CN106527439B - Motion control method and device - Google Patents
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- CN106527439B CN106527439B CN201611001937.6A CN201611001937A CN106527439B CN 106527439 B CN106527439 B CN 106527439B CN 201611001937 A CN201611001937 A CN 201611001937A CN 106527439 B CN106527439 B CN 106527439B
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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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
Abstract
The invention discloses a motion control method and a motion control device. The method comprises the following steps: receiving a first control instruction, wherein the first control instruction is used for indicating the first electronic equipment to enter an autonomous movement mode; responding to a first control instruction, and controlling the first electronic equipment to enter an autonomous motion mode; in the autonomous movement mode, when a second control instruction is received, determining a second motion vector for controlling the first electronic equipment to move based on the second control instruction, wherein the second control instruction is used for remotely controlling the first electronic equipment; and performing vector superposition on the first motion vector and the second motion vector according to a preset vector superposition rule, generating a third motion vector obtained by superposition, and controlling the first electronic equipment to move according to the third motion vector. The invention solves the problem that the position relation between the robot and the target is single when the robot is in the autonomous motion mode in the related art.
Description
Technical Field
The invention relates to the field of control, in particular to a motion control method and device.
Background
The robot can move by itself without external operations according to a preset algorithm in an autonomous movement mode, for example, a basic mode commonly used by the robot is as follows: a robot tracking (Follow me) mode, a Follow shot mode, etc. These two general basic modes are described in detail below:
1) tracking (Follow me) mode: when the robot is in the tracking mode, the robot is in a trailing state with respect to the target. The target tracking based on computer vision continuously captures the target through a visual sensor on a holder of the robot, and determines the position of the target in a screen through a computer vision algorithm, so that the visual sensor of the robot is controlled to face the tracked target all the time. In the tracking mode, the algorithm requires that the included angle between the axis of the vision sensor and the traveling direction of the robot is always adjusted to 0 degree, namely, the included angle between the axis of the vision sensor and the traveling direction of the robot is reduced by providing the steering angular velocity; in addition, the distance between the robot and the tracked target is controlled in a fixed interval, specifically, the distance between the robot and the tracked target can be controlled by controlling the acceleration of the robot in the axial direction, so that the visual sensor is in the optimal working state. In addition, under the condition of complex road conditions, the automatic obstacle avoidance function of the robot cannot completely avoid obstacles.
2) A following shooting mode: there are often high demands on the machine position, and it is necessary to capture images of a target subject from different angles and at different distances. When the robot starts the following shooting mode, the robot is in a tracking state similar to that in the tracking mode, the position and the visual angle of the robot are only controlled by a visual algorithm and are usually positioned right behind or right in front of a shot object, and the shooting visual angle is single, so that the following shooting cannot achieve the best effect.
Therefore, when the robot is in the autonomous movement mode, the position of the robot can be automatically adjusted only according to a preset algorithm, and the optimal tracking and tracking effects may not be achieved.
Aiming at the problem that the position relation between the robot and the target is single when the robot is in the autonomous motion mode in the related art, an effective solution is not provided at present.
Disclosure of Invention
The invention mainly aims to provide a robot and a motion control method and device thereof, and aims to solve the problem that the position relation between the robot and a target is single when the robot is in an autonomous motion mode in the related art.
In order to achieve the above object, according to one aspect of the present invention, there is provided a motion control method for controlling motion of a first electronic device having a driving unit for providing a driving force to the first electronic device to move the first electronic device; the motion mode of the first electronic device includes an autonomous motion mode in which the first electronic device is autonomously moving, the method comprising: receiving a first control instruction, wherein the first control instruction is used for indicating the first electronic equipment to enter an autonomous movement mode; in response to a first control instruction, controlling the first electronic device to enter an autonomous motion mode, wherein in the autonomous motion mode, an autonomous motion unit of the first electronic device is used for determining and outputting a first motion vector to control the first electronic device to move according to the first motion vector; in the autonomous movement mode, when a second control instruction is received, determining a second motion vector for controlling the first electronic equipment to move based on the second control instruction, wherein the second control instruction is used for remotely controlling the first electronic equipment; and performing vector superposition on the first motion vector and the second motion vector according to a preset vector superposition rule, generating a third motion vector obtained by superposition, and controlling the first electronic equipment to move according to the third motion vector.
Further, the autonomous motion unit determines the first motion vector by: acquiring the current position of first electronic equipment and the position of a tracking target; determining the direction of a first motion vector according to the linear direction of the current position pointing to the position of the tracking target; the magnitude of the first motion vector is determined according to the distance between the current position and the position of the tracking target.
Further, the second control instruction is an instruction sent by a rocker, wherein the preset positive direction 0 degree direction of the rocker is the direction of the first motion vector, and the direction of the second motion vector is determined according to the linear direction of the initial position of the rocker pointing to the current position of the rocker.
Further, the magnitude of the second motion vector is related to the displacement between the current position of the joystick and the initial position of the joystick, and is related to the dwell time of the joystick at the current position.
Further, before receiving the first control instruction, the method further comprises: monitoring whether a pairing signal sent by a rocker is received; executing pairing operation on the rocking bars; judging whether the pairing operation is successfully executed; if the pairing operation is successfully executed, determining that the rocker and the first electronic device are successfully paired; after the rocker is successfully paired with the first electronic device, whether a second control instruction sent by the rocker is received or not is monitored.
Further, controlling the first electronic device to move according to the motion vector includes: outputting a corresponding driving signal to the driving unit according to the motion vector, wherein the driving unit is used for controlling the first electronic device to move based on the driving signal, and the driving signal is used for controlling at least one of the following motion parameters of the first electronic device: motion speed, motion direction, motion acceleration.
In order to achieve the above object, according to one aspect of the present invention, there is provided a motion control apparatus for controlling motion of a first electronic device having a driving unit for providing a driving force to the first electronic device to move the first electronic device; the movement mode of the first electronic device includes an autonomous movement mode in which the first electronic device autonomously moves, the apparatus comprising: the device comprises a receiving unit, a processing unit and a control unit, wherein the receiving unit is used for receiving a first control instruction, and the first control instruction is used for indicating the first electronic equipment to enter an autonomous movement mode; the control unit is used for responding to a first control instruction and controlling the first electronic equipment to enter an autonomous motion mode, wherein in the autonomous motion mode, the autonomous motion unit of the first electronic equipment is used for determining and outputting a first motion vector to control the first electronic equipment to move according to the first motion vector; a first determination unit, configured to determine, in the autonomous movement mode, a second motion vector for controlling a motion of the first electronic device based on a second control instruction when the second control instruction is received, where the second control instruction is used to remotely control the first electronic device; and the generating unit is used for performing vector superposition on the first motion vector and the second motion vector according to a preset vector superposition rule, generating a third motion vector obtained by superposition, and controlling the first electronic equipment to move according to the third motion vector.
Further, the autonomous moving unit includes: the acquisition module is used for acquiring the current position of the first electronic equipment and the position of the tracking target; the first determining module is used for determining the direction of the first motion vector according to the linear direction of the current position pointing to the position of the tracking target; and the second determining module is used for determining the size of the first motion vector according to the distance between the current position and the position of the tracking target.
Further, the second control instruction is an instruction sent by a rocker, wherein the preset positive direction 0 degree direction of the rocker is the direction of the first motion vector, and the direction of the second motion vector is determined according to the linear direction of the initial position of the rocker pointing to the current position of the rocker.
Further, the magnitude of the second motion vector is related to the displacement between the current position of the joystick and the initial position of the joystick, and is related to the dwell time of the joystick at the current position.
Further, the apparatus further comprises: the monitoring unit is used for monitoring whether a pairing signal sent by the rocker is received or not before the first control instruction is received; the execution unit is used for executing pairing operation on the rocker; a judging unit, configured to judge whether the pairing operation is successfully executed; and the monitoring unit is further used for monitoring whether a second control instruction sent by the rocker is received after the rocker is successfully paired with the first electronic equipment is determined.
Further, the control unit includes: the output module is used for outputting a corresponding driving signal to the driving unit according to the motion vector, wherein the driving unit is used for controlling the first electronic device to move based on the driving signal, and the driving signal is used for controlling at least one of the following motion parameters of the first electronic device: motion speed, motion direction, motion acceleration.
According to the invention, in the autonomous motion mode, when a second control instruction is received, a second motion vector for controlling the motion of the first electronic equipment is determined based on the second control instruction, the first motion vector and the second motion vector are subjected to vector superposition according to a preset vector superposition rule to generate a third motion vector obtained by superposition, and the first electronic equipment is controlled to move according to the third motion vector, so that the problem that the position relation between the robot and the target is single when the robot is in the autonomous motion mode in the related art is solved, and the effect of adjusting the position relation between the robot and the target according to the control instruction when the robot is in the autonomous motion mode is further achieved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of a motion control method according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a robot tracking a target in an autonomous motion mode according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a robot adjusting and tracking a position relationship between targets according to a control command in an autonomous motion mode according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a motion control device according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiment of the invention provides a motion control method.
It should be noted that the motion control method provided in the embodiment of the present invention may be used to control the motion of the first electronic device, and the first electronic device may be any electronic device that can move its own position, for example, a ground mobile robot, specifically, a ground robot that uses a two-wheeled balance car as a motion chassis, or an unmanned aerial vehicle that flies in the air. The first electronic device is provided with a driving unit which is used for providing driving force for the first electronic device so as to enable the first electronic device to move. The movement mode of the first electronic device includes an autonomous movement mode in which the first electronic device autonomously moves.
The following describes a motion control method provided in an embodiment of the present invention.
Fig. 1 is a flowchart of a motion control method according to an embodiment of the present invention. As shown in fig. 1, the method comprises the steps of:
step S101, receiving a first control instruction.
The first control instruction is used for instructing the first electronic equipment to enter an autonomous motion mode.
Step S102, responding to a first control instruction, and controlling the first electronic equipment to enter an autonomous movement mode.
In the autonomous movement mode, the autonomous movement unit of the first electronic device is used for determining and outputting a first motion vector to control the first electronic device to move according to the first motion vector.
And step S103, in the autonomous movement mode, when a second control instruction is received, determining a second movement vector for controlling the movement of the first electronic equipment based on the second control instruction.
The second control instruction is used for remotely controlling the first electronic equipment.
And step S104, performing vector superposition on the first motion vector and the second motion vector according to a preset vector superposition rule, generating a third motion vector obtained by superposition, and controlling the first electronic equipment to move according to the third motion vector.
The above steps are further illustrated as follows:
the first control instruction is an instruction for instructing the first electronic device to enter the autonomous movement mode, and the first electronic device may receive the first control instruction in a wireless manner, for example, send the first control instruction through a mobile phone terminal, or the first electronic device may also be provided with a corresponding operation panel, and the first control instruction may be sent by a user pressing a corresponding physical or virtual key on the operation panel.
The first electronic equipment responds to the first control instruction after receiving the first control instruction and enters an autonomous movement mode. The autonomous movement mode is a mode in which the first electronic device autonomously moves without an external input control instruction.
The autonomous motion mode may include a tracking mode or a follow-up mode, etc. In the tracking mode or the follow-up shooting mode, the first electronic device may track the target object, as shown in fig. 2, that is, when the target object moves, the first electronic device moves along with the target object according to a tracking algorithm preset by the first electronic device.
The first electronic device having the tracking mode or the follow-up shooting mode may track the target object through a preset tracking algorithm, for example, the ground robot is preset to track the target object within a linear distance range of 2 meters to 4 meters from the target object moving on the ground. When the first electronic device tracks the target object, it may also perform a preset operation on the target object, for example, in the follow-up shooting mode, the aerial drone tracks the target object within a range of 2 meters to 4 meters in a straight-line distance from the target object, and takes a picture of the target object every 1 minute.
The first electronic device is autonomously moved by an autonomous moving unit in an autonomous moving mode, the autonomous moving unit being configured to determine and output a first motion vector in the autonomous moving mode to control the first electronic device to move according to the first motion vector.
It should be noted that the first electronic device may control the motion of the first electronic device through a motion vector, a direction of the motion vector may be used to control a motion direction of the first electronic device, and a magnitude of the motion vector may be used to control a motion acceleration of the first electronic device.
Since the first electronic device is in the autonomous motion mode, the first motion vector is automatically updated according to the relative position relationship between the first electronic device and the tracking target object to adjust the position relationship between the first electronic device and the tracking target object from time to time.
After entering the autonomous movement mode, if a second control instruction for remotely controlling the first electronic device is received, the first electronic device determines a second motion vector for controlling the movement of the first electronic device based on the second control instruction.
The second control instruction is a remote control signal which can be sent out through the rocker and carries operation information of the rocker. The rocker can be an entity or a virtual rocker, the entity rocker can be a rod-shaped rocker which is commonly used and can move in the front, back, left and right directions, and also can be a remote control panel which simulates the rocker through an upper key, a lower key, a left key, a right key, a left key.
After receiving a second control instruction for remotely controlling the first electronic device, a second motion vector for controlling the motion of the first electronic device may be determined based on the second control instruction. The second motion vector is also a motion vector that can be used to control the first electronic device.
It should be noted that although the second motion vector may be used to independently control the motion of the first electronic device, the second motion vector provided in this embodiment is not used to independently control the motion of the first electronic device, but is superimposed with the first motion vector to generate a third motion vector, and the first electronic device controls the motion of the first electronic device according to the third motion vector.
That is, after the second motion vector is generated, the first motion vector and the second motion vector are subjected to vector superposition according to a preset vector superposition rule to generate a third motion vector obtained through superposition, and the first electronic device is controlled to move according to the third motion vector. The preset vector superposition rule may be that the first motion vector and the second motion vector are directly superposed, or may be that the first motion vector and the second motion vector are superposed according to a certain weight formula, where the weight formula may be preset, or the preset vector superposition rule may also be that the second motion vector is deflected by a preset angle and then superposed with the first motion vector, and the present invention is not limited to the specific implementation manner thereof.
Preferably, the preset vector superposition rule is that the first motion vector and the second motion vector are directly superposed. The determining of the second motion vector based on the second control instruction may be generating the second motion vector according to operation information on the joystick carried in the second control instruction, for example, determining a direction of the second motion vector according to operations on the joystick in different directions, i.e., up, down, left, and right, in the second control instruction.
Specifically, if the rocker receives an operation of pushing forward, the received second control instruction carries information that the rocker receives the forward operation, and according to the information, a direction of a second motion vector can be determined, where the information that the rocker receives the forward operation indicates that the second motion vector is a vector which superimposes the first motion vector with a direction pointing to the target object by the first electronic device, and the magnitude of the second motion vector may be preset to be the same as the magnitude of the current first motion vector, or may be related to an operation performed on the rocker, for example, the magnitude of the second vector may be related to a displacement between a current position of the rocker and an initial position of the rocker, and related to a residence time of the rocker at the current position.
Or, if the rocker receives an operation of pushing to the right, the received second control instruction carries information that the rocker receives the operation to the right, and according to the information, it can be determined that the direction of the second motion vector is the right, the second motion vector is a vector that is formed by superimposing a vector that forms a 90-degree clockwise angle with the direction in which the first electronic device points to the target object on the first motion vector, the magnitude of the second motion vector can be preset to be the same as the current first motion vector, and if the user pushes the rocker to the right all the time, the first electronic device can perform an action of surrounding the curved track of the target object counterclockwise under the control of a third motion vector generated by superimposing the first motion vector and the second motion vector, as shown in fig. 3.
In the motion control method provided in this embodiment, in the autonomous motion mode, when a second control instruction is received, a second motion vector for controlling motion of the first electronic device is determined based on the second control instruction, the first motion vector and the second motion vector are vector-superposed according to a preset vector superposition rule, a third motion vector obtained by superposition is generated, and the first electronic device is controlled to move according to the third motion vector, so that a problem that a positional relationship between the robot and the target is single when the robot is in the autonomous motion mode in the related art is solved, and an effect that the positional relationship between the robot and the target can be adjusted according to the control instruction when the robot is in the autonomous motion mode is achieved.
In the above embodiment, the autonomous moving unit may determine the first motion vector by: acquiring the current position of first electronic equipment and the position of a tracking target; determining the direction of a first motion vector according to the linear direction of the current position pointing to the position of the tracking target; the magnitude of the first motion vector is determined according to the distance between the current position and the position of the tracking target.
Preferably, the joystick may receive not only the operation signals in only four directions, up, down, left, right, front, back, left, and right, but also the operation signals in all directions of 360 degrees, for example, the operation of 45 degrees from the forward direction clockwise. The relationship of the first motion vector to the second motion vector may be determined by: the preset positive direction 0 degree direction of the rocker is the direction of the first motion vector, and specifically, the preset positive direction 0 degree direction is the direction in which the initial position of the rocker points to the preset positive position of the rocker. The preset initial position of the rocker is generally the center, the preset forward position is generally preset to be the forward direction in front, back, left and right or the upward direction in top, bottom, left and right, and the current position of the rocker is the current position of the rocker and can be determined according to the second control instruction.
Therefore, a specific way of determining the direction of the second motion vector may be: and sending a second control instruction through the rocker, and after the second control instruction is analyzed, determining the direction of a second motion vector by the linear direction of the initial position of the rocker pointing to the current position of the rocker.
The specific way of determining the size of the second motion vector may be: the magnitude of the second motion vector is related to the displacement between the current position of the rocker and the initial position of the rocker, and is related to the residence time of the rocker at the current position, for example, the larger the displacement is, the larger the magnitude of the second motion vector is, and meanwhile, the longer the time that the user operates the rocker at the same position is, the larger the magnitude of the second motion vector is, that is, the displacement between the current position of the rocker and the initial position is taken as the initial value of the magnitude of the second motion vector, and the magnitude of the displacement can be cumulatively increased along with the duration that the user operates the rocker at the same position. Alternatively, the size of the second motion vector may be preset to be the same as the size of the first motion vector, that is, before the size of the second motion vector is determined, the size of the current first motion vector is determined, and the size of the second motion vector may change with the change of the size of the first motion vector.
After determining the magnitude and direction of the second motion vector, the second motion vector may be superimposed on the first motion vector, resulting in a third motion vector to control the motion of the first electronic device.
The method can also comprise a pairing operation step, specifically, before receiving the first control instruction, monitoring whether a pairing signal sent by the rocker is received; executing pairing operation on the rocking bars; judging whether the pairing operation is successfully executed; if the pairing operation is successfully executed, determining that the rocker and the first electronic device are successfully paired; after the rocker is successfully paired with the first electronic device, whether a second control instruction sent by the rocker is received or not is monitored.
In the above embodiment, a preferred implementation of controlling the motion of the first electronic device according to the motion vector may be: outputting a corresponding driving signal to the driving unit according to the motion vector, wherein the driving unit is used for controlling the first electronic device to move based on the driving signal, and the driving signal is used for controlling at least one of the following motion parameters of the first electronic device: motion speed, motion direction, motion acceleration.
To further illustrate the above embodiments, a specific implementation of the above embodiments is described as follows:
the first electronic device may be a ground robot, and this embodiment may be applied to a motion control system of a robot, and in particular, a vision sensor of the robot needs to be decoupled from a main body of the robot, for example, a robot with a holder for the vision sensor, and the decoupling of the vision sensor of the robot from a theme of the robot may ensure that the robot may always face a tracked target object while making any motion.
According to the specific implementation mode, when the robot is in an autonomous motion mode, for example, a Followme mode, a follow shot mode, an autonomous navigation mode and other modes, the motion of the robot is controlled through a rocker with 360-degree vectors to adjust, additional motion vectors are superposed on the current autonomous motion of the robot, so that the position of the robot is dynamically adjusted, and the user experience of the robot in the tracking and follow shot modes or in application scenes such as complex road conditions is improved.
The specific implementation mode is as follows:
regarding the motion pattern of the robot: the motion of the robot is controlled by a robot master control module. The main control module receives the motion vector output by the upper layer module and sends a control signal to the power unit of the robot according to the motion vector, so as to control the motion of the robot.
When the robot is in an autonomous motion mode, for example, a Follow me mode, a first motion vector is calculated through a preset tracking algorithm and is output to a robot main control module, a power unit of the robot is controlled to generate corresponding traction force, and therefore the robot is controlled to move along with a target object.
The direction of the first motion vector output by the preset tracking algorithm is the direction in which the robot position points to the target position (where the target object is located). For the cloud deck carrying the visual sensor, the cloud deck of the robot is dynamically corrected towards the direction facing the target object all the time, so that the position of the target object is received through the visual sensor.
After the robot enters the autonomous movement mode, an additional motion vector, that is, the second motion vector in the above embodiment, may be sent to the robot main control module through the control of the joystick.
The robot's joystick device may be a 360 degree damped digital joystick, outputting a joystick vector at a fixed frequency as a second motion vector of the robot.
The main control module simultaneously receives a first motion vector output by the preset tracking module and a second motion vector output by the rocker device, performs vector superposition, and outputs a control signal to the motor according to a third motion vector obtained after superposition to control the robot to move, so that the dynamic adjustment of the position of the robot in the tracking process is realized.
Optionally, the priority policy of the robot motion control response may be implemented by adjusting the weight of the first motion vector output by the preset tracking algorithm and the second motion vector output by the joystick. For example, a priority response to the first motion vector may be preset, and after the second motion vector is generated, the robot motion may be controlled based on the second motion vector and a third motion vector generated by the first motion vector. If the moving speed of the target object is high, the first motion vector changes quickly, the time interval of the change is smaller than a preset threshold value, the second motion vector which is preferentially responded at the moment can be preset, and then the first motion vector output by the preset tracking algorithm is superposed on the second motion vector to generate a third motion vector so as to control the robot to move.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
The embodiment of the invention also provides a motion control device. It should be noted that the motion control device according to the embodiment of the present invention may be used to execute the motion control method according to the present invention.
It should be noted that the motion control apparatus of the embodiment of the present invention may be configured to control the motion of a first electronic device, where the first electronic device has a driving unit, and the driving unit is configured to provide a driving force for the first electronic device to move the first electronic device; the movement mode of the first electronic device includes an autonomous movement mode in which the first electronic device autonomously moves.
Fig. 4 is a schematic diagram of a motion control device according to an embodiment of the present invention. As shown in fig. 4, the apparatus includes a receiving unit 10, a control unit 20, a first determining unit 30, and a generating unit 40.
The device comprises a receiving unit, a processing unit and a control unit, wherein the receiving unit is used for receiving a first control instruction, and the first control instruction is used for indicating the first electronic equipment to enter an autonomous movement mode; the control unit is used for responding to a first control instruction and controlling the first electronic equipment to enter an autonomous motion mode, wherein in the autonomous motion mode, the autonomous motion unit of the first electronic equipment is used for determining and outputting a first motion vector to control the first electronic equipment to move according to the first motion vector; a first determination unit, configured to determine, in the autonomous movement mode, a second motion vector for controlling a motion of the first electronic device based on a second control instruction when the second control instruction is received, where the second control instruction is used to remotely control the first electronic device; and the generating unit is used for performing vector superposition on the first motion vector and the second motion vector according to a preset vector superposition rule, generating a third motion vector obtained by superposition, and controlling the first electronic equipment to move according to the third motion vector.
In the motion control apparatus provided in this embodiment, in the autonomous motion mode, when a second control instruction is received, a second motion vector for controlling motion of the first electronic device is determined based on the second control instruction, the first motion vector and the second motion vector are vector-superposed according to a preset vector superposition rule, a third motion vector obtained by superposition is generated, and the first electronic device is controlled to move according to the third motion vector, so that a problem that a positional relationship between the robot and the target is single when the robot is in the autonomous motion mode in the related art is solved, and an effect that the positional relationship between the robot and the target can be adjusted according to the control instruction when the robot is in the autonomous motion mode is further achieved.
As a preferred embodiment of the above-described embodiments, the autonomous moving unit may include: the acquisition module is used for acquiring the current position of the first electronic equipment and the position of the tracking target; the first determining module is used for determining the direction of the first motion vector according to the linear direction of the current position pointing to the position of the tracking target; and the second determining module is used for determining the size of the first motion vector according to the distance between the current position and the position of the tracking target.
As a preferred embodiment of the foregoing embodiment, the second control command may be a command issued by a rocker, where a preset positive 0 degree direction of the rocker is a direction of the first motion vector, and a direction of the second motion vector is determined according to a linear direction in which an initial position of the rocker points to a current position of the rocker.
As a preferred embodiment of the above embodiment, the magnitude of the second motion vector is related to the displacement between the current position of the rocker and the initial position of the rocker, and to the dwell time of the rocker in the current position.
As a preferred embodiment of the above embodiment, the apparatus may further include: the monitoring unit is used for monitoring whether a pairing signal sent by the rocker is received or not before the first control instruction is received; the execution unit is used for executing pairing operation on the rocker; a judging unit, configured to judge whether the pairing operation is successfully executed; and the monitoring unit is further used for monitoring whether a second control instruction sent by the rocker is received after the rocker is successfully paired with the first electronic equipment is determined.
As a preferred embodiment of the above embodiment, the control unit may include: the output module is used for outputting a corresponding driving signal to the driving unit according to the motion vector, wherein the driving unit is used for controlling the first electronic device to move based on the driving signal, and the driving signal is used for controlling at least one of the following motion parameters of the first electronic device: motion speed, motion direction, motion acceleration.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A motion control method for controlling motion of a first electronic device, wherein the first electronic device has a driving unit for providing a driving force for the first electronic device to move the first electronic device; the motion mode of the first electronic device comprises an autonomous motion mode in which the first electronic device is autonomously moving, the method comprising:
receiving a first control instruction, wherein the first control instruction is used for instructing the first electronic equipment to enter the autonomous movement mode;
in response to the first control instruction, controlling the first electronic device to enter the autonomous motion mode, wherein in the autonomous motion mode, an autonomous motion unit of the first electronic device is used for determining and outputting a first motion vector to control the first electronic device to move according to the first motion vector;
in the autonomous movement mode, when a second control instruction is received, determining a second motion vector for controlling the first electronic device to move based on the second control instruction, wherein the second control instruction is used for remotely controlling the first electronic device, and the second control instruction is an instruction sent by a rocker;
according to a preset vector superposition rule, the size and the direction of the first motion vector and the second motion vector, performing vector superposition on the first motion vector and the second motion vector to generate a third motion vector obtained by superposition, and controlling the first electronic equipment to move according to the third motion vector;
before vector superposition is performed on the first motion vector and the second motion vector, a third motion vector obtained by superposition is generated, and the first electronic device is controlled to move according to the third motion vector, the method further comprises: determining a control instruction response priority based on the weight of the first motion vector and the second motion vector, and controlling the first electronic equipment to move based on the priority;
the autonomous motion mode comprises a tracking mode and a follow-up shooting mode, and the first motion vector is a vector automatically updated in real time according to the relative position relation between the first electronic equipment and a tracking target.
2. The method of claim 1, wherein the autonomous motion unit determines the first motion vector by:
acquiring the current position of the first electronic device and the position of the tracking target;
determining the direction of the first motion vector according to the linear direction of the current position pointing to the position of the tracking target;
and determining the size of the first motion vector according to the distance between the current position and the position of the tracking target.
3. The method of claim 1, wherein the preset positive 0 degree direction of the rocker is the direction of the first motion vector, and the direction of the second motion vector is determined according to a straight line direction in which the initial position of the rocker points to the current position of the rocker.
4. The method of claim 3, wherein the magnitude of the second motion vector is related to a displacement between a current position of the joystick and an initial position of the joystick, and to a dwell time of the joystick at the current position.
5. The method of claim 3, wherein prior to receiving the first control instruction, the method further comprises:
monitoring whether a pairing signal sent by the rocker is received;
performing pairing operation on the rockers;
judging whether the pairing operation is successfully executed;
if the pairing operation is successfully executed, determining that the rocker and the first electronic device are successfully paired;
after the rocker and the first electronic device are successfully paired, monitoring whether a second control instruction sent by the rocker is received.
6. The method of claim 1, wherein controlling the first electronic device to move according to the motion vector comprises: outputting a corresponding driving signal to the driving unit according to the motion vector, wherein the driving unit is used for controlling the first electronic device to move based on the driving signal, and the driving signal is used for controlling at least one of the following motion parameters of the first electronic device: the motion vector comprises one of the following motion vectors: the first motion vector, the second motion vector, the third motion vector.
7. A motion control device for controlling the motion of a first electronic device, wherein the first electronic device has a driving unit for providing a driving force for the first electronic device to move the first electronic device; the movement mode of the first electronic device includes an autonomous movement mode in which the first electronic device autonomously moves, the apparatus comprising:
a receiving unit, configured to receive a first control instruction, where the first control instruction is used to instruct the first electronic device to enter the autonomous movement mode;
a control unit, configured to control the first electronic device to enter the autonomous movement mode in response to the first control instruction, wherein in the autonomous movement mode, the autonomous movement unit of the first electronic device is configured to determine and output a first motion vector to control the first electronic device to move according to the first motion vector;
the first determining unit is used for determining a second motion vector for controlling the first electronic equipment to move based on a second control instruction when the second control instruction is received in the autonomous movement mode, wherein the second control instruction is used for remotely controlling the first electronic equipment, and the second control instruction is an instruction sent by a rocker;
the generating unit is used for performing vector superposition on the first motion vector and the second motion vector according to a preset vector superposition rule and the sizes and the directions of the first motion vector and the second motion vector to generate a third motion vector obtained by superposition, and controlling the first electronic equipment to move according to the third motion vector;
the device is further used for determining a control instruction response priority based on the weight of the first motion vector and the second motion vector and controlling the first electronic equipment to move based on the priority before vector superposition is carried out on the first motion vector and the second motion vector, a third motion vector obtained by superposition is generated, and the first electronic equipment is controlled to move according to the third motion vector;
the autonomous motion mode comprises a tracking mode and a follow-up shooting mode, and the first motion vector is a vector automatically updated in real time according to the relative position relation between the first electronic equipment and a tracking target.
8. The apparatus of claim 7, wherein the autonomous motion unit comprises:
the acquisition module is used for acquiring the current position of the first electronic equipment and the position of the tracking target;
the first determining module is used for determining the direction of the first motion vector according to the linear direction of the current position pointing to the position of the tracking target;
and the second determining module is used for determining the size of the first motion vector according to the distance between the current position and the position of the tracking target.
9. The device of claim 7, wherein the preset positive 0 degree direction of the rocker is the direction of the first motion vector, and the direction of the second motion vector is determined according to a straight line direction in which the initial position of the rocker points to the current position of the rocker.
10. The device of claim 9, wherein the magnitude of the second motion vector is related to a displacement between a current position of the joystick and an initial position of the joystick, and to a dwell time of the joystick at the current position.
11. The apparatus of claim 9, further comprising:
the monitoring unit is used for monitoring whether a pairing signal sent by the rocker is received or not before the first control instruction is received;
the execution unit is used for executing pairing operation on the rocker;
a judging unit configured to judge whether the pairing operation is successfully performed;
a second determining unit, configured to determine that the rocker is successfully paired with the first electronic device if it is determined that the pairing operation is successfully performed,
the monitoring unit is further used for monitoring whether a second control instruction sent by the rocker is received or not after the rocker is successfully paired with the first electronic device.
12. The apparatus of claim 7, wherein the control unit comprises: an output module, configured to output a corresponding driving signal to the driving unit according to the motion vector, where the driving unit is configured to control the first electronic device to move based on the driving signal, where the driving signal is configured to control at least one of the following motion parameters of the first electronic device: the motion vector comprises one of the following motion vectors: the first motion vector, the second motion vector, the third motion vector.
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| PCT/CN2017/110852 WO2018077307A1 (en) | 2016-10-31 | 2017-11-14 | Movement control method and apparatus, and computer storage medium |
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| CN109144094A (en) * | 2017-06-28 | 2019-01-04 | 广州极飞科技有限公司 | Flight control method, device and the unmanned plane of unmanned plane |
| CN110069078B (en) * | 2019-05-21 | 2021-06-01 | 深圳市道通智能航空技术股份有限公司 | Flight control method, device and system and unmanned aerial vehicle |
| CN112099495B (en) * | 2020-09-03 | 2024-04-12 | 纳恩博（天津）科技有限公司 | Method for controlling travel, related device and storage medium |
| CN114495469A (en) * | 2020-10-25 | 2022-05-13 | 纳恩博（北京）科技有限公司 | Vehicle control method and device, electronic equipment and storage medium |
| CN113504749B (en) * | 2021-06-25 | 2022-11-22 | 上海闻泰信息技术有限公司 | UWB-based device control method and apparatus, control device, and storage medium |
| CN114115272A (en) * | 2021-11-25 | 2022-03-01 | 中北大学 | Air multi-agent distributed elliptical surrounding guidance method with time-space decoupling characteristic |
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| CN104656660A (en) * | 2015-01-22 | 2015-05-27 | 南京航空航天大学 | Control system for micro-unmanned helicopter multi-mode autonomous flight and method thereof |
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| CN105744636B (en) * | 2016-01-22 | 2017-09-22 | 广州极飞科技有限公司 | Earth station and earth station and the communication means of unmanned plane |
| CN105700543B (en) * | 2016-04-01 | 2019-06-21 | 成都第二记忆科技有限公司 | A kind of flight instruments control system, control method and unmanned plane of taking photo by plane |
| CN105676862B (en) * | 2016-04-01 | 2019-04-23 | 成都第二记忆科技有限公司 | A kind of flight instruments control system and control method |
| CN105929838B (en) * | 2016-05-20 | 2019-04-02 | 腾讯科技（深圳）有限公司 | The flight control method and mobile terminal and flight control terminal of a kind of aircraft |
| CN106527439B (en) * | 2016-10-31 | 2020-12-04 | 纳恩博（北京）科技有限公司 | Motion control method and device |
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