CN105269583A - Robot motion control method and device and robot - Google Patents
Robot motion control method and device and robot Download PDFInfo
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- CN105269583A CN105269583A CN201510724705.2A CN201510724705A CN105269583A CN 105269583 A CN105269583 A CN 105269583A CN 201510724705 A CN201510724705 A CN 201510724705A CN 105269583 A CN105269583 A CN 105269583A
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Abstract
The invention discloses a robot motion control method and a device and a robot, relates to the technical field of artificial intelligence, and solves the problem of robot damage easily caused by the robot motion control in the prior art. The method comprises the following steps: present theoretical velocity, target velocity and power parameters of robot motion are obtained; present actual velocity of the robot is determined according to the present theoretical velocity and the power parameters; and speed change time needed by the speed change is determined according to the difference between the target velocity and the present actual velocity and preset acceleration, so that the robot uses uniform variable speed change of the acceleration as the target velocity.
Description
Technical field
The present invention relates to field of artificial intelligence, particularly relate to a kind of motion planning and robot control method, device and robot.
Background technology
Along with the depth development of Internet of Things and Smart Home, smart machine also increases thereupon, and for the ease of management with control, robot becomes the center of these smart machines gradually.Robot can move to appointed place according to instruction, and operates accordingly, for the use of Smart Home provides a great convenience.But, in robot running, stop immediately if robot receives to cease and desist order, then there will be " bringing to a halt " situation, cause the parts such as robot head, waist to rock, injuredly even to come off.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of motion planning and robot control method, device and robot, the problem that the motion control in order to solve robot in prior art easily causes robot injured.
On the one hand, the invention provides a kind of motion planning and robot control method, comprising: obtain the current theoretical velocity of robot motion, target velocity and kinetic parameter; The current actual speed of described robot is determined according to described current theoretical velocity and described kinetic parameter; According to difference and the default acceleration of described target velocity and described current actual speed, determine the shifting time required for velocity variations, be changed to described target velocity to make described robot with the even speed change of described acceleration.
Optionally, described kinetic parameter comprises battery electric quantity percentage or driving voltage.
Optionally, describedly determine that the current actual speed of described robot comprises according to described current theoretical velocity and described kinetic parameter: if described kinetic parameter is greater than or equal to first threshold, determine that described current actual speed equals described current theoretical velocity; If described kinetic parameter is lower than described first threshold and higher than described Second Threshold, determine that described current actual speed equals described current theoretical velocity and is multiplied by correction factor, wherein, described Second Threshold is less than described first threshold, and described correction factor is greater than 0 and is less than 1.
Optionally, described kinetic parameter is battery electric quantity percentage, described correction factor equal described battery electric quantity percentage square.
Optionally, described kinetic parameter is driving voltage, the described acquisition current theoretical velocity of robot motion, target velocity and kinetic parameter comprise: obtain described current theoretical velocity and described target velocity by reading speed settings, obtain described kinetic parameter by the driving voltage reading input motor; Described determine the current actual speed of described robot according to described current theoretical velocity and described kinetic parameter before, described method also comprises: according to mapping table or functional relation, described driving voltage is changed into corresponding battery electric quantity percentage; Describedly determine that the current actual speed of described robot comprises according to described current theoretical velocity and described kinetic parameter: if described battery electric quantity percentage is greater than or equal to first threshold, determine that described current actual speed equals described current theoretical velocity; If described battery electric quantity percentage is lower than described first threshold and higher than described Second Threshold, determine that described current actual speed equals described current theoretical velocity and is multiplied by correction factor, wherein, described Second Threshold is less than described Second Threshold, described correction factor equal described battery electric quantity percentage square.
Optionally, described first threshold is 95%, and described Second Threshold is 10%.
On the other hand, the present invention also provides a kind of robot movement control device, comprising: acquiring unit, for obtaining the current theoretical velocity of robot motion, target velocity and kinetic parameter; Speed determining unit, for determining the current actual speed of described robot according to described current theoretical velocity and described kinetic parameter; Time determining unit, also for according to the difference of described target velocity and described current actual speed and default acceleration, determines the shifting time required for velocity variations, is changed to described target velocity to make described robot with the even speed change of described acceleration.
Optionally, described kinetic parameter comprises battery electric quantity percentage or driving voltage.
Optionally, described speed determining unit, specifically for: if described kinetic parameter is greater than or equal to first threshold, determine that described current actual speed equals described current theoretical velocity; If described kinetic parameter is lower than described first threshold and higher than described Second Threshold, determine that described current actual speed equals described current theoretical velocity and is multiplied by correction factor, wherein, described Second Threshold is less than described Second Threshold, and described correction factor is greater than 0 and is less than 1.
Optionally, described kinetic parameter is battery electric quantity percentage, described correction factor equal described battery electric quantity percentage square.
Optionally, described kinetic parameter is driving voltage, described acquiring unit, specifically for obtaining described current theoretical velocity and described target velocity by reading speed settings, obtains described kinetic parameter by the driving voltage reading input motor; Described device also comprises conversion unit, for before determining the current actual speed of described robot according to described current theoretical velocity and described kinetic parameter, according to mapping table or functional relation, described driving voltage is changed into corresponding battery electric quantity percentage; Described speed determining unit, specifically for: if described battery electric quantity percentage is greater than or equal to first threshold, determine that described current actual speed equals described current theoretical velocity; If described battery electric quantity percentage is lower than described first threshold and higher than described Second Threshold, determine that described current actual speed equals described current theoretical velocity and is multiplied by correction factor, wherein, described Second Threshold is less than described Second Threshold, described correction factor equal described battery electric quantity percentage square.
On the other hand, the present invention also provides a kind of robot, comprises any one robot movement control device provided by the invention.
The motion planning and robot control method that the embodiment of the present invention provides, device and robot, the current theoretical velocity of robot motion can be obtained, target velocity and kinetic parameter, and the current actual speed of described robot is determined according to described current theoretical velocity and described kinetic parameter, then according to difference and the default acceleration of described target velocity and described current actual speed, determine the shifting time required for velocity variations, to make described robot be changed to described target velocity with the even speed change of described acceleration, thus avoid robot speed and to suddenly change the damage brought, effectively improve robot performance.
Accompanying drawing explanation
Fig. 1 is a kind of flow chart of the motion planning and robot control method that the embodiment of the present invention provides;
Fig. 2 is the another kind of flow chart of the motion planning and robot control method that the embodiment of the present invention provides;
Fig. 3 is a kind of structural representation of the robot movement control device that the embodiment of the present invention provides.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in detail.Should be appreciated that specific embodiment described herein only in order to explain the present invention, do not limit the present invention.
As shown in Figure 1, embodiments of the invention provide a kind of motion planning and robot control method, comprising:
S11, obtains the current theoretical velocity of robot motion, target velocity and kinetic parameter;
S12, determines the current actual speed of described robot according to described current theoretical velocity and described kinetic parameter;
S13, according to difference and the default acceleration of described target velocity and described current actual speed, determines the shifting time required for velocity variations, is changed to described target velocity to make described robot with the even speed change of described acceleration.
The motion planning and robot control method that the embodiment of the present invention provides, the current theoretical velocity of robot motion can be obtained, target velocity and kinetic parameter, and the current actual speed of described robot is determined according to described current theoretical velocity and described kinetic parameter, then according to difference and the default acceleration of described target velocity and described current actual speed, determine the shifting time required for velocity variations, to make described robot be changed to described target velocity with the even speed change of described acceleration, thus avoid robot speed and to suddenly change the damage brought, effectively improve robot performance.
Understandable, robot can move to appointed place and complete appointed task under the control of user or terminal, is generally therefore all provide power with energy storage devices such as batteries.Such thing followed problem is exactly, and along with the release of energy storage device energy, it externally provides the ability of power also can relatively decline, and therefore, for the movement velocity that software program is arranged, robot may not just can reach.Therefore, the movement velocity obtained by reading parameters is not likely the current true velocity of robot, carrys out controlled motion speeds control just accurate not according to reading parameters yet.
In order to solve the problem, the embodiment of the present invention in step s 11, obtain the current theoretical velocity of robot motion, target velocity and kinetic parameter respectively, wherein kinetic parameter can be the parameter of all sign robot power situations, as battery electric quantity percentage or driving voltage etc.Current theoretical velocity and target velocity can be obtained by the parameters in fetch program or register, and kinetic parameter by directly reading the state parameter of dynamical system, also can go out corresponding kinetic parameter by the power estimation of the actual acquisition of motor.
Specifically, in step s 12, determine that the current actual speed of described robot comprises according to described current theoretical velocity and described kinetic parameter:
If described kinetic parameter is greater than or equal to first threshold, determine that described current actual speed equals described current theoretical velocity;
If described kinetic parameter is lower than described first threshold and higher than described Second Threshold, determine that described current actual speed equals described current theoretical velocity and is multiplied by correction factor, wherein, described Second Threshold is less than described first threshold, and described correction factor is greater than 0 and is less than 1.
That is, if kinetic parameter is higher, illustrate and can provide comparatively sufficient power to robot, then current actual speed can be equal with current theoretical velocity.Otherwise if kinetic parameter is lower, illustrate that the power provided to robot is not enough to some extent, current actual speed should be less than current theoretical velocity, therefore needs to revise current theoretical value.Optionally, correction factor can be relevant to kinetic parameter.Such as, in one embodiment of the invention, kinetic parameter is battery electric quantity percentage, then described correction factor equal described battery electric quantity percentage square.Certainly, in other embodiments of the invention, correction factor and kinetic parameter can also have other functional relations, and embodiments of the invention are not limit this.
Optionally, in another embodiment of the present invention, kinetic parameter is driving voltage, then obtain the current theoretical velocity of robot motion, target velocity and kinetic parameter in step S11 specifically can comprise: obtain described current theoretical velocity and target velocity by reading speed settings, obtain described kinetic parameter by the driving voltage reading input motor.Described in step S12 determine the current actual speed of described robot according to described current theoretical velocity and described kinetic parameter before, the motion planning and robot control method that the present embodiment provides also comprises: according to mapping table or functional relation, described driving voltage is changed into corresponding battery electric quantity percentage; Accordingly, describedly determine that the current actual speed of described robot specifically can comprise according to described current theoretical velocity and described kinetic parameter:
If described battery electric quantity percentage is greater than or equal to first threshold, determine that described current actual speed equals described current theoretical velocity;
If described battery electric quantity percentage is lower than described first threshold and higher than described Second Threshold, determine that described current actual speed equals described current theoretical velocity and is multiplied by correction factor, wherein, described Second Threshold is less than described Second Threshold, described correction factor equal described battery electric quantity percentage square.
Optionally, in above-described embodiment, the concrete numerical value of first threshold and Second Threshold can define according to the feature of robot dynamical system and choose, and such as, first threshold can be 95%, and Second Threshold can be 10%.
In step s 13, according to the difference of current actual speed and target velocity and default acceleration, the shifting time required for velocity variations can be determined, is changed to described target velocity to make described robot with the even speed change of described acceleration.Such as, in one embodiment of the invention, the current actual speed of robot is 60 revolutions per seconds, and target velocity is 10 revolutions per seconds, in order to not cause damage to robot, can make robot, in 2 ~ 4 seconds, speed be dropped to 10 revolutions per seconds from 60 revolutions per seconds.
Below by specific embodiment, motion planning and robot control method provided by the invention is described in detail.As shown in Figure 2, in the present embodiment, motion planning and robot control method can comprise the steps:
201, obtain current theoretical velocity v1, target velocity v3 and the driving voltage u of robot, and according to voltage-capacity mapping table, driving voltage u is changed into corresponding battery electric quantity percentage b;
Optionally, the current theoretical velocity of robot can be 0-100 revolutions per second.
202, robot actual speed v2 is obtained according to current theoretical velocity v1 and battery electric quantity percentage b;
As 95%<=b<=100%, v2=v1.
As 10%<b<95%, v2=n*b*b.
As b<=10%, periods of robot operation stop, prompting needs charging.
When electricity is more than 95%, electricity is sufficient, and the rotating speed of user's setting just represents robot actual speed.Be not very sufficient at electricity, but can not affect again robot when running, through actual multiple authentication, robot now actual speed is n*b*b revolutions per second.When electricity lower than 10% time, electricity is obviously on the low side, directly stops, can not cause " bringing to a halt " phenomenon, robot electric quantity is not enough to maintain the operation of whole robot, in order to prevent the electricity injury to robot on the low side simultaneously, now robot is not only out of service, and quits work.
203, evenly target velocity v3 is decelerated to;
Obtain actual speed v, according to the target velocity v3 arranged and the acceleration of presetting, just appropriately reasonably can obtain the time period of slowing down, progressively reduce the speed of service, thus reach the object of the even deceleration of robot.Such as, the acceleration that can set robot is less than 25 revolutions per seconds
2, to avoid damaging robot.
Accordingly, as shown in Figure 3, embodiments of the invention also provide a kind of robot movement control device, comprising:
Acquiring unit 31, for obtaining the current theoretical velocity of robot motion, target velocity and kinetic parameter;
Speed determining unit 32, for determining the current actual speed of described robot according to described current theoretical velocity and described kinetic parameter;
Time determining unit 33, also for according to the difference of described target velocity and described current actual speed and default acceleration, determines the shifting time required for velocity variations, is changed to described target velocity to make described robot with the even speed change of described acceleration.
The robot movement control device that the embodiment of the present invention provides, acquiring unit 31 can obtain the current theoretical velocity of robot motion, target velocity and kinetic parameter, speed determining unit 32 can determine the current actual speed of described robot according to described current theoretical velocity and described kinetic parameter, time determining unit 33 can according to the difference of described target velocity and described current actual speed, determine the shifting time required for velocity variations, to make described robot be changed to described target velocity with the even speed change of described acceleration, thus avoid robot speed and to suddenly change the damage brought, effectively improve robot performance.
Optionally, described kinetic parameter can comprise battery electric quantity percentage or driving voltage.
Optionally, speed determining unit 32, specifically for:
If described kinetic parameter is greater than or equal to first threshold, determine that described current actual speed equals described current theoretical velocity;
If described kinetic parameter is lower than described first threshold and higher than described Second Threshold, determine that described current actual speed equals described current theoretical velocity and is multiplied by correction factor, wherein, described Second Threshold is less than described Second Threshold, and described correction factor is greater than 0 and is less than 1.
Optionally, described kinetic parameter is battery electric quantity percentage, described correction factor equal described battery electric quantity percentage square.
Optionally, described kinetic parameter is driving voltage, described acquiring unit, specifically for obtaining described current theoretical velocity and described target velocity by reading speed settings, obtains described kinetic parameter by the driving voltage reading input motor; Described device also comprises conversion unit, for before determining the current actual speed of described robot according to described current theoretical velocity and described kinetic parameter, according to mapping table or functional relation, described driving voltage is changed into corresponding battery electric quantity percentage; Described speed determining unit, specifically for: if described battery electric quantity percentage is greater than or equal to first threshold, determine that described current actual speed equals described current theoretical velocity; If described battery electric quantity percentage is lower than described first threshold and higher than described Second Threshold, determine that described current actual speed equals described current theoretical velocity and is multiplied by correction factor, wherein, described Second Threshold is less than described Second Threshold, described correction factor equal described battery electric quantity percentage square.
Accordingly, the present invention also provides a kind of robot, comprises any one robot movement control device that previous embodiment provides, therefore also can realize corresponding technique effect, be described in detail above, repeat no more herein.
Although be example object, disclose the preferred embodiments of the present invention, it is also possible for those skilled in the art will recognize various improvement, increase and replacement, and therefore, scope of the present invention should be not limited to above-described embodiment.
Claims (12)
1. a motion planning and robot control method, is characterized in that, comprising:
Obtain the current theoretical velocity of robot motion, target velocity and kinetic parameter;
The current actual speed of described robot is determined according to described current theoretical velocity and described kinetic parameter;
According to difference and the default acceleration of described target velocity and described current actual speed, determine the shifting time required for velocity variations, be changed to described target velocity to make described robot with the even speed change of described acceleration.
2. method according to claim 1, is characterized in that, described kinetic parameter comprises battery electric quantity percentage or driving voltage.
3. method according to claim 2, is characterized in that, describedly determines that the current actual speed of described robot comprises according to described current theoretical velocity and described kinetic parameter:
If described kinetic parameter is greater than or equal to first threshold, determine that described current actual speed equals described current theoretical velocity;
If described kinetic parameter is lower than described first threshold and higher than described Second Threshold, determine that described current actual speed equals described current theoretical velocity and is multiplied by correction factor, wherein, described Second Threshold is less than described first threshold, and described correction factor is greater than 0 and is less than 1.
4. method according to claim 3, is characterized in that, described kinetic parameter is battery electric quantity percentage, described correction factor equal described battery electric quantity percentage square.
5. method according to claim 2, is characterized in that, described kinetic parameter is driving voltage, and the current theoretical velocity of described acquisition robot motion, target velocity and kinetic parameter comprise:
Obtain described current theoretical velocity and described target velocity by reading speed settings, obtain described kinetic parameter by the driving voltage reading input motor;
Described determine the current actual speed of described robot according to described current theoretical velocity and described kinetic parameter before, described method also comprises: according to mapping table or functional relation, described driving voltage is changed into corresponding battery electric quantity percentage;
Describedly determine that the current actual speed of described robot comprises according to described current theoretical velocity and described kinetic parameter:
If described battery electric quantity percentage is greater than or equal to first threshold, determine that described current actual speed equals described current theoretical velocity;
If described battery electric quantity percentage is lower than described first threshold and higher than described Second Threshold, determine that described current actual speed equals described current theoretical velocity and is multiplied by correction factor, wherein, described Second Threshold is less than described Second Threshold, described correction factor equal described battery electric quantity percentage square.
6. the method according to claim 4 or 5, is characterized in that, described first threshold is 95%, and described Second Threshold is 10%.
7. a robot movement control device, is characterized in that, comprising:
Acquiring unit, for obtaining the current theoretical velocity of robot motion, target velocity and kinetic parameter;
Speed determining unit, for determining the current actual speed of described robot according to described current theoretical velocity and described kinetic parameter;
Time determining unit, also for according to the difference of described target velocity and described current actual speed and default acceleration, determines the shifting time required for velocity variations, is changed to described target velocity to make described robot with the even speed change of described acceleration.
8. device according to claim 7, is characterized in that, described kinetic parameter comprises battery electric quantity percentage or driving voltage.
9. device according to claim 8, is characterized in that, described speed determining unit, specifically for:
If described kinetic parameter is greater than or equal to first threshold, determine that described current actual speed equals described current theoretical velocity;
If described kinetic parameter is lower than described first threshold and higher than described Second Threshold, determine that described current actual speed equals described current theoretical velocity and is multiplied by correction factor, wherein, described Second Threshold is less than described Second Threshold, and described correction factor is greater than 0 and is less than 1.
10. device according to claim 9, is characterized in that, described kinetic parameter is battery electric quantity percentage, described correction factor equal described battery electric quantity percentage square.
11. devices according to claim 8, it is characterized in that, described kinetic parameter is driving voltage, described acquiring unit, specifically for obtaining described current theoretical velocity and described target velocity by reading speed settings, obtain described kinetic parameter by the driving voltage reading input motor;
Described device also comprises conversion unit, for before determining the current actual speed of described robot according to described current theoretical velocity and described kinetic parameter, according to mapping table or functional relation, described driving voltage is changed into corresponding battery electric quantity percentage;
Described speed determining unit, specifically for:
If described battery electric quantity percentage is greater than or equal to first threshold, determine that described current actual speed equals described current theoretical velocity;
If described battery electric quantity percentage is lower than described first threshold and higher than described Second Threshold, determine that described current actual speed equals described current theoretical velocity and is multiplied by correction factor, wherein, described Second Threshold is less than described Second Threshold, described correction factor equal described battery electric quantity percentage square.
12. 1 kinds of robots, is characterized in that, comprise the robot movement control device according to any one of claim 7 to 11.
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| CN108356821A (en) * | 2017-01-26 | 2018-08-03 | 发那科株式会社 | Robot program's correcting device, robot controller, robot simulation apparatus and robot program's modification method |
| CN110815233A (en) * | 2019-11-28 | 2020-02-21 | 北京云迹科技有限公司 | Robot driving method, device, storage medium and robot |
| CN110872067A (en) * | 2018-09-01 | 2020-03-10 | 广西大学 | Trash remover control system capable of increasing water entry depth through accelerated descending |
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