CN105425787A - Double-wheel differential control method of golf caddy robot - Google Patents
Double-wheel differential control method of golf caddy robot Download PDFInfo
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- CN105425787A CN105425787A CN201410480347.0A CN201410480347A CN105425787A CN 105425787 A CN105425787 A CN 105425787A CN 201410480347 A CN201410480347 A CN 201410480347A CN 105425787 A CN105425787 A CN 105425787A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000008569 process Effects 0.000 claims abstract description 7
- 230000009194 climbing Effects 0.000 abstract description 2
- 230000035945 sensitivity Effects 0.000 abstract 1
- 230000004888 barrier function Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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Abstract
The invention discloses a double-wheel differential control method, specifically a double-wheel differential control method of a golf caddy robot. The double-wheel differential control method of the golf caddy robot comprises the following steps: an information obtaining unit obtains position information from a remote control inductor, tracking signals are formed after a controller receives the position information, the tracking signals are divided into a distance signal and an angle signal, double-wheel differential-velocity signals are output after the distance signal and the angle signal are processed by a differential controller and are respectively conveyed to two brushless DC motors, the position information is obtained from the remote control inductor again, the process is repeated, and the double-wheel differential-velocity signals after adjustments are output. The method has the advantages of high control sensitivity, high tracking precision, the large torque, the high climbing load-carrying capability and the like, and a close-range automatic tracking function is achieved in a low-power-consumption condition.
Description
Technical field
The present invention relates to control method.
Background technology
The present invention is directed to a kind of golf caddie robot that can independently follow the tracks of and propose two-wheel differential speed control method.
Generally speaking by using differential mechanism to realize differential mechanism, structure relative complex, maintenance difficulty is large, cost is higher, and therefore the present invention adopts two-wheel differential to solve this problem.
Summary of the invention
In order to achieve the above object, the present invention proposes a kind of two-wheel differential speed control method of golf caddie robot.
The object of the embodiment of the present invention is to provide a kind of two-wheel differential speed control method of golf caddie robot, and it can realize in-plant automatic tracking function under low-power consumption condition.
According to an aspect of the embodiment of the present invention, provide a kind of control method, be applied to golf caddie robot, described control method comprises: information acquisition unit obtains positional information from remote control inductor, controller forms tracking signal after accepting positional information, tracking signal is divided into distance signal and angle signal, distance signal and angle signal flow to two brshless DC motors respectively via exporting two-wheel differential signal after differential controller process, again obtain positional information from remote control inductor, after repeating said process, export the two-wheel differential signal after adjustment.
In above-mentioned control method, the described positional information obtained from remote control inductor comprises: range information and azimuth information.
In above-mentioned control method, describedly obtain positional information by information acquisition unit, wherein information acquisition unit comprises:
Odometer, is configured to obtain the range information with remote control inductor;
Angle gauge, is configured to obtain the azimuth information with remote control inductor;
Differential controller, is configured to be controlled advancing of the robot under described condition based on described distance and bearing angle information.
In above-mentioned control method, described as range information < 1.5m, controller is out of service;
As azimuth information < 3 °, controller is out of service.
In above-mentioned control method, described range information and azimuth information are 0.1s with new frequency, and namely each time interval again obtaining range information and azimuth information is 0.1s.
In above-mentioned control method, the odometer of low precision and the angle gauge of low precision when described odometer and described angle gauge.
By the control method according to the embodiment of the present invention, golf perambulator can realize in-plant automatic tracking function under the low-power consumption condition not needing accurate distance and azimuth information.And have and control the advantages such as highly sensitive, tracking accuracy is high, moment of torsion is large, climbing lifting capacity is strong.
Accompanying drawing illustrates:
Fig. 1 is control principle schematic diagram of the present invention; Fig. 2 is control flow schematic diagram of the present invention.
Embodiment:
Now by reference to the accompanying drawings the present invention is described further.
According to an aspect of the embodiment of the present invention, provide a kind of control method, be applied to golf caddie robot, described control method comprises: S1 information acquisition unit obtains positional information from remote control inductor, S2 controller forms tracking signal after accepting positional information, tracking signal is divided into distance signal and angle signal, S3 distance signal and angle signal flow to two brshless DC motors respectively via exporting two-wheel differential signal after differential controller process, S4 obtains positional information from remote control inductor again, and S5 exports the two-wheel differential signal after adjustment.
Fig. 2 is the schematic flow sheet of the control method according to the embodiment of the present invention.As shown in Figure 2, information acquisition unit obtains positional information from remote control inductor, positional information comprises the azimuth information that the range information that provided by odometer and angle gauge provide, above-mentioned information provides torque via the brshless DC motor respectively to left and right two-wheeled after the process of differential control device, electric machine rotation drives golf caddie robot to advance action, meet barrier sensor in traveling process and detect barrier situation constantly, if meet obstacle, produced by avoidance obstacle device and keep away barrier signal, this is kept away barrier signal input differential controller, thus realize barrier avoiding function.The every 0.1s of information acquisition unit accepts a positional information, to ensure tracking accuracy from remote control inductor.During as obtained range information < 1.5m or as azimuth information < 3 °, be considered as golf caddie robot and arrive destination, this Time Controller is out of service.
In this control method, do not need accurate distance and bearing information, like this, according in the golf caddie robot of the embodiment of the present invention, do not need employing to have high-precision odometer and angle gauge, significantly reduce cost.Further, when memory capacity is limited, due to do not need according to the control method of the embodiment of the present invention store before information acquisition unit obtain positional information, can storage space be saved.
According to the golf caddie robot of the embodiment of the present invention, comprising: odometer, be configured to obtain the range information with remote control inductor; Angle gauge, is configured to obtain the azimuth information with remote control inductor; Differential controller, is configured to be controlled advancing of the robot under described condition based on described distance and bearing angle information; Brshless DC motor, is configured to torque and exports carrier.
The present invention has been described in detail with reference to specific embodiment.But clearly, when not deviating from spirit of the present invention, those skilled in the art can perform change to embodiment and replace.In other words, the form that the present invention illustrates is open, instead of explains with being limited.Judge main idea of the present invention, appended claim should be considered.
Claims (7)
1. a two-wheel differential speed control method for golf caddie robot, comprising:
S1 information acquisition unit obtains positional information from remote control inductor;
S2 forms tracking signal;
Two-wheel differential signal is exported after the process of S3 controller;
S4 obtains positional information from remote control inductor again;
S5 adjusts and exports two-wheel differential signal.
2. the positional information obtained from remote control inductor as claimed in claim 1 comprises: range information and azimuth information.
3. as claimed in claim 1, obtain positional information by information acquisition unit, wherein information acquisition unit comprises:
Odometer, is configured to obtain the range information with remote control inductor;
Angle gauge, is configured to obtain the azimuth information with remote control inductor;
Differential controller, is configured to be controlled advancing of the robot under described condition based on described distance and bearing angle information.
4. as claimed in claim 2, as range information < 1.5m, controller is out of service.
5. as claimed in claim 2, as azimuth information < 5 °, controller is out of service.
6. range information and azimuth information renewal frequency are 0.1s as claimed in claim 3, and namely each time interval again obtaining range information and azimuth information is 0.1s.
7. odometer and described angle count the odometer of low precision and the angle gauge of low precision as claimed in claim 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410480347.0A CN105425787A (en) | 2014-09-19 | 2014-09-19 | Double-wheel differential control method of golf caddy robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410480347.0A CN105425787A (en) | 2014-09-19 | 2014-09-19 | Double-wheel differential control method of golf caddy robot |
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| Publication Number | Publication Date |
|---|---|
| CN105425787A true CN105425787A (en) | 2016-03-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410480347.0A Pending CN105425787A (en) | 2014-09-19 | 2014-09-19 | Double-wheel differential control method of golf caddy robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108253956A (en) * | 2017-12-29 | 2018-07-06 | 思博赛睿（北京）科技有限公司 | A kind of intelligence picks up the alignment system of tennis robot, method and device |
| CN109828568A (en) * | 2019-02-15 | 2019-05-31 | 武汉理工大学 | Ball gait optimization method is sought to the NAO robot of RoboCup match |
-
2014
- 2014-09-19 CN CN201410480347.0A patent/CN105425787A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108253956A (en) * | 2017-12-29 | 2018-07-06 | 思博赛睿（北京）科技有限公司 | A kind of intelligence picks up the alignment system of tennis robot, method and device |
| CN108253956B (en) * | 2017-12-29 | 2021-04-23 | 董明武 | Positioning system, method and device of intelligent tennis ball picking robot |
| CN109828568A (en) * | 2019-02-15 | 2019-05-31 | 武汉理工大学 | Ball gait optimization method is sought to the NAO robot of RoboCup match |
| CN109828568B (en) * | 2019-02-15 | 2022-04-15 | 武汉理工大学 | NAO robot ball-searching gait optimization method for RoboCup game |
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Application publication date: 20160323 |