CN103914067A - Control method and electronic equipment - Google Patents
Control method and electronic equipment Download PDFInfo
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- CN103914067A CN103914067A CN201310002133.8A CN201310002133A CN103914067A CN 103914067 A CN103914067 A CN 103914067A CN 201310002133 A CN201310002133 A CN 201310002133A CN 103914067 A CN103914067 A CN 103914067A
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Abstract
The invention discloses a control method and electronic equipment. The electronic equipment comprises a mobile device and a sensor used for obtaining movement parameters of the mobile device when the mobile device moves. The control method includes the steps that when the mobile device moves in a first direction on the basis of a preset direction, the first movement parameter of the mobile device is obtained through the sensor; on the basis of the first movement parameter, whether the first direction and the preset direction meet a preset condition or not is judged; if the first direction and the preset direction meet the preset condition, a control instruction is generated; the control instruction is executed so as to control the moving direction of the mobile device to be adjusted to a second direction from the first direction, and therefore the electronic equipment is made to move in the second direction, wherein the second direction and the preset direction meet the preset condition.
Description
Technical field
The application relates to electronic technology field, particularly a kind of control method and electronic equipment.
Background technology
Along with the fast development of electronic technology, existing mobile robot extensively adopts omni-directional wheel to drive design, adopt omni-directional wheel to drive the mobile robot of design to there is good maneuverability, can realize flexibly Omni-mobile and rotation, but due to the feature of omni-directional wheel driving self, mobile robot walks out after a segment distance, omni-directional wheel owing to skidding, the reason such as rotating speed deviation, robot direct of travel can depart from expection greatly, and this deviation can be accumulated and be exerted an influence, especially the aftereffect that direct of travel deviation produces, causing moving direction to depart from sharply increases.
Current robot control system can be realized advancing to each orientation for robot self orientation (robot body coordinate system), but present inventor realizing in the process of invention technical scheme in the embodiment of the present application, finds that above-mentioned technology at least exists following technical matters:
Because existing robot control system is all only realized and being advanced for the orientation of robot self, in the time there is mistake in the walking orientation of robot in working space, robot control system is not also known, so cause if realize robot according to the orientation walking of expection, must adopt other modes to carry out the technical matters in the orientation of real-time monitored robot in working space coordinate system, for example, adopt the Soccer robot of omni-directional wheel structure also will rely on the camera of top, place to observe and could advance according to correct method.
Summary of the invention
The embodiment of the present application is by providing a kind of control method and electronic equipment, if realize robot according to the orientation walking of expection, must adopt other modes to carry out the technical matters in the orientation of real-time monitored robot in working space coordinate system in order to solve in prior art.
On the one hand, the embodiment of the present application provides a kind of control method, is applied to an electronic equipment, and described electronic equipment includes a mobile device, and be connected with described mobile device for obtaining the sensor of the moving parameter of described mobile device when mobile, described method comprises:
In the time that described electronic equipment moves by described mobile device in a first direction based on a preset direction, obtain the first moving parameter of described mobile device by described sensor;
Based on described the first moving parameter, judge between described first direction and described preset direction whether meet one pre-conditioned;
Between described first direction and described preset direction, meet one pre-conditionedly, generate a steering order;
Carry out described steering order, control the moving direction of described mobile device and adjust to second direction from described first direction, and then described electronic equipment is moved up in described second party, wherein, between described second direction and described preset direction, meet described pre-conditioned.
Optionally, described in the time that described electronic equipment moves by described mobile device in a first direction based on a preset direction, obtain the first moving parameter of described mobile device by described sensor, specifically comprise:
In the time that described electronic equipment moves by described mobile device in a first direction based on a preset direction, obtain the rotational speed of described mobile device by described sensor;
Based on the rotational speed of described mobile device, obtain the anglec of rotation of described mobile device with respect to described preset direction.
Optionally, the described rotational speed based on described mobile device, obtains the anglec of rotation of described mobile device with respect to described preset direction, is specially:
Based on the first preset rules, obtain the anglec of rotation of described mobile device with respect to described preset direction by rotational speed and the rotational time of described mobile device.
Optionally, described the first preset rules is specially
wherein, k is time index, θ (k Δ t) represent described mobile device (k Δ t) moment with respect to the anglec of rotation of described preset direction,
represent the rotational speed that described mobile device arrives in [(k-1) Δ t] moment actual measurement, Δ t represents the sampling time interval at described mobile device in rotary moving just.
Optionally, described based on described the first moving parameter, judge between described first direction and described preset direction whether to meet one pre-conditionedly, be specially:
Judge whether described mobile device is 0 with respect to the anglec of rotation θ of described preset direction;
In the time that described anglec of rotation θ is not 0, determine that the angle between described first direction and described preset direction meets described pre-conditioned.
Optionally, described mobile device has N movable pulley, describedly between described first direction and described preset direction, meets one pre-conditionedly, generates a steering order, specifically comprises:
In the time that described mobile device is not 0 with respect to the anglec of rotation θ of described preset direction, based on the second preset rules, obtain speed and the direction of each movable pulley in a described N movable pulley;
Based on speed and the direction of each movable pulley in a described N movable pulley, generate one for controlling described N the speed of each movable pulley of movable pulley and the steering order of direction.
Optionally, work as N=3, in the time that described mobile device has 3 movable pulleys,
Described the second preset rules is specially
Wherein, described ω
1, ω
2, ω
3represent respectively speed and the direction of each movable pulley in described 3 movable pulleys; v
x, v
ybe specially described preset direction x axle in space coordinates, the speed component in 2 directions of y axle,
for the rotational component around z axle; [A] is specially the inverse kinematics transformation matrix relevant to described anglec of rotation θ, and described [A] determined by described anglec of rotation θ.
On the other hand, the embodiment of the present application also provides a kind of electronic equipment, and described electronic equipment comprises a mobile device, and described electronic equipment also comprises:
Sensor, is connected with described mobile device, in the time that described electronic equipment moves by described mobile device in a first direction based on a preset direction, obtains the first moving parameter of described mobile device;
Judging unit, for based on described the first moving parameter, judge between described first direction and described preset direction, whether meet one pre-conditioned;
Generation unit, pre-conditioned for meet one between described first direction and described preset direction, generate a steering order;
Control module, be used for carrying out described steering order, control the moving direction of described mobile device and adjust to second direction from described first direction, and then described electronic equipment is moved up in described second party, wherein, between described second direction and described preset direction, meet described pre-conditioned.
Optionally, described sensor specifically comprises:
First obtains unit, in the time that described electronic equipment moves by described mobile device in a first direction based on a preset direction, obtains the rotational speed of described mobile device;
Second obtains unit, for the rotational speed based on described mobile device, obtains the anglec of rotation of described mobile device with respect to described preset direction.
Optionally, described second obtain unit specifically for:
Based on the first preset rules, obtain the anglec of rotation of described mobile device with respect to described preset direction by rotational speed and the rotational time of described mobile device.
Optionally, described the first preset rules is specially
wherein, k is time index, θ (k Δ t) represent described mobile device (k Δ t) moment with respect to the anglec of rotation of described preset direction,
represent the rotational speed that described mobile device arrives in [(k-1) Δ t] moment actual measurement, Δ t represents the sampling time interval at described mobile device in rotary moving just.
Optionally, described judging unit specifically comprises:
Judgment sub-unit, for judging whether described mobile device is 0 with respect to the anglec of rotation θ of described preset direction;
Determining unit, in the time that described anglec of rotation θ is not 0, determines that the angle between described first direction and described preset direction meets described pre-conditioned.
Optionally, described mobile device has N movable pulley, and described generation unit specifically comprises:
Obtain subelement, in the time that described mobile device is not 0 with respect to the anglec of rotation θ of described preset direction, based on the second preset rules, obtain speed and the direction of each movable pulley in a described N movable pulley;
Generate subelement, for speed and direction based on described N each movable pulley of movable pulley, generate one for controlling described N the speed of each movable pulley of movable pulley and the steering order of direction.
Optionally, work as N=3, in the time that described mobile device has 3 movable pulleys,
Described the second preset rules is specially
Wherein, described ω
1, ω
2, ω
3represent respectively speed and the direction of each movable pulley in described 3 movable pulleys; v
x, v
ybe specially described preset direction x axle in space coordinates, the speed component in 2 directions of y axle,
for the rotational component around z axle; [A] is specially the inverse kinematics transformation matrix relevant to described anglec of rotation θ, and described [A] determined by described anglec of rotation θ.
The one or more technical schemes that provide in the embodiment of the present application, at least have following technique effect or advantage:
Due in the embodiment of the present application, adopt the moving parameter of the acquisition mobile device real-time by sensor, whether the direct of travel that judges mobile device based on moving parameter is preset direction, just generate the technological means of the direct of travel of steering order adjustment mobile device if not preset direction, solve in prior art if realize robot according to the orientation walking of expection, must adopt other modes to carry out the technical matters in the orientation of real-time monitored robot in working space coordinate system, realize and do not needed to adopt other modes come the orientation of real-time monitored robot in working space coordinate system and realize the technique effect of correctly advancing.
Brief description of the drawings
The method flow diagram of a kind of control method that Fig. 1 provides for the embodiment of the present application;
The method flow diagram of the step S2 that Fig. 2 provides for the embodiment of the present application;
The schematic diagram of the robot body coordinate system of setting up on robot body that Fig. 3 provides for the embodiment of the present application;
After the robot body that Fig. 4 provides for the embodiment of the present application is advanced and departed from space coordinates, produce the schematic diagram after anglec of rotation θ with preset direction;
The structural drawing of a kind of electronic equipment that Fig. 5 provides for the embodiment of the present application;
Fig. 6 is the schematic flow sheet of each step corresponding to the control method that the embodiment of the present application provides.
Embodiment
The embodiment of the present application is by providing a kind of control method and electronic equipment, solve in prior art if realize robot according to the orientation walking of expection, must adopt other modes to carry out the technical matters in the orientation of real-time monitored robot in working space coordinate system.
Technical scheme in the embodiment of the present application is for addressing the above problem, and general thought is as follows:
A kind of control method is provided, is applied to an electronic equipment, described electronic equipment includes a mobile device, and be connected with described mobile device for obtaining the sensor of the moving parameter of described mobile device when mobile, described method comprises:
In the time that described electronic equipment moves by described mobile device in a first direction based on a preset direction, obtain the first moving parameter of described mobile device by described sensor;
Based on described the first moving parameter, judge between described first direction and described preset direction whether meet one pre-conditioned;
Between described first direction and described preset direction, meet one pre-conditionedly, generate a steering order;
Carry out described steering order, control the moving direction of described mobile device and adjust to second direction from described first direction, and then described electronic equipment is moved up in described second party, wherein, between described second direction and described preset direction, meet described pre-conditioned.
Visible, the embodiment of the present application is owing to adopting the moving parameter of the acquisition mobile device real-time by sensor, whether the direct of travel that judges mobile device based on moving parameter is preset direction, just generate the technological means of the direct of travel of steering order adjustment mobile device if not preset direction, solve in prior art if realize robot according to the orientation walking of expection, must adopt other modes to carry out the technical matters in the orientation of real-time monitored robot in working space coordinate system, realize and do not needed to adopt other modes come the orientation of real-time monitored robot in working space coordinate system and realize the technique effect of correctly advancing.
In order better to understand technique scheme, below in conjunction with Figure of description and concrete embodiment, technique scheme is described in detail, be to be understood that the specific features in the embodiment of the present application and embodiment is the detailed explanation to present techniques scheme, instead of restriction to present techniques scheme, in the situation that not conflicting, the technical characterictic in the embodiment of the present application and embodiment can combine mutually.
The control method providing in the embodiment of the present application is mainly used in having in the electronic equipment of mobile device, in addition, electronic equipment also comprises a sensor, by sensor can electron gain equipment by the moving parameter in mobile device moving process, such as, in the embodiment of the present application, illustrate with the artificial example of machine that adopts omni-directional wheel driving design, robot moves in environment by the omni-directional wheel that is arranged on bottom, also have in addition a gyroscope to be connected with robot body, in the process moving in robot, gyroscope can detect and acquire the advancing towards parameter of robot body reality.The control method that adopts the embodiment of the present application to provide, only need in control system, preset the direction that an expectation robot advances, when the actual direction of travel of robot owing to skidding, the reason such as rotating speed deviation occurs when wrong, control system will be in real time transformed to the direct of travel of expectation by the actual direction of travel of robot (the relative environment of robot self advance towards), then control moves.
As shown in Figure 1, the control method that the embodiment of the present application provides, specifically comprises step:
S1: in the time that described electronic equipment moves by described mobile device in a first direction based on a preset direction, obtain the first moving parameter of described mobile device by described sensor;
In specific implementation process, preset direction in this step refers to the direction of expecting that omni-directional wheel robot advances, the actual direction of travel of omni-directional wheel robot is made as to first direction, due to the feature of omni-directional wheel self, realize that to advance be very difficult by the direction of expecting, so the actual direction of travel of robot is made as to first direction in step S1, although may have some deviations between first direction and preset direction, but first direction is followed described preset direction all the time, the control method providing in the embodiment of the present application is exactly that the first direction that will make robot body move remains in the orientation of preset direction, when in the process that robot advances in a first direction, the gyroscope that is arranged in robot body can obtain the moving parameter of robot body reality.
Further, as shown in Figure 2, step S1 specifically comprises:
S101: in the time that described electronic equipment moves by described mobile device in a first direction based on a preset direction, obtain the rotational speed of described mobile device by described sensor;
S102: based on the rotational speed of described mobile device, obtain the anglec of rotation of described mobile device with respect to described preset direction.
In specific implementation process, in robot body, there are controller and gyroscope, in the time that robot advances in working space, gyroscope can constantly be measured output device human body's instantaneous rotational speed, controller constantly reads these instantaneous rotational speeies, based on these instantaneous rotational speeies, obtain the anglec of rotation of robot body with respect to preset direction by calculating, this anglec of rotation is exactly first direction and preset direction deviation angle, also can be understood as be robot from default towards to reality towards towards angle.In order to further describe out the anglec of rotation of omni-directional wheel with respect to preset direction, in the embodiment of the present application, this anglec of rotation is made as to θ, omni-directional wheel is placed in to space coordinates, as shown in Figure 3 with shown in Fig. 4, Fig. 3 is the robot body coordinate system of setting up on robot body, Fig. 4 is after robot body is advanced and departed from space coordinates, produce the schematic diagram after anglec of rotation θ with preset direction, wherein, what dotted line coordinate system represented is space coordinates, the body coordinate system of what solid line coordinate system represented is robot (that is to say gyroscope coordinate system, gyroscope coordinate system is consistent with robot body coordinate system), angle theta between the x axle of solid line and the x axle of dotted line is the actual direction of travel of robot in space and the fleet angle of preset direction, shown in Fig. 4 in the situation that, thereby controller can directly be added up the instantaneous angle that gyroscope rotates around Z axis and obtain the reality of robot under space coordinates towards angle θ.
Further, step S102 is specially:
Based on the first preset rules, obtain the anglec of rotation of described mobile device with respect to described preset direction by rotational speed and the rotational time of described mobile device.
Further, described the first preset rules is specially
wherein, k is time index, θ (k Δ t) represent described mobile device (k Δ t) moment with respect to the anglec of rotation of described preset direction,
represent the rotational speed that described mobile device arrives in [(k-1) Δ t] moment actual measurement, Δ t represents the sampling time interval at described mobile device in rotary moving just.
In specific implementation process, introduce in detail the process of the anglec of rotation θ value of controller statistics acquisition robot body by step S102, controller constantly reads the instantaneous rotational speed of gyroscope output, again according to sampling time interval, thereby based on the first preset rules, the product of instantaneous rotational speed and sampling time interval is added up and obtains anglec of rotation θ.The first preset rules is specially
wherein, k is time index, θ (k Δ t) be illustrated in (k Δ t) moment robot body with respect to the anglec of rotation of described preset direction,
be illustrated in [(k-1) Δ t] moment actual measurement to the rotational speed of robot body, Δ t represents the sampling time interval at omni-directional wheel in rotary moving just.
Visible, the rotational speed that the embodiment of the present application is exported because employing controller utilizes gyroscope to detect and sampling time interval are added up the technological means of the anglec of rotation that obtains robot body reality, realized can be real-time obtain the anglec of rotation of robot body under space coordinates, and then the technique effect carried out towards angle correction with synthesis machine human body of the running of adjusting each omni-directional wheel by robot inverse kinematic calculation and with this; In addition, in the time that omni-directional wheel drive machines people advances in working space, whether can also count robot by the control method providing in the embodiment of the present application is exerted pressure by the external world, because gyroscope can count the impact that the external world applies automatically, for example, robot is artificially promoted, has been rotated in the process of moving, and robot moves again, still can be effectively controlled, this is because extraneous unexpected rotation operation can be counted by gyroscope accumulation all the time.
S2: based on described the first moving parameter, judge between described first direction and described preset direction whether meet one pre-conditioned;
Further, step S2 is specially:
Judge whether described mobile device is 0 with respect to the anglec of rotation θ of described preset direction;
In the time that described anglec of rotation θ is not 0, determine that the angle between described first direction and described preset direction meets described pre-conditioned.
In specific implementation process, if anglec of rotation θ is 0, illustrate between first direction that gyroscope is being advanced at omni-directional wheel and preset direction and deviation angle do not detected, Ji Shi robot advances according to the preset direction of expecting, at this moment control system need not change gait of march and the direction of each omni-directional wheel in robot body, but in the time that anglec of rotation θ is not 0, illustrates between first direction and preset direction and have deviation angle, meet pre-conditioned.
S3: meet one pre-conditionedly between described first direction and described preset direction, generate a steering order;
In specific implementation process, in the time there is deviation angle between first direction and preset direction, control system can generate a steering order, changes speed and the direction of each omni-directional wheel by this steering order, to reach the object of the direct of travel that changes robot body.
Further, described mobile device has N movable pulley, so step S3 specifically comprises:
In the time that described mobile device is not 0 with respect to the anglec of rotation θ of described preset direction, based on the second preset rules, obtain speed and the direction of each movable pulley in a described N movable pulley;
Based on speed and the direction of each movable pulley in a described N movable pulley, generate one for controlling described N the speed of each movable pulley of movable pulley and the steering order of direction.
Further, work as N=3, in the time that described mobile device has 3 movable pulleys,
Described the second preset rules is specially
Wherein, described ω
1, ω
2, ω
3represent respectively speed and the direction of each movable pulley in described 3 movable pulleys; v
x, v
ybe specially described preset direction x axle in space coordinates, the speed component in 2 directions of y axle,
for the rotational component around z axle; [A] is specially the inverse kinematics transformation matrix relevant to described anglec of rotation θ, and described [A] determined by described anglec of rotation θ.
In specific implementation process, omni-directional wheel generally has 3 or 4 wheels, illustrates, as shown in Figure 3 in the embodiment of the present application as an example of the omni-directional wheel of 3 wheels example.In the time that the anglec of rotation θ between actual direction of travel first direction and the preset direction of omni-directional wheel is not 0, control system is based on the second preset rules, can obtain speed and the direction of each mobile opinion in 3 movable pulleys of omni-directional wheel, and the second preset rules is specially
Wherein, described ω
1, ω
2, ω
3represent respectively speed and the direction of each movable pulley in described 3 movable pulleys; v
x, v
ybe specially described preset direction x axle in space coordinates, the speed component in 2 directions of y axle,
for the rotational component around z axle; [A] is specially the inverse kinematics transformation matrix relevant to described anglec of rotation θ, described [A] determined by described anglec of rotation θ, can be understood as robot inverse kinematics transformation matrix [A] ask for the reality that depends on robot towards angle θ, by gyrostatic real-time monitored, [A] constantly obtains and upgrades, and then speed and the direction of each wheel that can Real-time Obtaining need to change by the second preset rules control system, then speed and the direction of each wheel based on generating; In omni-directional wheel drive machines people, the speed to each omni-directional wheel motor of realization and the control system of direction are motor servo system, the control system that the embodiment of the present application adopts has obtained each omni-directional wheel by several steps above to be needed after controlled speed and direction, motor servo system can be according to these speed and direction, generates the corresponding sequential of controlling and drives the motor on each movable pulley.
Visible, the embodiment of the present application is due to the anglec of rotation θ value and the component value of preset direction in space coordinates that adopt based on omni-directional wheel and preset direction, calculate and obtain the speed of each movable pulley and the technological means of direction in omni-directional wheel system, the velocity amplitude that the needs of each movable pulley of acquisition that can be real-time are adjusted to and the technique effect of direction are realized in the time having deviation angle between the first direction of robot and preset direction.
S4: carry out described steering order, control the moving direction of described mobile device and adjust to second direction from described first direction, and then described electronic equipment is moved up in described second party, wherein, between described second direction and described preset direction, meet described pre-conditioned.
In specific implementation process, second direction in step S4 refers to the direction after the going direction changing of robot, namely preset direction, by the control of the motor servo system in robot, the speed of each movable pulley on robot chassis and direction can be according to advancing after the velocity amplitude obtaining and direction adjustment, by adjusting speed and the direction of each movable pulley, the direct of travel of whole robot body is got back on preset direction.
Visible, the embodiment of the present application is due to employing control system real-time monitored and adjust the speed of each wheel and the technological means of direction, and then ensures the technique effect that this omni-directional wheel drive machines people advances along preset direction all the time under space coordinates.
Based on same inventive concept, the embodiment of the present application also provides a kind of electronic equipment, and described electronic equipment comprises a mobile device, and as shown in Figure 5, described electronic equipment also comprises:
Sensor 10, is connected with described mobile device, in the time that described electronic equipment moves by described mobile device in a first direction based on a preset direction, obtains the first moving parameter of described mobile device;
Further, described sensor 10 specifically comprises:
First obtains unit, in the time that described electronic equipment moves by described mobile device in a first direction based on a preset direction, obtains the rotational speed of described mobile device;
Second obtains unit, for the rotational speed based on described mobile device, obtains the anglec of rotation of described mobile device with respect to described preset direction.
Further, described second obtain unit specifically for:
Based on the first preset rules, obtain the anglec of rotation of described mobile device with respect to described preset direction by rotational speed and the rotational time of described mobile device.
Further, described the first preset rules is specially
wherein, k is time index, θ (k Δ t) represent described mobile device (k Δ t) moment with respect to the anglec of rotation of described preset direction,
represent the rotational speed that described mobile device arrives in [(k-1) Δ t] moment actual measurement, Δ t represents the sampling time interval at described mobile device in rotary moving just.
Judging unit 20, for based on described the first moving parameter, judge between described first direction and described preset direction, whether meet one pre-conditioned;
Further, described judging unit 20 specifically comprises:
Judgment sub-unit, for judging whether described mobile device is 0 with respect to the anglec of rotation θ of described preset direction;
Determining unit, in the time that described anglec of rotation θ is not 0, determines that the angle between described first direction and described preset direction meets described pre-conditioned.
Generation unit 30, pre-conditioned for meet one between described first direction and described preset direction, generate a steering order;
Further, described mobile device has N movable pulley, and described generation unit 30 specifically comprises:
Obtain subelement, in the time that described mobile device is not 0 with respect to the anglec of rotation θ of described preset direction, based on the second preset rules, obtain speed and the direction of each movable pulley in a described N movable pulley;
Generate subelement, for speed and direction based on described N each movable pulley of movable pulley, generate one for controlling described N the speed of each movable pulley of movable pulley and the steering order of direction.
Further, work as N=3, in the time that described mobile device has 3 movable pulleys,
Described the second preset rules is specially
Wherein, described ω
1, ω
2, ω
3represent respectively speed and the direction of each movable pulley in described 3 movable pulleys; v
x, v
ybe specially described preset direction x axle in space coordinates, the speed component in 2 directions of y axle,
for the rotational component around z axle; [A] is specially the inverse kinematics transformation matrix relevant to described anglec of rotation θ, and described [A] determined by described anglec of rotation θ.
Control module 40, be used for carrying out described steering order, control the moving direction of described mobile device and adjust to second direction from described first direction, and then described electronic equipment is moved up in described second party, wherein, between described second direction and described preset direction, meet described pre-conditioned.
For the clearer those of ordinary skill in the art of allowing understand the method in the embodiment of the present application, the control procedure to omni-directional wheel drive machines people providing is done to a summary below in the embodiment of the present application:
As shown in Figure 6, it in Fig. 6, is the schematic flow sheet of each step corresponding to the control method that adopts in the embodiment of the present application, in the time that an omni-directional wheel drive machines people advances in working space, first, control system is added up the anglec of rotation θ that obtains the omni-directional wheel of exporting on gyroscope by controller, simultaneously, control system is decomposed into x axle under working space coordinate system by command analysis by preset direction, speed component in 2 directions of y axle and around the rotational component of z axle, then utilize robot inverse kinematics, obtain speed and the direction of each movable pulley based on 3 component values under anglec of rotation θ and space coordinates, finally, speed and the direction of motor servo system based on obtaining the speed of each omni-directional wheel and direction and generate steering order and control respectively omni-directional wheel drive motor corresponding to mobile robot chassis, in addition, on each omni-directional wheel drive motor, be also separately installed with scrambler, by the feedback of scrambler, motor servo system can know whether each movable pulley is to move according to the velocity amplitude and the direction that obtain.
The one or more technical schemes that provide in the embodiment of the present application, at least have following technique effect or advantage:
Due in the embodiment of the present application, adopt the moving parameter of the acquisition mobile device real-time by sensor, whether the direct of travel that judges mobile device based on moving parameter is preset direction, just generate the technological means of the direct of travel of steering order adjustment mobile device if not preset direction, solve in prior art if realize robot according to the orientation walking of expection, must adopt other modes to carry out the technical matters in the orientation of real-time monitored robot in working space coordinate system, realize and do not needed to adopt other modes come the orientation of real-time monitored robot in working space coordinate system and realize the technique effect of correctly advancing.
Obviously, those skilled in the art can carry out various changes and modification and not depart from the spirit and scope of the present invention the present invention.Like this, if these amendments of the present invention and within modification belongs to the scope of the claims in the present invention and equivalent technologies thereof, the present invention is also intended to comprise these changes and modification interior.
Claims (14)
1. a control method, is applied to an electronic equipment, it is characterized in that, described electronic equipment includes a mobile device, and be connected with described mobile device for obtaining the sensor of the moving parameter of described mobile device when mobile, described method comprises:
In the time that described electronic equipment moves by described mobile device in a first direction based on a preset direction, obtain the first moving parameter of described mobile device by described sensor;
Based on described the first moving parameter, judge between described first direction and described preset direction whether meet one pre-conditioned;
Between described first direction and described preset direction, meet one pre-conditionedly, generate a steering order;
Carry out described steering order, control the moving direction of described mobile device and adjust to second direction from described first direction, and then described electronic equipment is moved up in described second party, wherein, between described second direction and described preset direction, meet described pre-conditioned.
2. the method for claim 1, is characterized in that, described in the time that described electronic equipment moves by described mobile device in a first direction based on a preset direction, obtains the first moving parameter of described mobile device by described sensor, specifically comprises:
In the time that described electronic equipment moves by described mobile device in a first direction based on a preset direction, obtain the rotational speed of described mobile device by described sensor;
Based on the rotational speed of described mobile device, obtain the anglec of rotation of described mobile device with respect to described preset direction.
3. method as claimed in claim 2, is characterized in that, the described rotational speed based on described mobile device obtains the anglec of rotation of described mobile device with respect to described preset direction, is specially:
Based on the first preset rules, obtain the anglec of rotation of described mobile device with respect to described preset direction by rotational speed and the rotational time of described mobile device.
4. method as claimed in claim 3, is characterized in that, described the first preset rules is specially
wherein, k is time index, θ (k Δ t) represent described mobile device (k Δ t) moment with respect to the anglec of rotation of described preset direction,
represent the rotational speed that described mobile device arrives in [(k-1) Δ t] moment actual measurement, Δ t represents the sampling time interval at described mobile device in rotary moving just.
5. whether method as claimed in claim 3, is characterized in that, described based on described the first moving parameter, judge between described first direction and described preset direction to meet one pre-conditionedly, is specially:
Judge whether described mobile device is 0 with respect to the anglec of rotation θ of described preset direction;
In the time that described anglec of rotation θ is not 0, determine that the angle between described first direction and described preset direction meets described pre-conditioned.
6. method as claimed in claim 5, is characterized in that, described mobile device has N movable pulley, describedly between described first direction and described preset direction, meets one pre-conditionedly, generates a steering order, specifically comprises:
In the time that described mobile device is not 0 with respect to the anglec of rotation θ of described preset direction, based on the second preset rules, obtain speed and the direction of each movable pulley in a described N movable pulley;
Based on speed and the direction of each movable pulley in a described N movable pulley, generate one for controlling described N the speed of each movable pulley of movable pulley and the steering order of direction.
7. method as claimed in claim 6, is characterized in that, works as N=3, in the time that described mobile device has 3 movable pulleys,
Described the second preset rules is specially
Wherein, described ω
1, ω
2, ω
3represent respectively speed and the direction of each movable pulley in described 3 movable pulleys; v
x, v
ybe specially described preset direction x axle in space coordinates, the speed component in 2 directions of y axle,
for the rotational component around z axle; [A] is specially the inverse kinematics transformation matrix relevant to described anglec of rotation θ, and described [A] determined by described anglec of rotation θ.
8. an electronic equipment, described electronic equipment comprises a mobile device, it is characterized in that, described electronic equipment also comprises:
Sensor, is connected with described mobile device, in the time that described electronic equipment moves by described mobile device in a first direction based on a preset direction, obtains the first moving parameter of described mobile device;
Judging unit, for based on described the first moving parameter, judge between described first direction and described preset direction, whether meet one pre-conditioned;
Generation unit, pre-conditioned for meet one between described first direction and described preset direction, generate a steering order;
Control module, be used for carrying out described steering order, control the moving direction of described mobile device and adjust to second direction from described first direction, and then described electronic equipment is moved up in described second party, wherein, between described second direction and described preset direction, meet described pre-conditioned.
9. electronic equipment as claimed in claim 8, is characterized in that, described sensor specifically comprises:
First obtains unit, in the time that described electronic equipment moves by described mobile device in a first direction based on a preset direction, obtains the rotational speed of described mobile device;
Second obtains unit, for the rotational speed based on described mobile device, obtains the anglec of rotation of described mobile device with respect to described preset direction.
10. electronic equipment as claimed in claim 9, is characterized in that, described second obtain unit specifically for:
Based on the first preset rules, obtain the anglec of rotation of described mobile device with respect to described preset direction by rotational speed and the rotational time of described mobile device.
11. electronic equipments as claimed in claim 10, is characterized in that, described the first preset rules is specially
wherein, k is time index, θ (k Δ t) represent described mobile device (k Δ t) moment with respect to the anglec of rotation of described preset direction,
represent the rotational speed that described mobile device arrives in [(k-1) Δ t] moment actual measurement, Δ t represents the sampling time interval at described mobile device in rotary moving just.
12. electronic equipments as claimed in claim 10, is characterized in that, described judging unit specifically comprises:
Judgment sub-unit, for judging whether described mobile device is 0 with respect to the anglec of rotation θ of described preset direction;
Determining unit, in the time that described anglec of rotation θ is not 0, determines that the angle between described first direction and described preset direction meets described pre-conditioned.
13. electronic equipments as claimed in claim 12, is characterized in that, described mobile device has N movable pulley, and described generation unit specifically comprises:
Obtain subelement, in the time that described mobile device is not 0 with respect to the anglec of rotation θ of described preset direction, based on the second preset rules, obtain speed and the direction of each movable pulley in a described N movable pulley;
Generate subelement, for speed and direction based on described N each movable pulley of movable pulley, generate one for controlling described N the speed of each movable pulley of movable pulley and the steering order of direction.
14. electronic equipments as claimed in claim 13, is characterized in that, work as N=3, in the time that described mobile device has 3 movable pulleys,
Described the second preset rules is specially
Wherein, described ω
1, ω
2, ω
3represent respectively speed and the direction of each movable pulley in described 3 movable pulleys; v
x, v
ybe specially described preset direction x axle in space coordinates, the speed component in 2 directions of y axle,
for the rotational component around z axle; [A] is specially the inverse kinematics transformation matrix relevant to described anglec of rotation θ, and described [A] determined by described anglec of rotation θ.
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| CN104915564A (en) * | 2015-06-16 | 2015-09-16 | 深圳市腾讯计算机系统有限公司 | Virtual character turning implementing method and device |
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