CN104155975A - System and method for controlling robot - Google Patents
System and method for controlling robot Download PDFInfo
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- CN104155975A CN104155975A CN201410284698.4A CN201410284698A CN104155975A CN 104155975 A CN104155975 A CN 104155975A CN 201410284698 A CN201410284698 A CN 201410284698A CN 104155975 A CN104155975 A CN 104155975A
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Abstract
The invention discloses a system and a method for controlling a robot, relates to the field of robots, and solves a technical problem that a robot is easily deviated when working on a slope in the prior art. The system for controlling the robot comprises a master control module, a running mechanism and a direction collection module, wherein the direction collection module is connected with the master control module and used for collecting direction information of the robot. The direction collection module comprises a magnetic field induction sensor for collecting earth magnetic field data, and a gravitational acceleration sensor for collecting gravitational acceleration data. The master control module obtains the direction information of the robot through the earth magnetic field data of the magnetic field induction sensor and the gravitational acceleration data of the gravitational acceleration sensor, and controls the robot for stably moving in a line through the running mechanism. The invention can be applied to movement control of robots.
Description
[technical field]
The present invention relates to robot field.
[background technology]
Lawn is the important component part of urban afforestation, pass through grass-removing robot, improve to a certain extent mowing efficiency, reduce labour intensity, save a large amount of work resources, the motion path of grass-removing robot autokinetic movement control is generally determined according to the specification on on-the-spot lawn and shape, conventionally adoptable have spiralling path to control, profile is followed the tracks of the control of shape motion path, random random walk control and parallel reciprocating path are controlled, grass-removing robot is mowed along many parallel straight reciprocating motions, it is the wherein ideal efficient movement control mode of robot that parallel reciprocating path is controlled.Intelligent grass-removing of the prior art is determined direction by magnetic field inductively, while guaranteeing robot rectilinear motion all the time towards a fixing direction, but, the in the situation that the method being only smooth on ground, just obtain better effects, larger or uneven in the situation that in ground inclination, the fuselage of robot produces, the magnetic field coordinate of robot collection also produces inclination, therefore the magnetic field data gathering is different from actual terrestrial magnetic field, there is error in the direction of motion calculating according to the magnetic field data gathering, cause direction misjudgment, cause and wander off, the effect that impact is mowed.
[summary of the invention]
The technical matters that the present invention solves is to provide a kind of control system and control method thereof of robot, improves the rectilinearity of robot motion's track.
For solving the problems of the technologies described above, the present invention adopts following technical scheme:
A kind of control system of robot, comprise main control module, travel mechanism and the direction acquisition module being connected with main control module for gathering robot directional information, described direction acquisition module comprises the locality magnetic field induction sensor of magnetic field data, described direction acquisition module also comprises the Gravity accelerometer that gathers acceleration of gravity data, and described main control module is according to the acceleration of gravity data acquisition robot directional information of the terrestrial magnetic field data of magnetic field induction sensor and Gravity accelerometer and by the stable rectilinear motion of travel mechanism control.
Further, described control system also comprises that gathering machine manually makes the boundary information acquisition module of zone boundary information, and described main control module is according to the translation motion of the feedback signal control of boundary information acquisition module.
Further, described control system also comprises the barrier induction module for responding to barrier, and described main control module is according to the translation motion of the feedback signal control of barrier induction module.
Further, described travel mechanism comprises movable motor combination and movable motor driver module.
Further, described movable motor combination comprises left movable motor and right movable motor.
A control method for robot, comprises the following steps:
1) linear movement direction is set: robot is placed in perform region and is started, and the directional information when robot that main control module obtains direction acquisition module starts is set as linear movement direction;
2) direction of translatory motion is set: the left of linear relative movement direction or right translation are made as the translation direction of robot;
3) rectilinear motion control: main control module is according to the actual motion directional information of the acceleration of gravity data acquisition robot of the terrestrial magnetic field data of magnetic field induction sensor and Gravity accelerometer, the linear movement direction of main control module contrast actual motion directional information and setting, makes robot complete rectilinear motion forward or backwards by the linear movement direction of setting by the motion state of movable motor driver module control movable motor combination;
4) translation motion control: when robot rectilinear motion arrives the border of perform region, boundary information acquisition module induction boundary condition sends sideband signal, and main control module completes the translation motion of robot by the motion state of motor drive module control movable motor combination according to sideband signal.
Further, in rectilinear motion control procedure, setting robot travels forward as positive movement, motion is counter motion backward, in the time there is right avertence in positive movement direction, accelerating right lateral walks motor speed and reduces left lateral to walk motor speed, in the time there is left avertence in positive movement direction, accelerating left lateral walks motor speed and reduces right lateral to walk motor speed, and counter motion direction accelerates left lateral while there is right avertence and walk motor speed and reduce right lateral to walk motor speed, when left avertence appears in counter motion direction, accelerate right lateral and walk motor speed and reduce left lateral to walk motor speed.
Beneficial effect of the present invention:
The present invention, by magnetic field induction sensor and Gravity accelerometer in combination, calculate the direction of robot, by the combination of Gravity accelerometer and terrestrial magnetic field induction pick-up, on non-horizontal surface, easily there is the shortcoming of larger error in the method that has overcome an existing robot land used magnetic field data calculated direction, ensure the accuracy of calculated direction, and can ensure parallel between line of motion.Realize robot by the autokinetic movement of parallel reciprocating manner, except level land, in hillside fields, up-and-down subsurface still can stablize the direction of motion of robot, eliminates the interference that fuselage tilts, and prevents motion process generation sideslip.
These features of the present invention and advantage will be below embodiment, accompanying drawing in detailed exposure.
[brief description of the drawings]
Below in conjunction with accompanying drawing, the present invention is described further:
Fig. 1 is structural representation of the present invention;
Fig. 2 is workflow diagram of the present invention;
Fig. 3 is the track route figure of robot;
Fig. 4 is the coordinate schematic diagram of robot directional information.
[embodiment]
Accompanying drawing below in conjunction with the embodiment of the present invention is explained and illustrated the technical scheme of the embodiment of the present invention, but following embodiment is only the preferred embodiments of the present invention, not all.Based on the embodiment in embodiment, those skilled in the art are other embodiment that obtains under the prerequisite of not making creative work, all belongs to protection scope of the present invention.
With reference to figure 1, a kind of control system of robot, comprise main control module 1, travel mechanism 3 and with main control module link information collecting mechanism 2, information acquisition mechanism 2 comprises the direction acquisition module 21 for gathering robot directional information, direction acquisition module 21 comprises the locality magnetic field induction sensor of magnetic field data, direction acquisition module also comprises the Gravity accelerometer that gathers acceleration of gravity data, main control module 1 is according to the acceleration of gravity data acquisition robot directional information of the terrestrial magnetic field data of magnetic field induction sensor and Gravity accelerometer, the terrestrial magnetic field data of magnetic field induction sensor and the acceleration of gravity data of Gravity accelerometer can calculate directional information by main control module, or also can in direction acquisition module, calculate, main control module passes through to control the motion state of travel mechanism according to directional information, make current direction of motion consistent with the linear movement direction of setting.
Locality magnetic field data of magnetic field induction sensor, Gravity accelerometer gathers acceleration of gravity data, and the Computing Principle of current direction of motion is as follows:
With reference to figure 4, X
b, Y
b, Z
bfor describing the orthogonal 3-D walls and floor of robot fuselage attitude, X
a, Y
a, Z
abe respectively three coordinate axis of sensor sensing acceleration of gravity, X
a, Y
a, Z
a(unit is g), X to be respectively the component of acceleration of gravity on these three axles
m, Y
m, Z
mbe respectively three coordinate axis of sensor sensing magnetic field intensity, X
m, Y
m, Z
mbe respectively the component of magnetic field on these three axles.If Y
bwith the angle of surface level be Roll, X
bwith the angle of surface level be Pitch, X
bbe the angle Heading of robot and magnetic north at the angle of surface level projection and earth magnetic north.Suppose that sensor is fixed in robot, X
a,
mwith X
bparallel, Y
a,
mwith Y
bparallel, X
a,
m, Y
a,
mthe plane, the X that determine
b, Y
bthe plane determining is parallel to each other.Suppose that robot is under horizontality, X
a,
m, Y
a,
mthe plane, the X that determine
b, Y
bthe plane, the surface level three that determine are parallel to each other, and terrestrial magnetic field is at Z
mcomponent Z on coordinate
mbe 0, acceleration is at X
a, Y
aon component X
a, Y
abe 0, magnetic field, base area is at X
m, Y
mon component X
m, Y
m, can pass through formula: Heading=arctan (Y
m/ X
m) calculate robot motion's direction Heading.Robot is in the time of motion on a slope, and fuselage produces, and therefore magnetic field is at Z
mcomponent Z
mbe not 0, at X
m, Y
mon component X
m, Y
minconsistent with the situation of level, pass through formula: Heading=arctan (Y
m/ X
m) calculate robot motion's direction Heading and have deviation, but by the acceleration of gravity that records at X
a, Y
aon component X
a, Y
acalculate angle of inclination Pitch and the Roll of machine, more in combination magnetic field at X
m, Y
m, Z
mon component X
m, Y
m, Z
m, by following formula, can calculate the angle Heading of robot and magnetic north:
Pitch＝arcsin(-X
a)
Roll＝arcsin(Y
a/cosPitch)
X＝Xm*cosPitch+Zm*sinPitch
Y＝Xm*sinroll*sinPitch+Ymcosroll-Zm*sinroll*cosPitch
Heading＝arctan(Y/X)
In straight line moving process, keep Heading constant, thereby ensure parallel between robot motion's rectilinearity and line of motion.
The travel mechanism 3 adopting comprises movable motor combination 32 and movable motor driver module 31.
Movable motor combination comprises left movable motor and right movable motor, the direction of motion of carrying out control by the action of the left movable motor of movable motor driver module control and right movable motor is stabilized in target travel direction, is also realized the translation motion of robot simultaneously by left movable motor and right movable motor.
Control system also comprises that gathering machine manually makes the boundary information acquisition module 22 of zone boundary information, when robot rectilinear motion reaches border, perform region, boundary information acquisition module induction boundary condition sends sideband signal, and main control module completes the translation motion of robot by the motion state of motor drive module control movable motor combination according to sideband signal.
In the present invention, boundary information acquisition module 22 comprises sensor circuit, the signal processing circuit of transform boundary information and the single-chip microcomputer of processing boundary information of responding to boundary information, and single-chip microcomputer connects described main control module.
Can also in information acquisition mechanism, arrange record travel time clock module, record the stroke acquisition module of running stroke and the detection of obstacles module for detection of barrier, detection of obstacles module can be touching switch, when detection of obstacles module senses barrier, master control module controls robot translation motion avoiding obstacles; Stroke acquisition module can adopt the motion state of Hall element induction movable motor.
Referring to figs. 2 and 3, adopt the control method of the robot of above-mentioned control system, comprise the following steps:
1) linear movement direction is set: robot is placed in perform region and is started, and the directional information when robot that main control module obtains direction acquisition module starts is set as linear movement direction, keeps the stable of direction of motion in rectilinear motion process;
2) direction of translatory motion is set: the left of linear relative movement direction or right translation are made as the translation direction of robot, and translation motion to whole vehicle body goes out the border of perform region and finishes motion.
3) rectilinear motion control: main control module is according to the actual motion directional information of the acceleration of gravity data acquisition robot of the terrestrial magnetic field data of magnetic field induction sensor and Gravity accelerometer, the linear movement direction of main control module contrast actual motion directional information and setting, the actual motion direction that makes robot by the motion state of movable motor driver module control movable motor combination is by the linear movement direction of the setting rectilinear motion forward or backwards that moved.In rectilinear motion control procedure, setting robot travels forward as positive movement, motion is counter motion backward, in the time there is right avertence in positive movement direction, accelerating right lateral walks motor speed and reduces left lateral to walk motor speed, in the time there is left avertence in positive movement direction, accelerating left lateral walks motor speed and reduces right lateral to walk motor speed, and while there is right avertence in counter motion direction, accelerating left lateral walks motor speed and reduces right lateral to walk motor speed, when left avertence appears in counter motion direction, accelerating right lateral walks motor speed and reduces left lateral to walk motor speed, control rectilinear motion.
4) translation motion control: robot rectilinear motion triggers boundary information acquisition module while arriving the border of perform region, boundary information acquisition module induction boundary condition sends sideband signal, and main control module completes the translation motion of robot by the motion state of motor drive module control movable motor combination according to sideband signal.When robot positive movement or counter motion rear body goes out behind border, stop current rectilinear motion, main control module makes robot move to the distance of setting by controlling left and right movable motor motion.
Wherein translation motion is not for reversing end for end translation, do not reverse end for end translation and can guarantee the level between adjacent straight-line trajectory, it is as follows not reverse end for end the concrete method of operating of translation: when right translation, first controlling left lateral walks motor speed and is greater than right lateral and walks motor speed operation and move a certain distance, control right lateral again and walk motor speed and be greater than left lateral and walk motor speed motion certain distance, alternately pace of change completes right translation; When left, first controlling right lateral walks motor speed and is greater than left lateral and walks motor speed operation and move a certain distance, controlling left lateral walks motor speed and is greater than right lateral and walks motor speed motion certain distance again, alternately pace of change completes left, pass through which, even if work on the slope, also accurately controlling party to.
Control method of the present invention has more than to be limited on grass-removing robot and uses, and is applicable to too the parallel motion control of other robot of similar application demand, as Autonomous Cleaning Robot.
By above-described embodiment, object of the present invention is by fully effective having reached.The personage who is familiar with this technology should be understood that the content the present invention includes but be not limited to accompanying drawing and describe in embodiment above.Any amendment that does not depart from function and structure principle of the present invention all will be included in the scope of claims.
Claims (7)
1. the control system of a robot, comprise main control module, travel mechanism and the direction acquisition module being connected with main control module for gathering robot directional information, described direction acquisition module comprises the locality magnetic field induction sensor of magnetic field data, it is characterized in that: described direction acquisition module also comprises the Gravity accelerometer that gathers acceleration of gravity data, described main control module is according to the acceleration of gravity data acquisition robot directional information of the terrestrial magnetic field data of magnetic field induction sensor and Gravity accelerometer and by the stable rectilinear motion of travel mechanism control.
2. the control system of a kind of robot according to claim 1, it is characterized in that: described control system also comprises that gathering machine manually makes the boundary information acquisition module of zone boundary information, and described main control module is according to the translation motion of the feedback signal control of boundary information acquisition module.
3. the control system of a kind of robot according to claim 1 and 2, it is characterized in that: described control system also comprises the barrier induction module for responding to barrier, described main control module is according to the translation motion of the feedback signal control of barrier induction module.
4. the control system of a kind of robot according to claim 1 and 2, is characterized in that: described travel mechanism comprises movable motor combination and movable motor driver module.
5. the control system of a kind of robot according to claim 4, is characterized in that: described movable motor combination comprises left movable motor and right movable motor.
6. a control method for robot, is characterized in that comprising the following steps:
1) linear movement direction is set: robot is placed in perform region and is started, and the directional information when robot that main control module obtains direction acquisition module starts is set as linear movement direction;
2) direction of translatory motion is set: the left of linear relative movement direction or right translation are made as the translation direction of robot;
3) rectilinear motion control: main control module is according to the actual motion directional information of the acceleration of gravity data acquisition robot of the terrestrial magnetic field data of magnetic field induction sensor and Gravity accelerometer, the linear movement direction of main control module contrast actual motion directional information and setting, makes robot complete rectilinear motion forward or backwards by the linear movement direction of setting by the motion state of movable motor driver module control movable motor combination;
4) translation motion control: when robot rectilinear motion arrives the border of perform region, boundary information acquisition module induction boundary condition sends sideband signal, and main control module completes the translation motion of robot by the motion state of motor drive module control movable motor combination according to sideband signal.
7. the control method of a kind of robot according to claim 6, it is characterized in that: in rectilinear motion control procedure, setting robot travels forward as positive movement, motion is counter motion backward, in the time there is right avertence in positive movement direction, accelerating right lateral walks motor speed and reduces left lateral to walk motor speed, in the time there is left avertence in positive movement direction, accelerating left lateral walks motor speed and reduces right lateral to walk motor speed, and counter motion direction is accelerated left lateral while there is right avertence and is walked motor speed and reduce right lateral to walk motor speed, when left avertence appears in counter motion direction, accelerating right lateral walks motor speed and reduces left lateral to walk motor speed.
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| CN107300918A (en) * | 2017-06-21 | 2017-10-27 | 上海思依暄机器人科技股份有限公司 | A kind of control method and control device for changing motion state |
| CN108008658A (en) * | 2016-10-31 | 2018-05-08 | 上海微电子装备（集团）股份有限公司 | A kind of data collecting system and acquisition method |
| CN108827289A (en) * | 2018-04-28 | 2018-11-16 | 上海木木机器人技术有限公司 | A kind of orientation recognition method and system of robot |
| CN108897320A (en) * | 2018-06-26 | 2018-11-27 | 清华大学 | A kind of driving walking robot and its control method certainly |
| CN112752699A (en) * | 2018-09-26 | 2021-05-04 | 西门子股份公司 | Method for starting an unmanned transport vehicle on an inclined transport lane |
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| CN108897320A (en) * | 2018-06-26 | 2018-11-27 | 清华大学 | A kind of driving walking robot and its control method certainly |
| CN112752699A (en) * | 2018-09-26 | 2021-05-04 | 西门子股份公司 | Method for starting an unmanned transport vehicle on an inclined transport lane |
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Application publication date: 20141119 |