CN108398948A - Robot control method and robot controller - Google Patents
Robot control method and robot controller Download PDFInfo
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- CN108398948A CN108398948A CN201810142205.1A CN201810142205A CN108398948A CN 108398948 A CN108398948 A CN 108398948A CN 201810142205 A CN201810142205 A CN 201810142205A CN 108398948 A CN108398948 A CN 108398948A
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- wheel
- angle
- ontology
- rocking arm
- robot
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Classifications
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
-
- 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
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
-
- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
Abstract
The present invention provides robot control method and robot controller, the robot includes ontology, be arranged the body portion front-wheel, be arranged in the middle part of the ontology middle wheel, be rotatably connected at the rocking arm of the middle wheel and be connected to the trailing wheel of the rocking arm, the method includes：Obtain the state parameter and/or move distance of the robot；The inclination angle that the rocking arm is adjusted according to the state parameter and/or move distance controls the front-wheel, middle wheel, rear wheel movement, so as to the body part or be entirely located on ladder-like barrier.According to an embodiment of the invention, ladder-like barrier only is climbed by front wheels and rear wheels relative to robot in the related technology, can more easily make body part or be entirely located on ladder-like barrier, and then cross over ladder-like barrier.
Description
Technical field
The present invention relates to robotic technology field more particularly to robot control method, robot controller, computers
Readable storage medium storing program for executing and robot.
Background technology
Have the robot of motor function, such as the clean robot of Double deference driving in the related technology, mainly passes through
Revolver and right wheel carry out cooperating and realize movement.
Robot in the related technology is due to only having front wheels and rear wheels, when encountering barrier, if desired across obstacle,
Just need increase power make front-wheel blocking surfaces move, to realize climbed on barrier, but when barrier compared with
Gao Shi, such as ladder-like barrier, since the torque of needs is larger, it may be necessary to which greatly power could realize climbing, power consumption
It measures larger and is easy to climb partially.And even if front-wheel climbing is at the top of barrier, trailing wheel may also be blocked by barrier and can not be complete
At climbing.
And chassis mostly is taken turns for the strong joint type of obstacle climbing ability, need remote control manipulator observation site actually climbs up and over process not
Disconnected to adjust rocking arm and cartwheel to complete work, operation difficulty is big.
Invention content
The present invention provides robot control method, robot controller, computer readable storage medium and robot, with
Solve deficiency in the related technology.
According to a first aspect of the embodiments of the present invention, a kind of robot control method is provided, the robot include ontology,
Be arranged the body portion front-wheel, be arranged in the middle part of the ontology middle wheel, be rotatably connected at shaking for the middle wheel
Arm and the trailing wheel for being connected to the rocking arm, the method includes：
Obtain the state parameter and/or move distance of the robot；
The inclination angle that the rocking arm is adjusted according to the state parameter and/or move distance, control the front-wheel, it is middle wheel, after
Wheel movement, so as to the body part or be entirely located on ladder-like barrier.
Optionally, the state parameter includes the inclination angle of the inclination angle and the rocking arm of the ontology relative to the ontology.
Optionally, the inclination angle that the rocking arm is adjusted according to the state parameter and/or move distance, before control is described
Wheel, middle wheel, rear wheel movement include：
It is within the scope of first angle at the inclination angle of the ontology, and the rocking arm is in relative to the inclination angle of the ontology
When within the scope of second angle, determine the front-wheel at a distance from ladder-like barrier；
When the distance is less than or equal to pre-determined distance, adjusts the rocking arm and raise up first angle；
The front-wheel and/or middle wheel movement are controlled, so that the ontology moves, keeps the front-wheel and/or described
Middle wheel movement, until the ontology raises up, angle is equal to the first angle.
Optionally, the inclination angle that the rocking arm is adjusted according to the state parameter and/or move distance, before control is described
Wheel, middle wheel, rear wheel movement include：
Angle is raised on the body and is equal to first angle, and the rocking arm raises up described first jiao relative to the ontology
When spending, controls the rocking arm and have a down dip second angle, so that the inclination angle of the ontology is within the scope of the first angle；
The front-wheel and/or the rear wheel movement are controlled, so that the ontology moves the first pre-determined distance, wherein described
First pre-determined distance is greater than or equal to the axle center distance of the front-wheel and middle wheel.
Optionally, the method further includes：
When the front-wheel is greater than or equal to pre-determined distance at a distance from ladder-like barrier, the ladder-like obstacle is determined
The height of object；
The first angle is determined according to the height of the ladder-like barrier.
Optionally, the method further includes：
When the front-wheel is greater than or equal to pre-determined distance at a distance from ladder-like barrier, the letter from host computer is received
Breath, the first angle is determined according to described information.
Optionally, the inclination angle that the rocking arm is adjusted according to the state parameter and/or move distance, before control is described
Wheel, middle wheel, rear wheel movement include：
It is in first angle range at the inclination angle of the ontology, and the rocking arm has a down dip third angle relative to the ontology
In the state of when having moved the first pre-determined distance, control the rocking arm and raise up fourth angle, wherein the fourth angle be more than or
Equal to the third angle, first pre-determined distance is greater than or equal to the axle center distance of the front-wheel and middle wheel；
Control the front-wheel and/or the middle wheel movement.
According to a second aspect of the embodiments of the present invention, a kind of robot controller is provided, the robot include ontology,
Be arranged the body portion front-wheel, be arranged in the middle part of the ontology middle wheel, be rotatably connected at shaking for the middle wheel
Arm and the trailing wheel for being connected to the rocking arm, described device include：
Acquisition module, state parameter and/or move distance for obtaining the robot；
Control module, the inclination angle for adjusting the rocking arm according to the state parameter and/or move distance, described in control
Front-wheel, middle wheel, rear wheel movement, so as to the body part or be entirely located on ladder-like barrier.
Optionally, the state parameter includes the inclination angle of the inclination angle and the rocking arm of the ontology relative to the ontology.
Optionally, the control module includes：
Apart from determination sub-module, for being within the scope of first angle at the inclination angle of the ontology, and the rocking arm is opposite
When the inclination angle of the ontology is within the scope of second angle, determine the front-wheel at a distance from ladder-like barrier；
First rocking arm control submodule, for when the distance is less than or equal to pre-determined distance, adjusting on the rocking arm
Raise first angle；
First motion control submodule, for controlling the front-wheel and/or middle wheel movement, keep the front-wheel and/
Or the middle wheel movement, so that the ontology moves, until the ontology raises up, angle is equal to the first angle.
Optionally, the control module includes：
Second rocking arm control submodule is equal to first angle for raising angle on the body, and the rocking arm is opposite
When the ontology raises up the first angle, controls the rocking arm and have a down dip second angle, so that the inclination angle of the ontology is in
Within the scope of the first angle；
Second motion control submodule, for controlling the front-wheel and/or the rear wheel movement, so that the ontology moves
First pre-determined distance, wherein first pre-determined distance is greater than or equal to the axle center distance of the front-wheel and middle wheel.
Optionally, described device includes：
Height determining module, when being used to be greater than or equal to pre-determined distance at a distance from ladder-like barrier in the front-wheel,
Determine the height of the ladder-like barrier；
Angle-determining module, for determining the first angle according to the height of the ladder-like barrier.
Optionally, described device includes：
Receiving submodule, for when the front-wheel is greater than or equal to pre-determined distance at a distance from ladder-like barrier, connecing
The information from host computer is received, the first angle is determined according to described information.
Optionally, the control module includes：
Third rocking arm control submodule is in first angle range at the inclination angle of the ontology, and the rocking arm relative to
The ontology has a down dip when having moved the first pre-determined distance in the state of third angle, controls the rocking arm and raises up fourth angle,
In, the fourth angle is greater than or equal to the third angle, and first pre-determined distance is greater than or equal to the front-wheel in
The axle center distance of wheel；
Third motion control submodule, for controlling the front-wheel and/or the middle wheel movement.
According to a third aspect of the embodiments of the present invention, a kind of computer readable storage medium is provided, calculating is stored thereon with
Machine program, the program execute the robot control method described in any of the above-described embodiment when being executed by processor.
According to a fourth aspect of the embodiments of the present invention, a kind of robot, including ontology, setting are provided in the body portion
Front-wheel, be arranged in the middle part of the ontology middle wheel, be rotatably connected at the rocking arm of the middle wheel and be connected to the rocking arm
Trailing wheel, further include：
Processor, wherein the processor is configured as executing the robot controlling party described in any of the above-described embodiment
Method.
According to an embodiment of the invention, relative to the method for controlling robot motion in the related technology, in the present embodiment
Robot can be moved due to including front-wheel, middle wheel, trailing wheel, and trailing wheel under the drive of rocking arm, in the shape for determining robot
After state parameter and/or move distance, the inclination angle of rocking arm, and control institute can be adjusted according to state parameter and/or move distance
State front-wheel, middle wheel, rear wheel movement.Wherein, rear wheel support rear body can be made to raise up by adjusting the inclination angle of rocking arm, avoided
Ladder-like barrier blocks middle wheel, and ladder-like barrier can also be avoided to block trailing wheel.Relative to robot in the related technology
Ladder-like barrier only is climbed by front wheels and rear wheels, can more easily make body part or is entirely located in ladder-like obstacle
On object, and then cross over ladder-like barrier.
It should be understood that above general description and following detailed description is only exemplary and explanatory, not
It can the limitation present invention.
Description of the drawings
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the present invention
Example, and be used to explain the principle of the present invention together with specification.
Fig. 1 is a kind of schematic flow diagram of the robot control method shown according to an embodiment of the invention.
Fig. 2 is a kind of schematic configuration diagram of the robot shown according to an embodiment of the invention.
Fig. 3 is the schematic flow diagram of another robot control method shown according to an embodiment of the invention.
Fig. 4 is a kind of schematic diagram of the state of the robot shown according to an embodiment of the invention.
Fig. 5 is the schematic diagram of the state of another robot shown according to an embodiment of the invention.
Fig. 6 is the schematic flow diagram of another robot control method shown according to an embodiment of the invention.
Fig. 7 is the schematic diagram of the state of another robot shown according to an embodiment of the invention.
Fig. 8 is the schematic diagram of the state of another robot shown according to an embodiment of the invention.
Fig. 9 is the schematic flow diagram of another robot control method shown according to an embodiment of the invention.
Figure 10 is the schematic flow diagram of another robot control method shown according to an embodiment of the invention.
Figure 11 is the schematic flow diagram of another robot control method shown according to an embodiment of the invention.
Figure 12 is the schematic diagram of the state of another robot shown according to an embodiment of the invention.
Figure 13 is a kind of hardware structure diagram of equipment where the robot controller shown according to an embodiment of the invention.
Figure 14 is a kind of schematic block diagram of the robot controller shown according to an embodiment of the invention.
Figure 15 is the schematic block diagram of another robot controller shown according to an embodiment of the invention.
Figure 16 is the schematic block diagram of another robot controller shown according to an embodiment of the invention.
Figure 17 is the schematic block diagram of another robot controller shown according to an embodiment of the invention.
Figure 18 is the schematic block diagram of another robot controller shown according to an embodiment of the invention.
Figure 19 is the schematic block diagram of another robot controller shown according to an embodiment of the invention.
Specific implementation mode
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent and the consistent all embodiments of the present invention.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects being described in detail in claims, of the invention.
It is the purpose only merely for description specific embodiment in terminology used in the present invention, is not intended to limit the invention.
It is also intended to including majority in the present invention and "an" of singulative used in the attached claims, " described " and "the"
Form, unless context clearly shows that other meanings.It is also understood that term "and/or" used herein refers to and wraps
Containing one or more associated list items purposes, any or all may be combined.
It will be appreciated that though various information, but this may be described using term first, second, third, etc. in the present invention
A little information should not necessarily be limited by these terms.These terms are only used for same type of information being distinguished from each other out.For example, not departing from
In the case of the scope of the invention, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as
One information.Depending on context, word as used in this " if " can be construed to " ... when " or " when ...
When " or " in response to determination ".
Fig. 1 is a kind of schematic flow diagram of the robot control method shown according to an embodiment of the invention.Fig. 2 is basis
A kind of schematic configuration diagram of robot shown in the embodiment of the present invention.Method shown in FIG. 1 can be used for controlling as shown in Figure 2
Robot.
As shown in Fig. 2, the robot include ontology 1, be arranged 1 front of the ontology front-wheel 2, be arranged at described
The middle wheel 3 at 1 middle part of body, the Rocker arm 4 for being rotatably connected at the middle wheel 3 and the trailing wheel 5 for being connected to the Rocker arm 4.Wherein, preceding
Wheel 2 and middle wheel 3 are fixed on ontology 1, and trailing wheel 5 and are not secured to ontology 1, and rocking arm can be center of circle movement using the center of middle wheel 3,
Trailing wheel 5 can then move under the drive of Rocker arm 4, and the radius of front-wheel 2, middle wheel 3 and trailing wheel 5 can be equal.
As shown in Figure 1, the robot control method may comprise steps of；
Step S1 obtains the state parameter and/or move distance of the robot.
In one embodiment, the state parameter of robot may include ontology 1 inclination angle and Rocker arm 4 relative to this
The inclination angle of body 1.Wherein, it can be provided with Inertial Measurement Unit and/or acceleration transducer in ontology 1, and can pass through
The inclination angle of Inertial Measurement Unit and/or acceleration transducer detection body.
Step S2 adjusts the inclination angle of the Rocker arm 4 according to the state parameter and/or move distance, controls the front-wheel
2, middle wheel 3, trailing wheel 5 move, so that the ontology 1 is positioned partially or entirely on ladder-like barrier.
In one embodiment, before robot scale obstacles, the state parameter of robot can be：Ontology inclines
Angle is within the scope of the first predetermined angle, and rocking arm is in relative to the inclination angle of ontology within the scope of the second predetermined angle, wherein first
Predetermined angle range and the second predetermined angle range can be configured as needed, such as the first predetermined angle range can be with
It it is -5 ° to 5 °, second angle range can be 0 ° to 10 °.In such a case, it is possible to determine robot on horizontal road surface
Traveling can control rocking arm and raise up first angle, keep rocking arm raise up front-wheel and middle wheel can be controlled during state at least
One wheel movement so that robot scale obstacles, so that the front of ontology is located on barrier.
In one embodiment, during robot scale obstacles, the state parameter of robot can be：Ontology
The angle that raises up is equal to first angle, and rocking arm raises up first angle relative to ontology.In such a case, it is possible to determine robot
The minimum point of front-wheel be located on barrier, and middle wheel and trailing wheel and when being not located on barrier can control under rocking arm
Incline second angle, to be raised up by rear wheel support ontology so that middle wheel is hanging, taken turns in holding it is hanging during, can control
At least one wheel movement in front wheels and rear wheels so that the upper surface of Robot barrier moves, so that the middle part of ontology
On barrier.
In one embodiment, during robot scale obstacles, the state parameter of robot can be：Ontology
The angle that raises up is equal to first angle, and rocking arm raises up first angle relative to ontology；The move distance of robot can be：Machine
People is keeping the ontology angle that raises up to raise up relative to ontology equal to first angle and rocking arm in the case of first angle, movement the
One pre-determined distance, wherein the first pre-determined distance is greater than or equal to the axle center distance of the front-wheel and middle wheel.In this case, may be used
To determine that the front-wheel of robot and the minimum point of middle wheel are respectively positioned on barrier, rocking arm can be controlled and raised up, wherein raised up
Angle is greater than or equal to the difference of second angle and first angle, and then can control at least one wheel movement in front-wheel and middle wheel.
Accordingly, the trailing wheel of robot can be made also to be located on barrier, and can be to avoid the rear tire impacts barrier of robot
Side wall.
In one embodiment, relative to the method for controlling robot motion in the related technology, the machine in the present embodiment
People can move due to including front-wheel, middle wheel, trailing wheel, and trailing wheel under the drive of rocking arm, in the state ginseng for determining robot
After number and/or move distance, the inclination angle of rocking arm can be adjusted according to state parameter and/or move distance, and before control is described
Wheel, middle wheel, rear wheel movement.Wherein, rear wheel support rear body can be made to raise up by adjusting the inclination angle of rocking arm, avoids ladder
Shape barrier blocks middle wheel, and ladder-like barrier can also be avoided to block trailing wheel.It is only logical relative to robot in the related technology
Cross front wheels and rear wheels and climb ladder-like barrier, can more easily so that body part or be entirely located in ladder-like barrier it
On, and then cross over ladder-like barrier.
Optionally, the state parameter includes the inclination angle of the inclination angle and the rocking arm of the ontology relative to the ontology.
In one embodiment, it can be provided with Inertial Measurement Unit and/or acceleration transducer in the body, and can
To pass through the inclination angle of Inertial Measurement Unit and/or acceleration transducer detection body.And inclination angle of the rocking arm relative to ontology, then may be used
To be determined according to the historical data of the control to rocking arm, for example, rocking arm original state relative to ontology inclination angle be 0 °, go through
History data be the first secondary control rocking arm relative to raising up 30 °, the second secondary control rocking arm has a down dip 75 °, then according to above-mentioned history number
According to can determine when front arm relative to ontology inclination angle be have a down dip 45 °.
Fig. 3 is the schematic flow diagram of another robot control method shown according to an embodiment of the invention.Fig. 4 is root
According to a kind of schematic diagram of the state of robot shown in the embodiment of the present invention.Fig. 5 is shown according to an embodiment of the invention
Another schematic diagram of the state of robot.
As shown in Fig. 3, Fig. 4 and Fig. 5, on the basis of embodiment shown in Fig. 1, it is described according to the state parameter and/or
Move distance adjusts the inclination angle of the rocking arm, controls the front-wheel, middle wheel, rear wheel movement and includes：
Step S201 is at the inclination angle of the ontology 1 within the scope of first angle, and the Rocker arm 4 is relative to described
When the inclination angle of body 1 is within the scope of second angle, determine the front-wheel 2 at a distance from ladder-like barrier 5, wherein ladder-like
Barrier 5 can be multi-stage stairs, can also be single-stage step, such as road side.
In one embodiment, the first predetermined angle range and the second predetermined angle range can be set as needed
It sets, such as the first predetermined angle range can be -5 ° to 5 °, second angle range can be 0 ° to 10 °.If the tilting position of ontology
In within the scope of the first predetermined angle, and rocking arm is in relative to the inclination angle of ontology within the scope of the second predetermined angle, it may be determined that machine
Device people travels on horizontal road surface, and then can be by the way that the figure in front of image capture device acquisition ontology on the body is arranged
Picture can determine whether there are obstacles in front of ontology by analyzing the image collected.
It is possible to further determine front-wheel at a distance from ladder-like barrier, for example, can be determined by distance measuring sensor
The front-wheel can also acquire the depth image in front of robot, and root at a distance from ladder barrier by depth camera
Determine the front-wheel at a distance from ladder barrier according to depth image.
Step S202 adjusts the Rocker arm 4 and raises up first angle α when the distance is less than or equal to pre-determined distance d.
Step S203, controls the front-wheel 2 and/or 3 movement of middle wheel keeps front-wheel 2 so that the ontology 1 moves
And/or middle 3 movement of wheel, until the ontology 1 raises up, angle is equal to the first angle α.
In one embodiment, the inclination angle of ontology 1 is within the scope of first angle, can be ontology 1 inclination angle be 0 °, shake
Arm 4 is in relative to the inclination angle of ontology 1 within the scope of second angle, can be Rocker arm 4 relative to the inclination angle of ontology 1 is 0 °, at this
In the case of kind, trailing wheel 5 is touched with ground.It, can be in addition, Rocker arm 4 is in relative to the inclination angle of ontology 1 within the scope of second angle
It is that Rocker arm 4 keeps low-angle (such as 5 °) to raise up, in this case, trailing wheel 5 is not contacted with ground.Following embodiment mainly exists
The inclination angle of ontology 1 be 0 ° when, Rocker arm 4 relative to ontology 1 inclination angle be 0 ° in the case of illustrate.
In one embodiment, as shown in figure 4, when the distance between front-wheel 2 and ladder-like barrier 6 are equal to pre-determined distance
When d, it may be determined that robot needs to climb ladder-like barrier 6, and if trailing wheel 5 is kept to land, when front-wheel 2 and ladder
When shape barrier 6 contacts, robot, which moves forward, will need larger torque that front-wheel 2 could be pushed on ladder-like barrier 6.
And according to the present embodiment, raise up first angle α by adjusting Rocker arm 4, trailing wheel 5 can be driven to leave ground, then when front-wheel 2 with
When ladder-like barrier 6 contacts, robot, which moves forward, only needs smaller torque that can front-wheel 2 be pushed into ladder-like barrier 6
On, so as to shorten the climbing of robot front-wheel 2 to the time of ladder-like barrier 6 and the energy of consumption.
As shown in figure 5, raise up after first angle α in adjustment Rocker arm 4, by taken turns in control 3 and/or preceding 2 wheel move, can be with
So that ontology 1 is moved to ladder-like barrier 6, and when front-wheel 2 and ladder-like barrier 6 contact, it can be with smaller torque
Front-wheel 2 is pushed to climb ladder-like barrier 6, and when ontology 1 raises up angle equal to first angle α, can so that Rocker arm 4 has a down dip first
Angle [alpha] (Rocker arm 4 does not change relative to the inclination angle of ontology 1), so that trailing wheel 5 contacts ground, will pass through the continuation of trailing wheel 5
Robot is pushed to advance.
Fig. 6 is the schematic flow diagram of another robot control method shown according to an embodiment of the invention.Fig. 7 is root
According to the schematic diagram of the state of another robot shown in the embodiment of the present invention.Fig. 8 is to show according to an embodiment of the invention
Another robot state schematic diagram.
As shown in Fig. 6, Fig. 7 and Fig. 8, on the basis of embodiment shown in Fig. 1, it is described according to the state parameter and/or
Move distance adjusts the inclination angle of the rocking arm, controls the front-wheel, middle wheel, rear wheel movement and includes：
Step S204 raises up angle equal to first angle α in the ontology 1, and the Rocker arm 4 is relative to the ontology 1
Raise up the first angle α when, control the Rocker arm 4 and have a down dip second angle β, so that the inclination angle of the ontology 1 is in described the
In one angular range；
Step S205 controls the front-wheel 2 and/or the trailing wheel 5 and moves so that the movement of the ontology 1 first it is default away from
From D, wherein the first pre-determined distance D is greater than or equal to the axle center distance L of front-wheel 2 and middle wheel 3.
In one embodiment, if the height H of ladder-like barrier 6 is equal to L × sin α, then second angle β can be waited
In first angle α, in other cases, second angle β can be more than first angle α.
In one embodiment, as shown in Figure 7 and Figure 8, it is equal to first angle α, and Rocker arm 4 phase in the angle that raises up of ontology 1
For ontology 1 raise up first angle α when, the minimum point of front-wheel 2 is located on ladder-like barrier 6, and by having a down dip, Rocker arm 4 can be with
So that the inclination angle of ontology 1 is restored within the scope of the first predetermined angle, such as makes the inclination angle of ontology revert to 0 °, namely make this
Body 1 restores horizontality, in this case, is moved by controlling front-wheel 2 and/or trailing wheel 5, ontology 1 can pushed to move
During first pre-determined distance D, middle wheel 3 is avoided by the blocking of ladder-like barrier 6, ensures that robot moves glibly.
In one embodiment, theoretically the first pre-determined distance D be equal to front-wheel 2 and it is middle wheel 3 axle center distance L, you can protect
In the case of demonstrate,proving the first pre-determined distance of movement of ontology 1, but in practical situations, when ontology 1 just moves the first pre-determined distance D
When, front-wheel 2 and the contact area of barrier 6 are minimum, are unfavorable for steadily supporting ontology 1, therefore can control ontology 1 and do more physical exercises
Some, namely the first pre-determined distance D of ontology movement is made to be more than the axle center distance L of front-wheel 2 and middle wheel 3,3 are taken turns in guarantee can
Steadily support ontology.Wherein, the first pre-determined distance D also needs the axle center distance less than front-wheel 2 and trailing wheel 5, is transported to avoid ontology 1
The side wall of 5 collision obstacle 6 of trailing wheel during dynamic and cause robot impaired.
Fig. 9 is the schematic flow diagram of another robot control method shown according to an embodiment of the invention.Such as Fig. 9 institutes
Show, (Fig. 9 illustrates only the exemplary flow on the basis of embodiment shown in Fig. 3 on the basis of Fig. 3 or embodiment illustrated in fig. 6
Figure), the method further includes：
Step S206 determines ladder when the front-wheel is greater than or equal to pre-determined distance at a distance from ladder-like barrier
The height of shape barrier；
Step S207 determines the first angle according to the height of the ladder-like barrier.
In one embodiment, the depth image for including ladder-like barrier 6 can be acquired, depth transducer is then passed through
The height H of ladder-like barrier 6 is determined according to depth image.
In one embodiment, the height H of ladder-like barrier 6 can be equal to L × sin α, wherein L is front-wheel 2 in
The axle center distance of wheel 3.Accordingly, angle is raised up equal to first angle α in ontology 1, and Rocker arm 4 raises up first jiao relative to ontology 1
When spending α, trailing wheel 5 can be made to contact ground, and the height that the center of circle of front-wheel 2 rises is equal to L × sin α=H namely ontology 1
The angle that raises up, which is equal to first angle α, can make the minimum point of front-wheel 2 be located on ladder-like barrier 6, thereby may be ensured that
Robot no longer needs to push front-wheel 2 to climb ladder-like barrier 6 with larger torque in subsequent motion process.
Figure 10 is the schematic flow diagram of another robot control method shown according to an embodiment of the invention.Such as Figure 10
Shown, (Figure 10 illustrates only the signal stream on the basis of embodiment shown in Fig. 3 on the basis of Fig. 3 or embodiment illustrated in fig. 6
Journey figure), the method includes：
Step S208, when the front-wheel is greater than or equal to pre-determined distance at a distance from ladder-like barrier, reception comes from
The information of host computer determines the first angle according to described information.
In one embodiment, in addition to that can determine first angle by robot itself according to embodiment as shown in Figure 9,
It can also be by the information of reception host computer (such as the electronic equipments such as the remote controler of robot operator, mobile phone), according to operation
Information that person is inputted determines first angle.
Figure 11 is the schematic flow diagram of another robot control method shown according to an embodiment of the invention.Figure 12 is
The schematic diagram of the state of another robot shown according to an embodiment of the invention.
As is illustrated by figs. 11 and 12, described according to the state parameter and/or fortune on the basis of embodiment shown in Fig. 1
Dynamic distance adjusts the inclination angle of the rocking arm, controls the front-wheel, middle wheel, rear wheel movement and includes：
Step S209 is in first angle range at the inclination angle of the ontology 1, and the Rocker arm 4 is relative to the ontology 1
When having moved the first pre-determined distance D in the state of the third angle that has a down dip, controls the Rocker arm 4 and raise up fourth angle γ, wherein institute
It states fourth angle γ and is greater than or equal to the third angle, the first pre-determined distance D is greater than or equal to the front-wheel 2 and middle wheel
3 axle center distance L；
Step S210 controls the front-wheel 2 and/or 3 movement of middle wheel.
In one embodiment, it is in first angle range at the inclination angle of the ontology 1, and the Rocker arm 4 is relative to institute
Ontology 1 is stated to have a down dip when having moved the first pre-determined distance D in the state of third angle, front-wheel 2 and middle wheel 3 have been located in barrier 6 it
On, therefore during this scale obstacles 6, continue to support ontology 1 without trailing wheel 5, so as to control on Rocker arm 4
It raises, reduces or avoid barrier 6 to trailing wheel 5 during subsequently dragging rear wheel movement to drive trailing wheel 5 to be detached from ground
Blocking.
Such as third angle is equal to when the difference of second angle and first angle, robot is in such as 8 institutes in above-described embodiment
Show the state in embodiment, then further, as shown in figure 12, by the way that Rocker arm 4 raises up fourth angle γ, such as the 4th
In the case that angle γ is equal to second angle β, the minimum point and the minimum point of front-wheel 2 and middle wheel 3 of trailing wheel 5 are generally aligned in the same plane,
In the case where fourth angle γ is more than second angle β, the minimum point of trailing wheel 5 is flat higher than where the minimum point of front-wheel 2 and middle wheel 3
Face.Therefore no matter γ is also equal to β more than β, can avoid robot during the motion, trailing wheel 5 is by ladder-like obstacle
The blocking of object 6, to ensure in control front-wheel 2 and/or 3 motion processes of middle wheel, robot can be glibly in ladder-like barrier
Hinder and is moved on object 6.
Corresponding with the embodiment of robot control method above-mentioned, the present invention also provides the realities of robot controller
Apply example.
The embodiment of robot controller of the present invention can be applied in the equipment such as robot.Device embodiment can lead to
Software realization is crossed, can also be realized by way of hardware or software and hardware combining.For implemented in software, as a logic
Device in meaning is to be read corresponding computer program instructions in nonvolatile memory by the processor of equipment where it
Get what operation in memory was formed.It is equipment where robot controller of the present invention as shown in figure 13 for hardware view
A kind of hardware structure diagram, it is real other than processor, memory, network interface and nonvolatile memory shown in Figure 13
Actual functional capability of the equipment in example where device generally according to the equipment is applied, can also include other hardware, this is repeated no more.
Figure 14 is a kind of schematic block diagram of the robot controller shown according to an embodiment of the invention.The robot
Including ontology, be arranged the body portion front-wheel, be arranged in the middle part of the ontology middle wheel, be rotatably connected at it is described
The rocking arm of middle wheel and the trailing wheel for being connected to the rocking arm, as shown in figure 14, described device includes：
Acquisition module 1, state parameter and/or move distance for obtaining the robot；
Control module 2, the inclination angle for adjusting the rocking arm according to the state parameter and/or move distance control institute
Front-wheel, middle wheel, rear wheel movement are stated, so as to the body part or be entirely located on ladder-like barrier.
Optionally, the state parameter includes the inclination angle of the inclination angle and the rocking arm of the ontology relative to the ontology.
Figure 15 is the schematic block diagram of another robot controller shown according to an embodiment of the invention.Such as Figure 15 institutes
Show, on the basis of embodiment illustrated in fig. 14, the control module 2 includes：
Apart from determination sub-module 201, for being within the scope of first angle at the inclination angle of the ontology, and the rocking arm phase
When being within the scope of second angle for the inclination angle of the ontology, determine the front-wheel at a distance from ladder-like barrier；
First rocking arm control submodule 202, for when the distance is less than or equal to pre-determined distance, adjusting the rocking arm
Raise up first angle；
First motion control submodule 203 keeps the front-wheel for controlling the front-wheel and/or the middle wheel movement
And/or the middle wheel movement, so that the ontology moves, until the ontology raises up, angle is equal to the first angle.
Figure 16 is the schematic block diagram of another robot controller shown according to an embodiment of the invention.Such as Figure 16 institutes
Show, on the basis of embodiment illustrated in fig. 14, the control module includes：
Second rocking arm control submodule 204 is equal to first angle, and the rocking arm phase for raising angle on the body
For the ontology raise up the first angle when, control the rocking arm and have a down dip second angle, so that the tilting position of the ontology
In within the scope of the first angle；
Second motion control submodule 205, for controlling the front-wheel and/or the rear wheel movement, so that the ontology
Move the first pre-determined distance, wherein first pre-determined distance is greater than or equal to the axle center distance of the front-wheel and middle wheel.
Figure 17 is the schematic block diagram of another robot controller shown according to an embodiment of the invention.Such as Figure 17 institutes
Show, (Figure 17 illustrates only the schematic block on the basis of embodiment shown in Fig. 5 on the basis of Figure 15 or embodiment illustrated in fig. 16
Figure), described device further includes：
Height determining module 3, when being used to be greater than or equal to pre-determined distance at a distance from ladder-like barrier in the front-wheel,
Determine the height of the ladder-like barrier；
Angle-determining module 4, for determining the first angle according to the height of the ladder-like barrier.
Figure 18 is the schematic block diagram of another robot controller shown according to an embodiment of the invention.Such as Figure 18 institutes
Show, (Figure 18 illustrates only the schematic block on the basis of embodiment shown in Fig. 5 on the basis of Figure 15 or embodiment illustrated in fig. 16
Figure), described device further includes：
Receiving submodule 5, for when the front-wheel is greater than or equal to pre-determined distance at a distance from ladder-like barrier, connecing
The information from host computer is received, the first angle is determined according to described information.
Figure 19 is the schematic block diagram of another robot controller shown according to an embodiment of the invention.Such as Figure 19 institutes
Show, on the basis of embodiment illustrated in fig. 14, the control module includes：
Third rocking arm control submodule 206 is in first angle range at the inclination angle of the ontology, and the rocking arm is opposite
When having moved the first pre-determined distance in the state that the ontology has a down dip third angle, controls the rocking arm and raises up fourth angle,
Wherein, the fourth angle be greater than or equal to the third angle, first pre-determined distance be greater than or equal to the front-wheel and
The axle center distance of middle wheel；
Third motion control submodule 207, for controlling the front-wheel and/or the middle wheel movement.
The embodiment of the present invention also proposes a kind of computer readable storage medium, is stored thereon with computer program, the journey
The robot control method described in any of the above-described embodiment is executed when sequence is executed by processor.
The embodiment of the present invention also proposes a kind of robot, including ontology, front-wheel in the body portion, setting is arranged
Middle wheel in the middle part of the ontology is rotatably connected at the rocking arm of the middle wheel and is connected to the trailing wheel of the rocking arm, also wraps
It includes：
Processor, wherein the processor is configured as executing the robot controlling party described in any of the above-described embodiment
Method.
The function of modules and the realization process of effect specifically refer to and correspond to step in the above method in above-mentioned apparatus
Realization process, details are not described herein.
For device embodiments, since it corresponds essentially to embodiment of the method, so related place is referring to method reality
Apply the part explanation of example.The apparatus embodiments described above are merely exemplary, wherein described be used as separating component
The unit of explanation may or may not be physically separated, and the component shown as unit can be or can also
It is not physical unit, you can be located at a place, or may be distributed over multiple network units.It can be according to actual
It needs that some or all of module therein is selected to realize the purpose of the present invention program.Those of ordinary skill in the art are not paying
In the case of going out creative work, you can to understand and implement.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent substitution, improvement and etc. done should be included within the scope of protection of the invention god.
Claims (10)
1. a kind of robot control method, which is characterized in that the robot includes ontology, is arranged before the body portion
The middle wheel that take turns, is arranged in the middle part of the ontology, after being rotatably connected at the rocking arm of the middle wheel and being connected to the rocking arm
Wheel, the method includes：
Obtain the state parameter and/or move distance of the robot；
The inclination angle that the rocking arm is adjusted according to the state parameter and/or move distance controls the front-wheel, middle wheel, trailing wheel fortune
It is dynamic, so as to the body part or be entirely located on ladder-like barrier.
2. according to the method described in claim 1, it is characterized in that, the state parameter includes the inclination angle of the ontology and described
Inclination angle of the rocking arm relative to the ontology.
3. according to the method described in claim 2, it is characterized in that, described according to the state parameter and/or move distance tune
The inclination angle of the whole rocking arm, controlling the front-wheel, middle wheel, rear wheel movement includes：
It is within the scope of first angle at the inclination angle of the ontology, and the rocking arm is in second relative to the inclination angle of the ontology
When in angular range, determine the front-wheel at a distance from ladder-like barrier；
When the distance is less than or equal to pre-determined distance, adjusts the rocking arm and raise up first angle；
It controls the front-wheel and/or the middle wheel movement keeps the front-wheel and/or the middle wheel so that the ontology moves
Movement, until the ontology raises up, angle is equal to the first angle.
4. according to the method described in claim 2, it is characterized in that, described according to the state parameter and/or move distance tune
The inclination angle of the whole rocking arm, controlling the front-wheel, middle wheel, rear wheel movement includes：
Angle is raised on the body and is equal to first angle, and the rocking arm raises up the first angle relative to the ontology
When, it controls the rocking arm and has a down dip second angle, so that the inclination angle of the ontology is within the scope of the first angle；
The front-wheel and/or the rear wheel movement are controlled, so that the ontology moves the first pre-determined distance, wherein described first
Pre-determined distance is greater than or equal to the axle center distance of the front-wheel and middle wheel.
5. method according to claim 3 or 4, which is characterized in that further include：
When the front-wheel is greater than or equal to pre-determined distance at a distance from ladder-like barrier, the ladder-like barrier is determined
Highly；
The first angle is determined according to the height of the ladder-like barrier.
6. method according to claim 3 or 4, which is characterized in that further include：
When the front-wheel is greater than or equal to pre-determined distance at a distance from ladder-like barrier, the information from host computer is received,
The first angle is determined according to described information.
7. according to the method described in claim 2, it is characterized in that, described according to the state parameter and/or move distance tune
The inclination angle of the whole rocking arm, controlling the front-wheel, middle wheel, rear wheel movement includes：
It is in first angle range at the inclination angle of the ontology, and the rocking arm has a down dip the shape of third angle relative to the ontology
When having moved the first pre-determined distance under state, controls the rocking arm and raise up fourth angle, wherein the fourth angle is greater than or equal to
The third angle, first pre-determined distance are greater than or equal to the axle center distance of the front-wheel and middle wheel；
Control the front-wheel and/or the middle wheel movement.
8. a kind of robot controller, which is characterized in that the robot includes ontology, is arranged before the body portion
The middle wheel that take turns, is arranged in the middle part of the ontology, after being rotatably connected at the rocking arm of the middle wheel and being connected to the rocking arm
Wheel, described device include：
Acquisition module, state parameter and/or move distance for obtaining the robot；
Control module, the inclination angle for adjusting the rocking arm according to the state parameter and/or move distance, before control is described
Wheel, middle wheel, rear wheel movement, so as to the body part or be entirely located on ladder-like barrier.
9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor
The robot control method described in any one of described claim 1 to 7 is executed when row.
10. a kind of robot, which is characterized in that including ontology, be arranged the body portion front-wheel, be arranged in the ontology
The middle wheel at middle part, the rocking arm for being rotatably connected at the middle wheel and the trailing wheel for being connected to the rocking arm further include：
Processor, wherein the processor is configured as the robot controlling party described in any one of perform claim requirement 1 to 7
Method.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114967722A (en) * | 2022-06-10 | 2022-08-30 | 北京理工大学 | Method for automatically crossing step obstacle of rocker arm type motorized platform |
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