CN105785981A - Track robot motion control method based on two-dimensional rocker - Google Patents

Track robot motion control method based on two-dimensional rocker Download PDF

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Publication number
CN105785981A
CN105785981A CN201610254518.7A CN201610254518A CN105785981A CN 105785981 A CN105785981 A CN 105785981A CN 201610254518 A CN201610254518 A CN 201610254518A CN 105785981 A CN105785981 A CN 105785981A
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CN
China
Prior art keywords
rocking bar
motion
track
caterpillar robot
data
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Pending
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CN201610254518.7A
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Chinese (zh)
Inventor
伍锡如
王方
刘金霞
党选举
于婷
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Guilin University of Electronic Technology
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Guilin University of Electronic Technology
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Application filed by Guilin University of Electronic Technology filed Critical Guilin University of Electronic Technology
Priority to CN201610254518.7A priority Critical patent/CN105785981A/en
Publication of CN105785981A publication Critical patent/CN105785981A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G05D1/0016—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the operator's input device

Abstract

The invention discloses a track robot motion control method based on a two-dimensional rocker. The method comprises the following steps: S1, the two-dimensional rocker is manipulated, and voltage signals outputted by the two-dimensional rocker on a remote controller are acquired; S2, the acquired two-dimensional rocker voltage signals are converted into digital signals; S3, the converted digital signals are filtered; S4, data calibration is carried out on the filtered data, and rocker coordinate data are generated; S5, the rocker coordinate data change in the fourth step is recorded, data analysis is carried out, and a control variable is obtained; S6, the obtained control variable is sent to the track robot via the remote controller; and S7, after receiving the control variable, the track robot completes motions on the ground. One two-dimensional rocker is used for completing all motions of the track robot on the ground, and when the rocker is manipulated to control the track robot, motion speed instruction data of a left track and a right track are continuous, the robot track motion speed in one effective control trajectory has no jump point, and the mobility of the robot is improved.

Description

A kind of based on two dimension rocking bar to caterpillar robot motion control method
Technical field
The present invention relates to tracked remote-control robot to control and motion mode field, be specially one based on two dimension rocking bar to caterpillar robot motion control method.
Background technology
Caterpillar type robot Area of bearing when advancing is big, and the pressure on ground is little, is suitable for operation in the presence of a harsh environment, and off-road mobility can be strong.Therefore caterpillar type robot has consequence in modern mobile apparatus people field.Remotely controlled tracked robot is generally adopted the control method of two dimension rocking bar, and owing to two crawler belts are completely independent, therefore control method also has varied.
The actions such as caterpillar robot relies on the crawler belt of the body left and right sides to realize advancing with ground friction when ground motion, retreats, turns, original place rotation.Existing caterpillar type robot remote control system many employings double rocking lever controls or single rocking bar and gear Comprehensive Control, if adopting a two-dimentional rocking bar to control, there will be robot motion's attitude disappearance, reduce the mobility of robot, or robot crawler track speeds controlled quentity controlled variable is discontinuous, cause that drive system of robot works long hours when controlled quentity controlled variable is suddenlyd change, reduce track machines service life.
Summary of the invention
It is an object of the invention to provide one based on two dimension rocking bar to caterpillar robot motion control method, with the problem solving to propose in above-mentioned background technology.
For achieving the above object, the present invention provides following technical scheme: one, comprises the following steps caterpillar robot motion control method based on two dimension rocking bar:
S1: handle two dimension rocking bar, and gather the voltage signal of two dimension rocking bar output on remote controller；
S2: convert the two-dimentional rocking bar voltage signal gathered to digital signal；
S3: the digital signal after conversion is filtered；
S4: filtered data carry out data scaling, generates rocking bar coordinate data；
S5: the rocking bar coordinate data change in recording step S4, carries out data parsing, obtains controlled quentity controlled variable；
S6: the controlled quentity controlled variable obtained is sent to caterpillar robot by remote controller；
S7: caterpillar robot receives controlled quentity controlled variable and completes motion on the ground.
Preferably, described step S5 is again introduced into region A with rocking bar number of coordinates from region A to rocking bar coordinate data for mark, is divided into and effectively controls track, data are divided into advance track by controlling track starting direction and retreat track.
Preferably, in advance track, rocking bar data caterpillar robot direction of motion when coordinates regional 1 is right front, when coordinates regional 2, the caterpillar robot direction of motion is left front, when coordinates regional 3 the caterpillar robot direction of motion be original place to anticlockwise, when coordinates regional 4, the caterpillar robot direction of motion is original place to right rotation；It is original place to right rotation retreating rocking bar data caterpillar robot direction of motion when coordinates regional 1 in track, when coordinates regional 2, the caterpillar robot direction of motion is original place to anticlockwise, when coordinates regional 3, the caterpillar robot direction of motion is left back, and when coordinates regional 4, the caterpillar robot direction of motion is right front.
Preferably, the controlled quentity controlled variable in described step S5 includes speed and the direction of caterpillar robot left and right crawler belt.
Compared with prior art, the invention has the beneficial effects as follows: the present invention utilizes a two-dimentional rocking bar to complete all motion modes on ground of caterpillar robot, and when manipulating rocking bar and controlling caterpillar robot, left and right caterpillar drive speed command data are continuous, it is absent from trip point once effectively controlling track inner machine people's caterpillar drive speed, improves the mobility of robot.
Accompanying drawing explanation
Fig. 1 is two dimension rocking bar coordinate data zoning schematic diagram；
Fig. 2 is advance track and retreats track regions schematic diagram；
Fig. 3 is data parsing flow chart.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.
Referring to Fig. 1-3, the present invention provides a kind of technical scheme: one, comprises the following steps caterpillar robot motion control method based on two dimension rocking bar:
S1: handle two dimension rocking bar, and gather the voltage signal of two dimension rocking bar output on remote controller；
S2: convert the two-dimentional rocking bar voltage signal gathered to digital signal；
S3: the digital signal after conversion is filtered；
S4: filtered data carry out data scaling, generates rocking bar coordinate data；
S5: the rocking bar coordinate data change in recording step S4, carry out data parsing, data analysis process is: be again introduced into region A with rocking bar number of coordinates from region A to rocking bar coordinate data for mark, it is divided into and effectively controls track, data are divided into advance track by controlling track starting direction and retreat track, concrete, in advance track, rocking bar data caterpillar robot direction of motion when coordinates regional 1 is right front, when coordinates regional 2, the caterpillar robot direction of motion is left front, when coordinates regional 3, the caterpillar robot direction of motion is original place to anticlockwise, when coordinates regional 4, the caterpillar robot direction of motion is original place to right rotation；It is original place to right rotation retreating rocking bar data caterpillar robot direction of motion when coordinates regional 1 in track, when coordinates regional 2, the caterpillar robot direction of motion is original place to anticlockwise, when coordinates regional 3, the caterpillar robot direction of motion is left back, and when coordinates regional 4, the caterpillar robot direction of motion is right front；Obtaining controlled quentity controlled variable after analysis, controlled quentity controlled variable includes speed and the direction of caterpillar robot left and right crawler belt；
S6: the controlled quentity controlled variable obtained is sent to caterpillar robot by remote controller；
S7: caterpillar robot receives controlled quentity controlled variable and completes motion on the ground.
Rocking bar coordinate data is on coordinate plane XY, and rocking bar shakes low order end X-axis output valve scope 0～X from high order endmax, rocking bar shakes the top Y-axis output valve scope 0～Y from bottommax.The static maximum drift amount P of rocking barf, the radius of region A is Pf。
When beeper manipulates two dimension rocking bar, rocking bar data map on the plane xy, rocking bar X-axis output valve scope 0～Xmax, Y-axis output valve scope 0～Ymax.The static maximum drift amount P of rocking barf。
X-axis gathers data Xd, Y-axis gathers data Yd。
Controlled quentity controlled variable: left caterpillar drive direction Ld, left caterpillar drive speed Ls, right-hand track chiain direction of motion Rd, right-hand track chiain movement velocity Rs.Contract motion direction travels forward when being 1, the rearward movement when direction of motion is 0.
Two dimension rocking bar data are divided zones of different, and region R represents, as shown in Figure 1.
At Xd>Xmax/ 2 and Yd>YmaxWhen/2, R=1；
At Xd<Xmax/ 2 and Yd>YmaxWhen/2, R=2；
At Xd<Xmax/ 2 and Yd<YmaxWhen/2, R=3；
At Xd>Xmax/ 2 and Yd<YmaxWhen/2, R=4；
Region A be rocking bar static time data variation scope, in this method with region A for rocking bar inactive area, in this region, controlled quentity controlled variable is 0.Region 1, region 2, region 3, region 4 is collectively referred to as effective coverage.
Rocking bar original state, in inactive area, is again introduced into inactive area when manipulator operates after rocking bar leaves inactive area entrance effective coverage, is called and once effectively controls track.
X-axis is initial control direction cut-off rule, when the starting point once effectively controlling track is oriented to:
Region, A to Y >=0, region, then be called advance track.
Region A to Y < 0 region, then be called retrogressing track.
In track process of once advancing, the controlled quentity controlled variable of output follows following formula:
When region 1, namely as R=1:
Ld=1；
Rd=1；Rs=Yd
When region 2, namely as R=2:
Ld=1；Ls=Yd
Rd=1；
When region 3, namely as R=3:
Work as Xd<YdTime:
Ld=0；
Rd=1；
Work as Xd>YdTime:
Ld=0；
Rd=1；Rs=Ls
When region 4, namely as R=4:
Work as Xd>-YdTime:
Ld=1；
Rd=0；
Work as Xd<-YdTime:
Ld=1；
Rd=0；Ls=Rs
In once retreating track process, the controlled quentity controlled variable of output follows following formula: when region 3, namely as R=3:
Ld=0；Ls=-Yd
Rd=0；
When region 4, namely as R=4:
Ld=0；
Rd=0；Rs=-Yd
When region 1, namely as R=1:
Work as Xd>YdTime:
Ld=0；
Rd=1；
Work as Xd<YdTime:
Ld=0；
Rd=1；Rs=Ls
When region 2, namely as R=2:
Work as Xd<-YdTime:
Ld=1；
Rd=0；
Work as Xd>-YdTime:
Ld=1；
Rd=0；Ls=Rs
In Fig. 2, L1 is the track that once advances, and L2 is for once to retreat track, and Fig. 3 is data parsing flow chart.Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, being appreciated that and these embodiments can be carried out multiple change, amendment, replacement and modification without departing from the principles and spirit of the present invention, the scope of the present invention be defined by the appended.

Claims (4)

1. one kind based on two dimension rocking bar to caterpillar robot motion control method, it is characterised in that comprise the following steps:
S1: handle two dimension rocking bar, and gather the voltage signal of two dimension rocking bar output on remote controller；
S2: convert the two-dimentional rocking bar voltage signal gathered to digital signal；
S3: the digital signal after conversion is filtered；
S4: filtered data carry out data scaling, generates rocking bar coordinate data；
S5: the rocking bar coordinate data change in recording step S4, carries out data parsing, obtains controlled quentity controlled variable；
S6: the controlled quentity controlled variable obtained is sent to caterpillar robot by remote controller；
S7: caterpillar robot receives controlled quentity controlled variable and completes motion on the ground.
2. one according to claim 1 based on two dimension rocking bar to caterpillar robot motion control method, it is characterized in that: described step S5 is again introduced into region A with rocking bar number of coordinates from region A to rocking bar coordinate data for mark, it is divided into and effectively controls track, data are divided into advance track by controlling track starting direction and retreat track.
3. one according to claim 2 based on two dimension rocking bar to caterpillar robot motion control method, it is characterized in that: in advance track, rocking bar data caterpillar robot direction of motion when coordinates regional 1 is right front, when coordinates regional 2, the caterpillar robot direction of motion is left front, when coordinates regional 3 the caterpillar robot direction of motion be original place to anticlockwise, when coordinates regional 4, the caterpillar robot direction of motion is original place to right rotation；It is original place to right rotation retreating rocking bar data caterpillar robot direction of motion when coordinates regional 1 in track, when coordinates regional 2, the caterpillar robot direction of motion is original place to anticlockwise, when coordinates regional 3, the caterpillar robot direction of motion is left back, and when coordinates regional 4, the caterpillar robot direction of motion is right front.
4. one according to claim 1 based on two dimension rocking bar to caterpillar robot motion control method, it is characterised in that: the controlled quentity controlled variable in described step S5 includes speed and the direction of caterpillar robot left and right crawler belt.
CN201610254518.7A 2016-04-22 2016-04-22 Track robot motion control method based on two-dimensional rocker Pending CN105785981A (en)

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Cited By (3)

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CN109822599A (en) * 2019-03-05 2019-05-31 浙江华消科技有限公司 Motion control method, device, system and the storage medium of caterpillar type robot
CN111001155A (en) * 2019-11-22 2020-04-14 深圳市七熊科技有限公司 Method for determining operation direction of rocker and rocker device
CN112558579A (en) * 2020-12-10 2021-03-26 上海格士消防安全设备有限公司 Rocker control method for fire-fighting robot

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CN111001155A (en) * 2019-11-22 2020-04-14 深圳市七熊科技有限公司 Method for determining operation direction of rocker and rocker device
CN112558579A (en) * 2020-12-10 2021-03-26 上海格士消防安全设备有限公司 Rocker control method for fire-fighting robot

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