CN108958249A - A kind of ground robot control system and control method considering Unknown control direction - Google Patents
A kind of ground robot control system and control method considering Unknown control direction Download PDFInfo
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- CN108958249A CN108958249A CN201810735158.1A CN201810735158A CN108958249A CN 108958249 A CN108958249 A CN 108958249A CN 201810735158 A CN201810735158 A CN 201810735158A CN 108958249 A CN108958249 A CN 108958249A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0251—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 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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Abstract
The invention discloses a kind of ground robot control systems and control method for considering Unknown control direction, the control system includes ground control station, ground robot and positioning tracing equipment, positioning tracing equipment captures the three-dimensional position of ground robot, and location information is sent to ground control station；Location information is transformed to ground robot position and posture by ground control station, and according to the movement track of the ground robot of user setting and the position of ground robot and posture, is calculated the control target of ground robot next step, sent ground robot to；Ground robot calculates movement velocity of lower a moment and angular speed according to the data that ground control station is sent, and is transformed to PWM wave output, and driving robot is moved to target point.The problem of control direction for being able to solve ground robot using the system unknown (i.e. the size of the direction of control input positive and negative anodes and/or control input gain is uncertain), the movement of robot can be made to reach good, accurate control performance.
Description
Technical field
The present invention relates to control technology fields, and in particular to a kind of control system and controlling party of ground mobile robot
Method.
Background technique
Nowadays, ground mobile robot increasingly intelligence and diversification, mobile robot can execute many complexity
Task.User would generally control the movement of robot when robot executes task.However current ground moving on the market
Robot does not consider the control direction of robot generally, this may result in robot control and tries to go south by driving the chariot north.Such as: it is existing
Robot Control Technology includes traditional PID control, fuzzy-adaptation PID control, Sliding mode variable structure control and ANN Control etc..These
Although technology can basically reach control effect, since in view of the direction of control input, good control is not often not achieved
Performance.
In actually control, sampling time, control input and the mathematical relationship of actuator and control the positive and negative of voltage can
Influence direction or the gain of control input.If not considering these unknown control coefrficients, it is not high to will lead to control performance.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention proposes a kind of consideration Unknown control direction
Ground robot control system, unknown (the i.e. direction of control input positive and negative anodes in the control direction for being able to solve ground robot
And/or the size of control input gain is uncertain) the problem of, the movement of ground robot can be made to reach good, accurate control
Performance.
Another object of the present invention is to provide a kind of corresponding control methods.
Technical solution: in order to achieve the goal above, the invention adopts the following technical scheme:
A kind of ground robot control system, including ground control station, ground robot and positioning tracing equipment, positioning chase after
Track equipment captures the three-dimensional position of ground robot, and location information is sent to ground control station；Ground control station will position
Information is transformed to ground robot position and posture, and according to the movement track and ground machine of the ground robot of user setting
The position of people and posture calculate the control target of ground robot next step, send ground robot to；Ground robot root
Movement velocity of lower a moment and angular speed are calculated according to the data that ground control station is sent, and is transformed to PWM wave output, drives robot
It is moved to target point.
In order to improve Man machine interaction, which can also include user equipment, such as mobile phone or tablet computer
Equal intelligent mobile terminals, the user equipment are wirelessly connected to ground control station, for setting ground machine human action for user
Track, and movement track is sent to ground control station.
According to the control method of above-mentioned ground robot control system, comprising the following steps:
Positioning tracing equipment captures the three-dimensional position of ground robot, and location information is sent to ground control station；
Location information is transformed to ground robot position and posture by ground control station；
Ground control station is according to the movement track of the ground robot of user setting and the position of ground robot and appearance
State calculates the control target of ground robot next step；
Next step control target and current location, posture are transmitted to ground robot by ground control station；
The data that ground robot is sent according to ground control station, operation consider the control algolithm of Unknown control direction, meter
Movement velocity of lower a moment and angular speed are calculated, PWM wave output is transformed to, driving robot is moved to target point.
Wherein, the control algolithm form for considering Unknown control direction is as follows:
X is ground robot current time position, and b is unknown control coefrficient, and u (t) is control input, and calculation formula is such as
Under:
U (t)=N0(k)(x-x0)
N0(k)=k2sin(k)
Wherein, x0For the ground robot target point to be reached, k is intermediate quantity, and γ is positive number, N0For a kind of Nussbaum
Function meets following condition:
Sup (*), inf (*) respectively indicate upper and lower bound.
Preferably, when next step control target and current location, posture are transmitted to ground robot by ground control station, also
Send check information to ground robot, the check information includes tracking mark position and communication symbol position, ground robot
After the data for receiving ground control station transmission, data check first is carried out according to two flag bits, two flag bits are all 1, then
Verify successfully, then using after verification control target and location information as the input of control algolithm.
Further, after ground robot calculates movement velocity of lower a moment and angular speed, by speed and angular velocity information
Be transformed to left and right two wheel speeds, then by left and right two-wheeled velocity transformation be encoder PWM wave export, be passed to actuator, driving machine
People is moved to target point.
The utility model has the advantages that the present invention proposes a kind of ground robot control system and controlling party for considering Unknown control direction
Method, ground robot utilize the control algolithm for considering position control direction by external incoming control target and current location
The speed and angular speed at lower a moment are calculated, and is converted to PWM wave output, realizes the control to robot.The system uses
The problem of Nussbaum-type function efficiently solves Unknown control direction improves the control performance to robot.
Detailed description of the invention
Fig. 1 is the control system architecture figure according to the ground robot of the embodiment of the present invention；
Fig. 2 is the hardware structural diagram according to the ground robot of the embodiment of the present invention；
Fig. 3 is the control method overall flow figure according to the embodiment of the present invention；
Fig. 4 is the concrete operation step flow chart controlled using control system according to the embodiment of the present invention.
Specific embodiment
Technical solution of the present invention is described further with reference to the accompanying drawing.
Referring to Fig.1, a kind of ground robot control system, including ground control station, ground robot and location tracking are set
Standby, positioning tracing equipment captures the three-dimensional position of ground robot, and location information is sent to ground control station；Ground control
Stand and location information be transformed to ground robot position and posture, and according to the movement track of the ground robot of user setting and
The position of ground robot and posture calculate the control target of ground robot next step, send ground robot to；Ground
Robot calculates movement velocity of lower a moment and angular speed according to the data that ground control station is sent, and is transformed to PWM wave output, drives
Mobile robot is moved to target point.
In order to improve Man machine interaction, which can also include user equipment, such as mobile phone or tablet computer
Equal intelligent mobile terminals, user equipment are wirelessly connected to ground control station, for setting ground robot movement track for user,
And movement track is sent to ground control station.
In one embodiment, positioning tracing equipment is based on image come calculating location information, and image capture function is by imaging
Head is completed, and computing function is integrated into ground control station and completes.12 cameras are used in embodiment, are divided into three column, each column
Four cameras are averagely placed, are placed in above ground robot moving range.
The artificial two-wheeled ground robot of ground machine can rotate, any direction advances.Referring to Fig. 2, it includes embedded
Controller, executes the hardware configurations such as system, storage system, power-supply system at wireless communication system.Wherein, embedded controller is
Core, for controlling the movement of robot；Wireless communication system is responsible for robot and is communicated with control station, executes system and is responsible for
The instruction for executing controller, makes robot motion to designated position；Storage system is responsible for storing data, and power-supply system is responsible for machine
Device people power supply.
Referring to Fig. 3, according to the control method of above-mentioned ground robot control system, comprising the following steps:
Step 100, camera obtain image, and image is sent to ground control station, ground control station to image at
Reason, obtains the three-dimensional position and posture of ground robot.
Step 102, ground control station are according to the movement track of the ground robot of user setting and ground robot
Position and posture calculate the control target of ground robot next step.
One group of point after movement track is discrete is by the control target as robot.Program will be by that will control target and machine
The current position coordinates point of people connects into straightway, and the angle of the angle and robot of the line segment and origin is compared, and obtains
The angle of rotation required for the control target and the distance of advance are reached to robot, controls target as next step.
Next step control target and current location, posture are transmitted to ground robot, and school by step 104, ground control station
It tests information and sends ground robot to.
Check information includes tracking mark position and communication symbol position, and tracking mark position is to observe whether camera detects
To ground robot, whether communication symbol position is normal in order to detect the communication of ground robot and ground control station.The two
Flag bit has setting in ground control station and ground robot, because the two requires to know whether camera traces into machine
People and the communication state between them.
Step 106, ground robot receive the incoming data of ground control station, according to whether trace into ground robot and
Whether normal two flag bits do data check for communication, guarantee the accuracy of data.
If two flag bits all take 1, respectively indicates and trace into robot and have built up communication, take 0 to respectively indicate not
Trace into robot and without establishing communication.If there is a flag bit is 0, then gives up the data received, wait next time
It is incoming.
Target point x after ground robot is verified0With robot current location x.
Step 108, according to target point x0Controller operation with current location x, ground robot considers unknown controlling party
To control algolithm, calculate movement velocity of lower a moment and angular speed.
Ground mobile robot from computer control angle from the point of view of for discrete system, if only considering control robot position
It sets, then system dynamics model is as follows:
X is ground robot current time position, and b is unknown control coefrficient.The robot of control input and each moment
Speed is linear, related with the performance etc. of sampling time, actuator, thus there are unknown control coefrficient b, b ≠ 0.
U (t) is control input, and calculation is as follows:
U (t)=N0(k)(x-x0)
N0(k)=k2sin(k)
Wherein, x0For the ground robot target point to be reached, γ is positive number, and k is intermediate quantity, N0For a kind of Nussbaum
Function needs to meet following condition:
Sup (*), inf (*) respectively indicate upper and lower bound.The class function can efficiently solve Unknown control direction
Problem.It takesThenThenc
For constant.It is known that according to the property of NussbaumBounded, therefore final robot reaches near target point.
It asksAnd it is integrated,N is sought again0(k)=k2Control input u (t) can be obtained in sin (k)
=N0(k)(x-x0)。
Two-wheeled ground robot can rotate, therefore angled, can be mobile in two-dimensional space, therefore have speed.It is corresponding
Be Liang Ge executing agency, one can with the steering engine of varied angle, one be can be with the motor of speed change degree.Here what is obtained is machine
The speed and angular speed of people's next step.
Calculated speed and angular velocity information are transformed to two wheel speeds of left and right by step 110, ground robot, then will be left
Right two-wheeled velocity transformation is the output of encoder PWM wave, and driving robot is moved to target point.
Speed and angular speed pass through the basic exercise fortran of robot into left and right speed:
Wherein, vRFor right wheel speed, vLFor revolver speed, vCFor calculated robot next step speed, ωCTo calculate
Angular speed out.
After obtaining two wheel speeds, pass through encoder output PWM wave.The PWM wave of encoder output, just directly acts on motor
On, drive robotic movement.
Referring to Fig. 4, the use process of the control system includes three phases.It is demarcated first, carries out camera calibration
Effect be calibration camera precision, to establish 3 d space coordinate system, the effect for carrying out rigid body calibration is by robotization
Make a point in coordinate system, so as to accurately capture position and the posture information of robot.Then user setting robot
Movement track, be finally the downloading and operation of program.Detailed process described below.
Step 200 establishes space coordinates.Ground control station and camera system power supply are opened, ground control station is opened
On calibration software, remove camera view in all miscellaneous points, remove all intelligent bodies, use locating rod carry out spatial accuracy
Adjusting.After the precision of each camera all reaches 1000mm, space coordinates are established.
Step 202, calibration origin.Calibration scale is placed on to the origin for needing to demarcate, and long side is directed at ground control station,
The position of origin is demarcated in calibration software.Save and export after the completion coordinate system demarcating file.
Step 204, the calibration that ground robot rigid body is carried out in the coordinate system for just demarcating completion.
In step 206, calibration process, camera will the signal that sends out of the positioning system in automatic identification robot,
Labeled as point, these points are chosen, rigid body is carried out and select ands set.Then, the highest point in all the points is selected to be set as navigation spots,
And drop height is carried out to the point and is handled.After the completion of all rigid body calibration, demarcating file is exported.
Step 208, ground station control end: opening Server project file in the MATLAB software of ground control station, carries
Enter the coordinate system demarcating file and rigid body demarcating file just demarcated, sets the IP address of ground control station, set row
Dynamic rail mark.Or ground robot movement track is set using user equipment, movement track is sent to ground control station.
Step 210, ground robot end: Client project file is opened in the MATLAB software of ground control station, is opened
Mobile robot power supply sets the IP address of ground robot, ground control station and ground robot is linked.
Step 212, in Client project file, open robot control module, it will be considered that the control of Unknown control direction
Algorithm routine processed is downloaded in robot in the form of MATLAB program.
Step 214 successively starts and runs Server, Client, at this time the wireless communication system on Server and robot
System will be attached by WIFI.
The location information of step 216, camera real-time capture ground robot, sends ground control station to.
The information received is transformed to coordinate and posture information by step 218, ground control station, and combines and pre-set
Movement track is handled and is calculated, and real-time control target is obtained.
Step 220, ground control station send the real-time control target to ground robot by Wi-Fi agreement.
Step 222, ground robot receive the control target, carry out data check.
Step 224, ground robot using after verification control target and location information as the input of control algolithm, output
The location information of robot subsequent time, and then acquire the speed and angular speed of ground robot.
Speed and angular velocity information are transformed to two wheel speeds of left and right by step 226, ground robot, then will two wheel speeds of left and right
Degree is transformed to PWM wave output, is passed to the actuator of robot.
Step 228, ground robot will be moved with given revolver speed and right wheel speed.
User can observe the motion track and control effect of ground robot on ground control station or user equipment.
Claims (6)
1. a kind of ground robot control system, which is characterized in that the control system includes ground control station, ground robot
And positioning tracing equipment, positioning tracing equipment captures the three-dimensional position of ground robot, and location information is sent to ground control
System station；Location information is transformed to ground robot position and posture by ground control station, and according to the ground machine of user setting
The movement track of people and the position of ground robot and posture calculate the control target of ground robot next step, send to
Ground robot；Ground robot calculates movement velocity of lower a moment and angular speed according to the data that ground control station is sent, and becomes
It is changed to PWM wave output, driving robot is moved to target point.
2. ground robot control system according to claim 1, which is characterized in that it further include user equipment, the use
Family equipment is connected to ground control station, for setting ground robot movement track for user, and is sent to ground for movement track
Face control station.
3. the control method of ground robot control system according to claim 1 or 2, which is characterized in that including following
Step:
Positioning tracing equipment captures the three-dimensional position of ground robot, and location information is sent to ground control station；
Location information is transformed to ground robot position and posture by ground control station；
Ground control station according to the movement track of the ground robot of user setting and the position of ground robot and posture,
Calculate the control target of ground robot next step；
Next step control target and current location, posture are transmitted to ground robot by ground control station；
The data that ground robot is sent according to ground control station, operation consider the control algolithm of Unknown control direction, calculate
Lower a moment movement velocity and angular speed, are transformed to PWM wave output, and driving robot is moved to target point；
Wherein, the control algolithm form for considering Unknown control direction is as follows:
X is ground robot current time position, and b is unknown control coefrficient, and u (t) is control input.
4. the control method of ground robot according to claim 3, which is characterized in that the meter of control input u (t)
It is as follows to calculate formula:
U (t)=N0(k)(x-x0)
N0(k)=k2sin(k)
Wherein, x0For the ground robot target point to be reached, k is intermediate quantity, and γ is normal number, N0For a kind of Nussbaum letter
Number, meets following condition:
Sup (*), inf (*) respectively indicate upper and lower bound.
5. the control method of ground robot according to claim 3, which is characterized in that ground control station controls next step
When target processed and current location, posture are transmitted to ground robot, also check information is sent to ground robot, the verification letter
Breath includes tracking mark position and communication symbol position, after ground robot receives the data of ground control station transmission, first according to two
A flag bit carries out data check, and two flag bits are all 1, then verifies success, then by after verification control target and position believe
Cease the input as control algolithm.
6. the control method of ground robot according to claim 3, which is characterized in that the ground robot calculates
After lower a moment movement velocity and angular speed, speed and angular velocity information are transformed to two wheel speeds of left and right, then will two wheel speeds of left and right
Degree is transformed to the output of encoder PWM wave, is passed to actuator.
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Cited By (1)
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|---|---|---|---|---|
| CN112230606A (en) * | 2020-10-29 | 2021-01-15 | 上海工程技术大学 | Method for controlling NAO robot to move based on MATLAB application program interface |
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