to control the action of this parallel moving mechanism and this rotating mechanism.
10. the equipment of structure all-directional mobile device movement model as claimed in claim 5 is characterized in that, this host computer also comprises a wireless communication module, in order to receive the speed of each directional wheel that this measuring instrument measures.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102331720A (en) * | 2011-09-20 | 2012-01-25 | 上海交通大学 | Modelica language based design method of system for stimulating cantilever crane of concrete pump truck |
| CN103914067A (en) * | 2013-01-05 | 2014-07-09 | 联想(北京)有限公司 | Control method and electronic equipment |
| CN106843228A (en) * | 2017-03-23 | 2017-06-13 | 汕头大学 | Method and system based on mobile terminal line setting intelligent carriage walking path |
| CN108844553A (en) * | 2018-06-27 | 2018-11-20 | 广州视源电子科技股份有限公司 | Correct the method, apparatus and robot of the mileage in robot moving process |
| CN112034735A (en) * | 2020-08-31 | 2020-12-04 | 浙江大学 | Simulation experiment platform for multi-AUV underwater cooperative operation |
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2008
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102331720A (en) * | 2011-09-20 | 2012-01-25 | 上海交通大学 | Modelica language based design method of system for stimulating cantilever crane of concrete pump truck |
| CN102331720B (en) * | 2011-09-20 | 2014-08-27 | 上海交通大学 | Modelica language based design method of system for stimulating cantilever crane of concrete pump truck |
| CN103914067A (en) * | 2013-01-05 | 2014-07-09 | 联想(北京)有限公司 | Control method and electronic equipment |
| CN106843228A (en) * | 2017-03-23 | 2017-06-13 | 汕头大学 | Method and system based on mobile terminal line setting intelligent carriage walking path |
| CN108844553A (en) * | 2018-06-27 | 2018-11-20 | 广州视源电子科技股份有限公司 | Correct the method, apparatus and robot of the mileage in robot moving process |
| CN108844553B (en) * | 2018-06-27 | 2021-06-15 | 广州视源电子科技股份有限公司 | Method and device for correcting mileage in robot moving process and robot |
| CN112034735A (en) * | 2020-08-31 | 2020-12-04 | 浙江大学 | Simulation experiment platform for multi-AUV underwater cooperative operation |
| CN112034735B (en) * | 2020-08-31 | 2021-10-19 | 浙江大学 | Simulation experiment platform for multi-AUV underwater cooperative operation |
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| CN100573372C (en) | 2009-12-23 |
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