CN105259897A - Control method and electronic equipment - Google Patents

Abstract

The invention discloses a control method and electronic equipment. The control method comprises: obtaining a position parameter of a target point; planning a moving path of electronic equipment according to the position parameter of the target point; on the basis of the planned moving path, calculating posture parameters and power parameters of a first drive part and a second drive part; and adjusting the posture of the first drive part and the second drive part based on the morphological parameters and adjusting the moving speeds of the first drive part and the second drive part based on the power parameters, thereby realizing moving to the target point on the planned path.

Description

A kind of control method and electronic equipment

Technical field

The present invention relates to control technology, particularly relate to a kind of control method and electronic equipment.

Background technology

Coaxial two wheels robot is driven by two wheels of robot, and these two wheels drive in differential driving mode usually, and robot, when turning, needs to have been come by the Power output of instantaneous adjustment two wheels.Such as, but due to the characteristic of differential driving mode, the radius of turn of robot is associated with the speed of two wheels, when the radius of turn of robot is less than wheel spacing, the velocity reversal of two wheels must be contrary.Based on this, when robot keeps straight on certain speed, and when needing suddenly to turn with certain radius, be difficult to realize smoothly turning fast.

Summary of the invention

For solving the problems of the technologies described above, embodiments provide a kind of control method and electronic equipment.

The control method that the embodiment of the present invention is supplied to is applied in electronic equipment, described electronic equipment comprises the first driving part and the second driving part, and described electronic equipment can utilize described first driving part and described second driving part to carry out rotating and translation; Described control method comprises:

Obtain the location parameter of impact point;

According to the location parameter of described impact point, plan the motion path of described electronic equipment;

Based on planned motion path, calculate morphological parameters and the kinetic parameter of described first driving part and described second driving part;

The form of described first driving part and the second driving part is adjusted according to described morphological parameters, and, adjust the movement velocity of described first driving part and the second driving part to move to described impact point on planned path according to described kinetic parameter.

The electronic equipment that the embodiment of the present invention provides comprises the first driving part and the second driving part, and described electronic equipment can utilize described first driving part and described second driving part to carry out rotating and translation; Described electronic equipment comprises:

First acquiring unit, for obtaining the location parameter of impact point;

Planning unit, for the location parameter according to described impact point, plans the motion path of described electronic equipment;

Computing unit, for based on planned motion path, calculates morphological parameters and the kinetic parameter of described first driving part and described second driving part;

Adjustment unit, for the form according to described morphological parameters described first driving part of adjustment and the second driving part, and, adjust the movement velocity of described first driving part and the second driving part to move to described impact point on planned path according to described kinetic parameter.

In the technical scheme of the embodiment of the present invention, electronic equipment, Ye Ji robot comprises the first driving part and the second driving part; Electronic equipment is wanted to arrive impact point fast, first needs the location parameter obtaining impact point; Then, according to the location parameter of impact point, programming movement path; On the motion path of planning, calculate morphological parameters and the kinetic parameter of the first driving part and the second driving part; Control electronic equipment by the form and movement velocity adjusting the first driving part and the second driving simultaneously steadily to move rapidly to impact point.

Accompanying drawing explanation

Fig. 1 is the schematic flow sheet of the control method of the embodiment of the present invention one;

Fig. 2 is the schematic flow sheet of the control method of the embodiment of the present invention two;

Fig. 3 is the schematic flow sheet of the control method of the embodiment of the present invention three;

Fig. 4 is the schematic flow sheet of the control method of the embodiment of the present invention four;

Fig. 5 is electronic equipment and coordinate schematic diagram thereof in the embodiment of the present invention;

Fig. 6 is the structure composition schematic diagram of the electronic equipment of the embodiment of the present invention one;

Fig. 7 is the structure composition schematic diagram of the electronic equipment of the embodiment of the present invention two;

Fig. 8 is the structure composition schematic diagram of the electronic equipment of the embodiment of the present invention three;

Fig. 9 is the structure composition schematic diagram of the electronic equipment of the embodiment of the present invention four.

Embodiment

In order to feature and the technology contents of the embodiment of the present invention more at large can be understood, be described in detail below in conjunction with the realization of accompanying drawing to the embodiment of the present invention, the use of appended accompanying drawing explanation only for reference, be not used for limiting the embodiment of the present invention.

Fig. 1 is the schematic flow sheet of the control method of the embodiment of the present invention one, control method in this example is applied in electronic equipment, described electronic equipment comprises the first driving part and the second driving part, and described electronic equipment can utilize described first driving part and described second driving part to carry out rotating and translation; As shown in Figure 1, described control method comprises the following steps:

Step 101: the location parameter obtaining impact point.

In the embodiment of the present invention, described electronic equipment refers to the robot driven in differential driving mode, as shown in Figure 5, differential driving mode refers to that electronic equipment has a mobile platform and two independently driving wheel composition, and the first driving part in the present embodiment and the second driving part refer in electronic equipment two independently driving wheels.The electronic devices structure composition of differential driving mode is simple, and the radius of turn of electronic equipment can set arbitrarily from 0 to infinity, and such as, when radius of turn is 0, electronic equipment rotates around body central.

In the embodiment of the present invention, translation and the rotation of electronic equipment can be realized by the speed and size controlling the first driving part and the second driving part.As shown in Figure 5, at cartesian coordinate system (X _i, Y _i) under, the pose of electronic equipment, speed, angular velocity use ((x, y, θ), v, ω) represent, wherein, (x, y, θ) represents the horizontal ordinate of electronic equipment under cartesian coordinate system, ordinate and the angle with horizontal ordinate respectively; V represents the linear velocity of electronic equipment under cartesian coordinate system, is also point-to-point speed; ω represents the angular velocity of electronic equipment under cartesian coordinate system, is also velocity of rotation.The equation of motion of electronic equipment is following formula (1a):

$\left(\begin{array}{c}\stackrel{\·}{x}\\ \stackrel{\·}{y}\\ \stackrel{\·}{\mathrm{\θ}}\end{array}\right)=\left(\begin{array}{cc}\cos \mathrm{\θ}& 0\\ \sin \mathrm{\θ}& 0\\ 0& 1\end{array}\right)\left(\begin{array}{c}v\\ \mathrm{\ω}\end{array}\right)---\left(1a\right)$

Wherein, represent that horizontal ordinate x asks local derviation to the time, represent that ordinate y asks local derviation, represent that angle theta asks local derviation to the time.

V and ω in formula (1a) obtains by following formula (2a):

$\mathrm{\ω}=\frac{v_R-v_L}{b}---\left(2a\right)$

$v=\frac{v_R+v_L}{2}$

Wherein, v _rrepresent the speed of the first driving part; v _lrepresent the speed of the second driving part; B represents the spacing of two driving parts, is called wheelspan.

Therefore, as long as control line speed v and angular velocity omega just can control the pose of current electronic device.When electronic equipment is turned, its radius of turn is following formula (3a):

$R=\frac{v}{\mathrm{\ω}}=\frac{b(v_R+v_L)}{{2v}_R-v_L}---\left(3a\right)$

Based on this, can adjust the speed of the first driving part and the second driving part, control rotation and the translation of electronic equipment, here, rotation can be measured by radius of turn, and translation can be measured by linear velocity.

In practical application, when electronic equipment is wanted to move to impact point, first the location parameter obtaining impact point is needed, also be the coordinate figure of impact point under cartesian coordinate system, the present embodiment G (x, y) represent the location parameter of impact point, this expression is under the environment in two dimensional surface geographic position; Certainly, time under three dimensions, G (x, y, z) can be used to represent the location parameter of impact point.

In the embodiment of the present invention, can by the location parameter of the manual Offered target point in the electronic device of user, the location parameter of impact point can also be obtained by the map that stores in electronic equipment and GPS (GPS, GlobalPositioningSystem).

Step 102: according to the location parameter of described impact point, plans the motion path of described electronic equipment.

In the embodiment of the present invention, path planning can cook up optimal movement path according to the map prestored in electronic equipment and GPS, and the motion path cooked up considers the factors such as distance is the shortest, barrier is minimum.Preferably, the motion path cooked up can comprise more than two motion paths, so, user can also manually select in motion path more than two wherein a motion path as path to be moved.Planned motion path represents with S (t) by the present embodiment.

Step 103: based on planned motion path, calculates morphological parameters and the kinetic parameter of described first driving part and described second driving part.

Here, the morphological parameters of the first driving part and described second driving part characterizes the form of the first driving part and described second driving part, such as, when the first driving part and described second driving part are circular roller, the morphological parameters of the first driving part and described second driving part is radius size; The kinetic parameter of the first driving part and described second driving part is divided into the speed v characterizing the first driving part and described second driving part _r, v _l.

Based on step 102, when known motion path S (t), according to formula (2a) and (3a), the relation of the kinetic parameter of motion path S (t) and the first driving part and described second driving part can be set up, it should be noted that, do not consider the impact of the morphological parameters of the first driving part and described second driving part herein, when the kinetic parameter of the first driving part calculated and described second driving part is excessive, appearance is slided by the first driving part and described second driving part on motion path, for this reason, need the morphological parameters considering the first driving part and described second driving part, in the present embodiment, when ensureing not occur sliding, measure the nonlinear data between the morphological parameters of the first driving part and described second driving part and speed and radius of turn in advance, obtain the mapping database of triadic relation, then, consider formula (2a) and (3a), search in mapping database the first driving part with the morphological parameters of the second driving part under kinetic parameter maximum case, so, determine morphological parameters and the kinetic parameter of the first driving part and described second driving part.

Step 104: the form adjusting described first driving part and the second driving part according to described morphological parameters, and, adjust the movement velocity of described first driving part and the second driving part to move to described impact point on planned path according to described kinetic parameter.

In the embodiment of the present invention, by extremely consistent with morphological parameters for the experiment material of the first driving part and the second driving part, particularly, the radius size of described first driving part and the second driving part is adjusted according to described morphological parameters, such as, the radius of the first driving part and the second driving part is adjusted to consistent with morphological parameters.The movement velocity of the first driving part and the second driving part is adjusted to consistent with kinematic parameter, to realize moving to impact point with making electronic equipment high-speed smooth by the adjustment of two parameters.

Fig. 2 is the schematic flow sheet of the control method of the embodiment of the present invention two, control method in this example is applied in electronic equipment, described electronic equipment comprises the first driving part and the second driving part, and described electronic equipment can utilize described first driving part and described second driving part to carry out rotating and translation; As shown in Figure 2, described control method comprises the following steps:

Step 201: the location parameter obtaining impact point.

In the embodiment of the present invention, described electronic equipment refers to the robot driven in differential driving mode, as shown in Figure 5, differential driving mode refers to that electronic equipment has a mobile platform and two independently driving wheel composition, and the first driving part in the present embodiment and the second driving part refer in electronic equipment two independently driving wheels.The electronic devices structure composition of differential driving mode is simple, and the radius of turn of electronic equipment can set arbitrarily from 0 to infinity, and such as, when radius of turn is 0, electronic equipment rotates around body central.

In the embodiment of the present invention, translation and the rotation of electronic equipment can be realized by the speed and size controlling the first driving part and the second driving part.As shown in Figure 5, at cartesian coordinate system (X _i, Y _i) under, the pose of electronic equipment, speed, angular velocity use ((x, y, θ), v, ω) represent, wherein, (x, y, θ) represents the horizontal ordinate of electronic equipment under cartesian coordinate system, ordinate and the angle with horizontal ordinate respectively; V represents the linear velocity of electronic equipment under cartesian coordinate system, is also point-to-point speed; ω represents the angular velocity of electronic equipment under cartesian coordinate system, is also velocity of rotation.The equation of motion of electronic equipment is following formula (1b):

$\left(\begin{array}{c}\stackrel{\·}{x}\\ \stackrel{\·}{y}\\ \stackrel{\·}{\mathrm{\θ}}\end{array}\right)=\left(\begin{array}{cc}\cos \mathrm{\θ}& 0\\ \sin \mathrm{\θ}& 0\\ 0& 1\end{array}\right)\left(\begin{array}{c}v\\ \mathrm{\ω}\end{array}\right)---\left(1b\right)$

Wherein, represent that horizontal ordinate x asks local derviation to the time, represent that ordinate y asks local derviation, represent that angle theta asks local derviation to the time.

V and ω in formula (1b) obtains by following formula (2b):

$\mathrm{\ω}=\frac{v_R-v_L}{b}---\left(2b\right)$

$v=\frac{v_R+v_L}{2}$

Wherein, v _rrepresent the speed of the first driving part; v _lrepresent the speed of the second driving part; B represents the spacing of two driving parts, is called wheelspan.

Therefore, as long as control line speed v and angular velocity omega just can control the pose of current electronic device.When electronic equipment is turned, its radius of turn is following formula (3b):

$R=\frac{v}{\mathrm{\ω}}=\frac{b(v_R+v_L)}{{2v}_R-v_L}---\left(3a\right)$

Based on this, can adjust the speed of the first driving part and the second driving part, control rotation and the translation of electronic equipment, here, rotation can be measured by radius of turn, and translation can be measured by linear velocity.

In practical application, when electronic equipment is wanted to move to impact point, first the location parameter obtaining impact point is needed, also be the coordinate figure of impact point under cartesian coordinate system, the present embodiment G (x, y) represent the location parameter of impact point, this expression is under the environment in two dimensional surface geographic position; Certainly, time under three dimensions, G (x, y, z) can be used to represent the location parameter of impact point.

In the embodiment of the present invention, can by the location parameter of the manual Offered target point in the electronic device of user, the location parameter of impact point can also be obtained by the map that stores in electronic equipment and GPS.

Step 202: obtain the environmental parameter of described electronic equipment in a preset range; Described impact point is in described preset range.

In the embodiment of the present invention, path planning can cook up optimal movement path according to the map prestored in electronic equipment and GPS, and the motion path cooked up considers the factors such as distance is the shortest, barrier is minimum.For this reason, needing first to obtain the environmental parameter of electronic equipment in a regional extent by map and GPS, is also two dimension or three-dimensional map information.

Step 203: according to the location parameter of described environmental parameter and described impact point, plan that the motion path of described electronic equipment is to evade the barrier on path.

Preferably, the motion path cooked up can comprise more than two motion paths, so, user can also manually select in motion path more than two wherein a motion path as path to be moved.Planned motion path represents with S (t) by the present embodiment.

Step 204: based on planned motion path, calculates morphological parameters and the kinetic parameter of described first driving part and described second driving part.

Here, the morphological parameters of the first driving part and described second driving part characterizes the form of the first driving part and described second driving part, such as, when the first driving part and described second driving part are circular roller, the morphological parameters of the first driving part and described second driving part is radius size; The kinetic parameter of the first driving part and described second driving part is divided into the speed v characterizing the first driving part and described second driving part _r, v _l.

Based on step 203, when known motion path S (t), according to formula (2b) and (3b), the relation of the kinetic parameter of motion path S (t) and the first driving part and described second driving part can be set up, it should be noted that, do not consider the impact of the morphological parameters of the first driving part and described second driving part herein, when the kinetic parameter of the first driving part calculated and described second driving part is excessive, appearance is slided by the first driving part and described second driving part on motion path, for this reason, need the morphological parameters considering the first driving part and described second driving part, in the present embodiment, when ensureing not occur sliding, measure the nonlinear data between the morphological parameters of the first driving part and described second driving part and speed and radius of turn in advance, obtain the mapping database of triadic relation, then, consider formula (2b) and (3b), search in mapping database the first driving part with the morphological parameters of the second driving part under kinetic parameter maximum case, so, determine morphological parameters and the kinetic parameter of the first driving part and described second driving part.

Step 205: the form adjusting described first driving part and the second driving part according to described morphological parameters, and, adjust the movement velocity of described first driving part and the second driving part to move to described impact point on planned path according to described kinetic parameter.

In the embodiment of the present invention, by extremely consistent with morphological parameters for the experiment material of the first driving part and the second driving part, particularly, the radius size of described first driving part and the second driving part is adjusted according to described morphological parameters, such as, the radius of the first driving part and the second driving part is adjusted to consistent with morphological parameters.The movement velocity of the first driving part and the second driving part is adjusted to consistent with kinematic parameter, to realize moving to impact point with making electronic equipment high-speed smooth by the adjustment of two parameters.

Fig. 3 is the schematic flow sheet of the control method of the embodiment of the present invention three, control method in this example is applied in electronic equipment, described electronic equipment comprises the first driving part and the second driving part, and described electronic equipment can utilize described first driving part and described second driving part to carry out rotating and translation; As shown in Figure 3, described control method comprises the following steps:

Step 301: the location parameter obtaining impact point.

In the embodiment of the present invention, described electronic equipment refers to the robot driven in differential driving mode, as shown in Figure 5, differential driving mode refers to that electronic equipment has a mobile platform and two independently driving wheel composition, and the first driving part in the present embodiment and the second driving part refer in electronic equipment two independently driving wheels.The electronic devices structure composition of differential driving mode is simple, and the radius of turn of electronic equipment can set arbitrarily from 0 to infinity, and such as, when radius of turn is 0, electronic equipment rotates around body central.

In the embodiment of the present invention, translation and the rotation of electronic equipment can be realized by the speed and size controlling the first driving part and the second driving part.As shown in Figure 5, at cartesian coordinate system (X _i, Y _i) under, the pose of electronic equipment, speed, angular velocity use ((x, y, θ), v, ω) represent, wherein, (x, y, θ) represents the horizontal ordinate of electronic equipment under cartesian coordinate system, ordinate and the angle with horizontal ordinate respectively; V represents the linear velocity of electronic equipment under cartesian coordinate system, is also point-to-point speed; ω represents the angular velocity of electronic equipment under cartesian coordinate system, is also velocity of rotation.The equation of motion of electronic equipment is following formula (1c):

$\left(\begin{array}{c}\stackrel{\·}{x}\\ \stackrel{\·}{y}\\ \stackrel{\·}{\mathrm{\θ}}\end{array}\right)=\left(\begin{array}{cc}\cos \mathrm{\θ}& 0\\ \sin \mathrm{\θ}& 0\\ 0& 1\end{array}\right)\left(\begin{array}{c}v\\ \mathrm{\ω}\end{array}\right)---\left(1b\right)$

Wherein, represent that horizontal ordinate x asks local derviation to the time, represent that ordinate y asks local derviation, represent that angle theta asks local derviation to the time.

V and ω in formula (1c) obtains by following formula (2c):

$\mathrm{\ω}=\frac{v_R-v_L}{b}---\left(2b\right)$

$v=\frac{v_R+v_L}{2}$

Wherein, v _rrepresent the speed of the first driving part; v _lrepresent the speed of the second driving part; B represents the spacing of two driving parts, is called wheelspan.

Therefore, as long as control line speed v and angular velocity omega just can control the pose of current electronic device.When electronic equipment is turned, its radius of turn is following formula (3c):

$R=\frac{v}{\mathrm{\ω}}=\frac{b(v_R+v_L)}{{2v}_R-v_L}---\left(3c\right)$

Based on this, can adjust the speed of the first driving part and the second driving part, control rotation and the translation of electronic equipment, here, rotation can be measured by radius of turn, and translation can be measured by linear velocity.

In practical application, when electronic equipment is wanted to move to impact point, first the location parameter obtaining impact point is needed, also be the coordinate figure of impact point under cartesian coordinate system, the present embodiment G (x, y) represent the location parameter of impact point, this expression is under the environment in two dimensional surface geographic position; Certainly, time under three dimensions, G (x, y, z) can be used to represent the location parameter of impact point.

In the embodiment of the present invention, can by the location parameter of the manual Offered target point in the electronic device of user, the location parameter of impact point can also be obtained by the map that stores in electronic equipment and GPS.

Step 302: according to the location parameter of described impact point, plans the motion path of described electronic equipment; ; Perform step 303 and step 305.

In the embodiment of the present invention, path planning can cook up optimal movement path according to the map prestored in electronic equipment and GPS, and the motion path cooked up considers the factors such as distance is the shortest, barrier is minimum.Preferably, the motion path cooked up can comprise more than two motion paths, so, user can also manually select in motion path more than two wherein a motion path as path to be moved.Planned motion path represents with S (t) by the present embodiment.

Step 303: according to planned motion path, calculates the rotational parameters of described electronic equipment.

Based on step 302, when known motion path S (t), according to formula (2c) and (3c), the relation of the kinetic parameter of motion path S (t) and the first driving part and described second driving part can be set up; It should be noted that, do not consider the impact of the morphological parameters of the first driving part and described second driving part herein, when the kinetic parameter of the first driving part calculated and described second driving part is excessive, appearance is slided by the first driving part and described second driving part on motion path, for this reason, need the morphological parameters considering the first driving part and described second driving part, perform following steps 304.

In the embodiment of the present invention, the rotational parameters radius of turn of electronic equipment is measured.The rotational parameters of subset can be determined by formula (3c).

Step 304: based on the rotational parameters of described electronic equipment, and the rotation control planning pre-set calculates the morphological parameters of described first driving part and described second driving part; Perform step 306.

Wherein, described morphological parameters is for characterizing the deformation quantity of described first driving part and described second driving part.

Here, the morphological parameters of the first driving part and described second driving part characterizes the form of the first driving part and described second driving part, such as, when the first driving part and described second driving part are circular roller, the morphological parameters of the first driving part and described second driving part is radius size.

In the present embodiment, when ensureing not occur sliding, measure the nonlinear data between the morphological parameters of the first driving part and described second driving part and speed and radius of turn in advance, obtain the mapping database of triadic relation, mapping database is called rotation control planning by the present embodiment, then, consider formula (2c) and (3c), search in mapping database the first driving part with the morphological parameters of the second driving part under kinetic parameter maximum case.

Step 305: according to planned motion path, calculates the translation parameters of position, described first area and described second driving part.

Wherein, described translation parameters is for characterizing the translational movement of described first driving part and described second driving part.This translation parameters is also kinetic parameter, and the kinetic parameter of the first driving part and described second driving part is divided into the speed v characterizing the first driving part and described second driving part _r, v _l.

In sum, morphological parameters and the kinetic parameter of the first driving part and described second driving part is determined.

Step 306: the form adjusting described first driving part and the second driving part according to described morphological parameters, and, adjust the movement velocity of described first driving part and the second driving part to move to described impact point on planned path according to described kinetic parameter.

In the embodiment of the present invention, by extremely consistent with morphological parameters for the experiment material of the first driving part and the second driving part, particularly, the radius size of described first driving part and the second driving part is adjusted according to described morphological parameters, such as, the radius of the first driving part and the second driving part is adjusted to consistent with morphological parameters.The movement velocity of the first driving part and the second driving part is adjusted to consistent with kinematic parameter, to realize moving to impact point with making electronic equipment high-speed smooth by the adjustment of two parameters.

Fig. 4 is the schematic flow sheet of the control method of the embodiment of the present invention four, control method in this example is applied in electronic equipment, described electronic equipment comprises the first driving part and the second driving part, and described electronic equipment can utilize described first driving part and described second driving part to carry out rotating and translation; As shown in Figure 4, described control method comprises the following steps:

Step 401: the location parameter obtaining impact point.

In the embodiment of the present invention, described electronic equipment refers to the robot driven in differential driving mode, as shown in Figure 5, differential driving mode refers to that electronic equipment has a mobile platform and two independently driving wheel composition, and the first driving part in the present embodiment and the second driving part refer in electronic equipment two independently driving wheels.The electronic devices structure composition of differential driving mode is simple, and the radius of turn of electronic equipment can set arbitrarily from 0 to infinity, and such as, when radius of turn is 0, electronic equipment rotates around body central.

In the embodiment of the present invention, translation and the rotation of electronic equipment can be realized by the speed and size controlling the first driving part and the second driving part.As shown in Figure 5, at cartesian coordinate system (X _i, Y _i) under, the pose of electronic equipment, speed, angular velocity use ((x, y, θ), v, ω) represent, wherein, (x, y, θ) represents the horizontal ordinate of electronic equipment under cartesian coordinate system, ordinate and the angle with horizontal ordinate respectively; V represents the linear velocity of electronic equipment under cartesian coordinate system, is also point-to-point speed; ω represents the angular velocity of electronic equipment under cartesian coordinate system, is also velocity of rotation.The equation of motion of electronic equipment is following formula (1d):

$\left(\begin{array}{c}\stackrel{\·}{x}\\ \stackrel{\·}{y}\\ \stackrel{\·}{\mathrm{\θ}}\end{array}\right)=\left(\begin{array}{cc}\cos \mathrm{\θ}& 0\\ \sin \mathrm{\θ}& 0\\ 0& 1\end{array}\right)\left(\begin{array}{c}v\\ \mathrm{\ω}\end{array}\right)---\left(1d\right)$

Wherein, represent that horizontal ordinate x asks local derviation to the time, represent that ordinate y asks local derviation, represent that angle theta asks local derviation to the time.

V and ω in formula (1d) obtains by following formula (2d):

$\mathrm{\ω}=\frac{v_R-v_L}{b}---\left(2d\right)$

$v=\frac{v_R+v_L}{2}$

Wherein, v _rrepresent the speed of the first driving part; v _lrepresent the speed of the second driving part; B represents the spacing of two driving parts, is called wheelspan.

Therefore, as long as control line speed v and angular velocity omega just can control the pose of current electronic device.When electronic equipment is turned, its radius of turn is following formula (3d):

$R=\frac{v}{\mathrm{\ω}}=\frac{b(v_R+v_L)}{{2v}_R-v_L}---\left(3d\right)$

Based on this, can adjust the speed of the first driving part and the second driving part, control rotation and the translation of electronic equipment, here, rotation can be measured by radius of turn, and translation can be measured by linear velocity.

In practical application, when electronic equipment is wanted to move to impact point, first the location parameter obtaining impact point is needed, also be the coordinate figure of impact point under cartesian coordinate system, the present embodiment G (x, y) represent the location parameter of impact point, this expression is under the environment in two dimensional surface geographic position; Certainly, time under three dimensions, G (x, y, z) can be used to represent the location parameter of impact point.

In the embodiment of the present invention, can by the location parameter of the manual Offered target point in the electronic device of user, the location parameter of impact point can also be obtained by the map that stores in electronic equipment and GPS.

Step 402: according to the location parameter of described impact point, plans the motion path of described electronic equipment.

In the embodiment of the present invention, path planning can cook up optimal movement path according to the map prestored in electronic equipment and GPS, and the motion path cooked up considers the factors such as distance is the shortest, barrier is minimum.Preferably, the motion path cooked up can comprise more than two motion paths, so, user can also manually select in motion path more than two wherein a motion path as path to be moved.Planned motion path represents with S (t) by the present embodiment.

Step 403: the friction parameter obtaining the motion path planned.

In the embodiment of the present invention, during fortune merit of turning in the path considering electronic equipment, if the speed of turning is excessive, can slide, therefore, the friction force that motion path provides need be considered, when the friction factor of motion path is larger, the friction force that motion path is supplied to electronic equipment is comparatively large, then electronic equipment can be turned with higher speed; When the friction factor of motion path is less, the friction force that motion path is supplied to electronic equipment is less, then electronic equipment can be turned with lower speed.

Step 404: according to planned motion path, calculates the kinetic parameter of described first driving part and described second driving part.

Based on step 402, when known motion path S (t), according to formula (2d) and (3d), the relation of the kinetic parameter of motion path S (t) and the first driving part and described second driving part can be set up.

Step 405: according to described ground friction parameter and described kinetic parameter, determine the rotational parameters of described electronic equipment.

Particularly, electronic equipment is when turning, motion path is needed to provide centripetal force to electronic equipment, and providing of centripetal force is relevant with ground friction parameter and described kinetic parameter, when ground friction parameter is larger, when the kinetic parameter of electronic equipment is less, then the rotational parameters of electronic equipment is larger; When ground friction parameter is less, when the kinetic parameter of electronic equipment is larger, then the rotational parameters of electronic equipment is less.In the embodiment of the present invention, the rotational parameters radius of turn of electronic equipment is measured.

Step 406: according to described rotational parameters, calculates the morphological parameters of described first driving part and described second driving part.

Here, the morphological parameters of the first driving part and described second driving part characterizes the form of the first driving part and described second driving part, such as, when the first driving part and described second driving part are circular roller, the morphological parameters of the first driving part and described second driving part is radius size; The kinetic parameter of the first driving part and described second driving part is divided into the speed v characterizing the first driving part and described second driving part _r, v _l.

When the kinetic parameter of the first driving part calculated and described second driving part is excessive, appearance is slided by the first driving part and described second driving part on motion path, for this reason, need the morphological parameters considering the first driving part and described second driving part, in the present embodiment, when ensureing not occur sliding, measure the nonlinear data between the morphological parameters of the first driving part and described second driving part and speed and radius of turn in advance, obtain the mapping database of triadic relation, then, consider formula (2d) and (3d), search in mapping database the first driving part with the morphological parameters of the second driving part under kinetic parameter maximum case, so, determine morphological parameters and the kinetic parameter of the first driving part and described second driving part.

Step 407: the form adjusting described first driving part and the second driving part according to described morphological parameters, and, adjust the movement velocity of described first driving part and the second driving part to move to described impact point on planned path according to described kinetic parameter.

In the embodiment of the present invention, by extremely consistent with morphological parameters for the experiment material of the first driving part and the second driving part, particularly, the radius size of described first driving part and the second driving part is adjusted according to described morphological parameters, such as, the radius of the first driving part and the second driving part is adjusted to consistent with morphological parameters.The movement velocity of the first driving part and the second driving part is adjusted to consistent with kinematic parameter, to realize moving to impact point with making electronic equipment high-speed smooth by the adjustment of two parameters.

Fig. 6 is the structure composition schematic diagram of the electronic equipment of the embodiment of the present invention one, electronic equipment in this example comprises the first driving part and the second driving part, and described electronic equipment can utilize described first driving part and described second driving part to carry out rotating and translation; As shown in Figure 6, described electronic equipment comprises:

First acquiring unit 61, for obtaining the location parameter of impact point;

Planning unit 62, for the location parameter according to described impact point, plans the motion path of described electronic equipment;

Computing unit 63, for based on planned motion path, calculates morphological parameters and the kinetic parameter of described first driving part and described second driving part;

Adjustment unit 64, for the form according to described morphological parameters described first driving part of adjustment and the second driving part, and, adjust the movement velocity of described first driving part and the second driving part to move to described impact point on planned path according to described kinetic parameter.

In the embodiment of the present invention, described first driving part and described second driving part are circular; Correspondingly,

Described adjustment unit 64, also for the radius size according to described morphological parameters described first driving part of adjustment and the second driving part.

It will be appreciated by those skilled in the art that the practical function of each unit in the electronic equipment shown in Fig. 6 can refer to the associated description of aforementioned control method and understands.The function of each unit in the electronic equipment shown in Fig. 6 realizes by the program run on processor, also realizes by concrete logical circuit.

Fig. 7 is the structure composition schematic diagram of the electronic equipment of the embodiment of the present invention two, electronic equipment in this example comprises the first driving part and the second driving part, and described electronic equipment can utilize described first driving part and described second driving part to carry out rotating and translation; As shown in Figure 7, described electronic equipment comprises:

First acquiring unit 71, for obtaining the location parameter of impact point;

Planning unit 72, for the location parameter according to described impact point, plans the motion path of described electronic equipment;

Computing unit 73, for based on planned motion path, calculates morphological parameters and the kinetic parameter of described first driving part and described second driving part;

Adjustment unit 74, for the form according to described morphological parameters described first driving part of adjustment and the second driving part, and, adjust the movement velocity of described first driving part and the second driving part to move to described impact point on planned path according to described kinetic parameter.

In the embodiment of the present invention, described first driving part and described second driving part are circular; Correspondingly,

Described adjustment unit 74, also for the radius size according to described morphological parameters described first driving part of adjustment and the second driving part.

Preferably, described planning unit 72 comprises:

Obtain subelement 721, for obtaining the environmental parameter of described electronic equipment in a preset range; Described impact point is in described preset range;

Planning subelement 722, for the location parameter according to described environmental parameter and described impact point, plans that the motion path of described electronic equipment is to evade the barrier on path.

It will be appreciated by those skilled in the art that the practical function of each unit in the electronic equipment shown in Fig. 7 and subelement thereof can refer to the associated description of aforementioned control method and understands.Each unit in electronic equipment shown in Fig. 7 and the function of subelement thereof realize by the program run on processor, also realize by concrete logical circuit.

Fig. 8 is the structure composition schematic diagram of the electronic equipment of the embodiment of the present invention three, electronic equipment in this example comprises the first driving part and the second driving part, and described electronic equipment can utilize described first driving part and described second driving part to carry out rotating and translation; As shown in Figure 8, described electronic equipment comprises:

First acquiring unit 81, for obtaining the location parameter of impact point;

Planning unit 82, for the location parameter according to described impact point, plans the motion path of described electronic equipment;

Computing unit 83, for based on planned motion path, calculates morphological parameters and the kinetic parameter of described first driving part and described second driving part;

Adjustment unit 84, for the form according to described morphological parameters described first driving part of adjustment and the second driving part, and, adjust the movement velocity of described first driving part and the second driving part to move to described impact point on planned path according to described kinetic parameter.

In the embodiment of the present invention, described first driving part and described second driving part are circular; Correspondingly,

Described adjustment unit 84, also for the radius size according to described morphological parameters described first driving part of adjustment and the second driving part.

Preferably, described computing unit 83 comprises:

First computation subunit 831, for according to planned motion path, calculates the rotational parameters of described electronic equipment;

Second computation subunit 832, for the rotational parameters based on described electronic equipment, and the rotation control planning pre-set calculates the morphological parameters of described first driving part and described second driving part;

Preferably, described computing unit 83 comprises:

3rd computation subunit 833, for according to planned motion path, calculates the translation parameters of position, described first area and described second driving part;

Wherein, described translation parameters is for characterizing the translational movement of described first driving part and described second driving part.

Wherein, described morphological parameters is for characterizing the deformation quantity of described first driving part and described second driving part.

It will be appreciated by those skilled in the art that the practical function of each unit in the electronic equipment shown in Fig. 8 and subelement thereof can refer to the associated description of aforementioned control method and understands.Each unit in electronic equipment shown in Fig. 8 and the function of subelement thereof realize by the program run on processor, also realize by concrete logical circuit.

Fig. 9 is the structure composition schematic diagram of the electronic equipment of the embodiment of the present invention four, electronic equipment in this example comprises the first driving part and the second driving part, and described electronic equipment can utilize described first driving part and described second driving part to carry out rotating and translation; As shown in Figure 9, described electronic equipment comprises:

First acquiring unit 91, for obtaining the location parameter of impact point;

Planning unit 92, for the location parameter according to described impact point, plans the motion path of described electronic equipment;

Computing unit 93, for based on planned motion path, calculates morphological parameters and the kinetic parameter of described first driving part and described second driving part;

Adjustment unit 94, for the form according to described morphological parameters described first driving part of adjustment and the second driving part, and, adjust the movement velocity of described first driving part and the second driving part to move to described impact point on planned path according to described kinetic parameter.

In the embodiment of the present invention, described first driving part and described second driving part are circular; Correspondingly,

Described adjustment unit 94, also for the radius size according to described morphological parameters described first driving part of adjustment and the second driving part.

Preferably, described electronic equipment also comprises: second acquisition unit 95, for obtaining the friction parameter of planned motion path;

Described computing unit 93 comprises:

4th computation subunit 931, for according to planned motion path, calculates the kinetic parameter of described first driving part and described second driving part;

Determine subelement 932, for according to described ground friction parameter and described kinetic parameter, determine the rotational parameters of described electronic equipment;

5th computation subunit 933, for according to described rotational parameters, calculates the morphological parameters of described first driving part and described second driving part.

It will be appreciated by those skilled in the art that the practical function of each unit in the electronic equipment shown in Fig. 9 and subelement thereof can refer to the associated description of aforementioned control method and understands.Each unit in electronic equipment shown in Fig. 9 and the function of subelement thereof realize by the program run on processor, also realize by concrete logical circuit.

In several embodiment provided by the present invention, should be understood that, disclosed electronic equipment and method, can realize by another way.Electronic equipment embodiment described above is only schematic, such as, the division of described unit, be only a kind of logic function to divide, actual can have other dividing mode when realizing, and as: multiple unit or assembly can be in conjunction with, maybe can be integrated into another system, or some features can be ignored, or do not perform.In addition, the coupling each other of shown or discussed each ingredient or direct-coupling or communication connection can be by some interfaces, and the indirect coupling of device or unit or communication connection can be electrical, machinery or other form.

The above-mentioned unit illustrated as separating component or can may not be and physically separates, and the parts as unit display can be or may not be physical location, namely can be positioned at a place, also can be distributed in multiple network element; Part or all of unit wherein can be selected according to the actual needs to realize the object of the present embodiment scheme.

In addition, each functional unit in various embodiments of the present invention can all be integrated in a processing unit, also can be each unit individually as a unit, also can two or more unit in a unit integrated; Above-mentioned integrated unit both can adopt the form of hardware to realize, and the form that hardware also can be adopted to add SFU software functional unit realizes.

One of ordinary skill in the art will appreciate that: all or part of step realizing said method embodiment can have been come by the hardware that programmed instruction is relevant, aforesaid program can be stored in a computer read/write memory medium, this program, when performing, performs the step comprising said method embodiment; And aforesaid storage medium comprises: movable storage device, ROM (read-only memory) (ROM, ReadOnl _ymemor _y), magnetic disc or CD etc. various can be program code stored medium.

Or, if the above-mentioned integrated unit of the present invention using the form of software function module realize and as independently production marketing or use time, also can be stored in a computer read/write memory medium.Based on such understanding, the technical scheme of the embodiment of the present invention can embody with the form of software product the part that prior art contributes in essence in other words, this computer software product is stored in a storage medium, comprises some instructions and performs all or part of of method described in each embodiment of the present invention in order to make a computer equipment (can be personal computer, server or the network equipment etc.).And aforesaid storage medium comprises: movable storage device, ROM, magnetic disc or CD etc. various can be program code stored medium.

The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; change can be expected easily or replace, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of described claim.

Claims (12)

1. a control method, it is characterized in that, the method is applied in electronic equipment, and described electronic equipment comprises the first driving part and the second driving part, and described electronic equipment can utilize described first driving part and described second driving part to carry out rotating and translation; Described control method comprises:

Obtain the location parameter of impact point;

According to the location parameter of described impact point, plan the motion path of described electronic equipment;

Based on planned motion path, calculate morphological parameters and the kinetic parameter of described first driving part and described second driving part;

The form of described first driving part and the second driving part is adjusted according to described morphological parameters, and, adjust the movement velocity of described first driving part and the second driving part to move to described impact point on planned path according to described kinetic parameter.

2. control method according to claim 1, is characterized in that, the described location parameter according to described impact point, plans the motion path of described electronic equipment, comprising:

Obtain the environmental parameter of described electronic equipment in a preset range; Described impact point is in described preset range;

According to the location parameter of described environmental parameter and described impact point, plan that the motion path of described electronic equipment is to evade the barrier on path.

3. control method according to claim 1, is characterized in that, described based on planned motion path, calculates the morphological parameters of described first driving part and described second driving part, comprising:

According to planned motion path, calculate the rotational parameters of described electronic equipment;

Based on the rotational parameters of described electronic equipment, and the rotation control planning pre-set calculates the morphological parameters of described first driving part and described second driving part;

Wherein, described morphological parameters is for characterizing the deformation quantity of described first driving part and described second driving part.

4. control method according to claim 1, is characterized in that, based on planned motion path, calculates the kinetic parameter of described first driving part and described second driving part, comprising:

According to planned motion path, calculate the translation parameters of position, described first area and described second driving part;

Wherein, described translation parameters is for characterizing the translational movement of described first driving part and described second driving part.

5. control method according to claim 1, is characterized in that, described method also comprises: the friction parameter obtaining the motion path planned; Correspondingly,

Described based on planned motion path, calculate morphological parameters and the kinetic parameter of described first driving part and described second driving part, comprising:

According to planned motion path, calculate the kinetic parameter of described first driving part and described second driving part;

According to described ground friction parameter and described kinetic parameter, determine the rotational parameters of described electronic equipment;

According to described rotational parameters, calculate the morphological parameters of described first driving part and described second driving part.

6. the control method according to any one of claim 1 to 5, is characterized in that, described first driving part and described second driving part are circular; Correspondingly,

The described form adjusting described first driving part and the second driving part according to described morphological parameters, comprising:

The radius size of described first driving part and the second driving part is adjusted according to described morphological parameters.

7. an electronic equipment, is characterized in that, described electronic equipment comprises the first driving part and the second driving part, and described electronic equipment can utilize described first driving part and described second driving part to carry out rotating and translation; Described electronic equipment comprises:

First acquiring unit, for obtaining the location parameter of impact point;

Planning unit, for the location parameter according to described impact point, plans the motion path of described electronic equipment;

Computing unit, for based on planned motion path, calculates morphological parameters and the kinetic parameter of described first driving part and described second driving part;

Adjustment unit, for the form according to described morphological parameters described first driving part of adjustment and the second driving part, and, adjust the movement velocity of described first driving part and the second driving part to move to described impact point on planned path according to described kinetic parameter.

8. electronic equipment according to claim 7, is characterized in that, described planning unit comprises:

Obtain subelement, for obtaining the environmental parameter of described electronic equipment in a preset range; Described impact point is in described preset range;

Planning subelement, for the location parameter according to described environmental parameter and described impact point, plans that the motion path of described electronic equipment is to evade the barrier on path.

9. electronic equipment according to claim 7, is characterized in that, described computing unit comprises:

First computation subunit, for according to planned motion path, calculates the rotational parameters of described electronic equipment;

Second computation subunit, for the rotational parameters based on described electronic equipment, and the rotation control planning pre-set calculates the morphological parameters of described first driving part and described second driving part;

Wherein, described morphological parameters is for characterizing the deformation quantity of described first driving part and described second driving part.

10. electronic equipment according to claim 7, is characterized in that, described computing unit comprises:

3rd computation subunit, for according to planned motion path, calculates the translation parameters of position, described first area and described second driving part;

Wherein, described translation parameters is for characterizing the translational movement of described first driving part and described second driving part.

11. electronic equipments according to claim 7, is characterized in that, described electronic equipment also comprises: second acquisition unit, for obtaining the friction parameter of planned motion path;

Described computing unit comprises:

4th computation subunit, for according to planned motion path, calculates the kinetic parameter of described first driving part and described second driving part;

Determine subelement, for according to described ground friction parameter and described kinetic parameter, determine the rotational parameters of described electronic equipment;

5th computation subunit, for according to described rotational parameters, calculates the morphological parameters of described first driving part and described second driving part.

12. electronic equipments according to any one of claim 7 to 11, is characterized in that, described first driving part and described second driving part are circular; Correspondingly,

Described adjustment unit, also for the radius size according to described morphological parameters described first driving part of adjustment and the second driving part.