CN109753063A - A kind of remote mobile device motion control method and system - Google Patents
A kind of remote mobile device motion control method and system Download PDFInfo
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- CN109753063A CN109753063A CN201811548535.7A CN201811548535A CN109753063A CN 109753063 A CN109753063 A CN 109753063A CN 201811548535 A CN201811548535 A CN 201811548535A CN 109753063 A CN109753063 A CN 109753063A
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Abstract
The present invention relates to a kind of remote mobile device motion control method and systems, belong to teleoperation field, solve the problems, such as in the prior art because manual operation delay lead to not guarantee remote mobile device moving process in it is safe.It the described method comprises the following steps: obtaining the distance between remote mobile device and target obstacle information, the range information is sent to control terminal；Control terminal generates control according to the range information and trims coefficient, obtains the displacement information of control-rod；Coefficient is trimmed according to the displacement information and control, generate corresponding PWM wave control signal and is sent to remote mobile device；Remote mobile device controls signal according to the PWM wave and is moved.It realizes and remote mobile device motion control is avoided because manual operation delay causes remote mobile device in the generation of moving process and target obstacle collision, ensure that safety of the remote mobile device in moving process.
Description
Technical field
The present invention relates to teleoperation field more particularly to a kind of remote mobile device motion control method and systems.
Background technique
Remote operating is the basic means that motion control is carried out to remote mobile device, the application allusion quotation as remote mobile device
Type, teleoperation robot is generally applicable in Special Work environment, such as development of resources, nuke rubbish cleaning, explosive, the high-risk work of high pressure
Industry etc. would ordinarily be encountered barrier in its operation process, to avoid postponing because of manual operation that it is caused to touch with barrier
Hit, to guarantee its safety in moving process, need there is teleoperation robot etc. the device of remote mobile function into
Row motion control.
Summary of the invention
In view of above-mentioned analysis, the embodiment of the present invention is intended to provide a kind of remote mobile device motion control method and is
System, to solve in the prior art because manual operation delay leads to not guarantee safe in remote mobile device moving process ask
Topic.
On the one hand, it the present invention provides a kind of remote mobile device motion control method, the described method comprises the following steps:
The distance between remote mobile device and target obstacle information are obtained, the range information is sent to control
End；
Control terminal generates control according to the range information and trims coefficient, obtains the displacement information of control-rod；According to institute
It states displacement information and control trims coefficient, generate corresponding PWM wave control signal and be sent to remote mobile device；
Remote mobile device controls signal according to the PWM wave and is moved.
Having the beneficial effect that for above-mentioned technical proposal is realized through the above scheme to remote mobile device motion control, is kept away
Exempt to postpone the generation for causing remote mobile device in moving process and target obstacle collision because of manual operation, ensure that long-range
Safety of the mobile device in moving process.
Further, control is generated according to the range information and trims coefficient, operate control-rod, it is made to generate displacement,
Coefficient is trimmed according to the displacement and control, corresponding PWM wave control signal is generated, specifically includes:
Judge whether the distance is greater than default safe distance threshold value；If distance is greater than default safe distance threshold value, give birth to
Trim coefficient gamma at corresponding control, operation control-rod to certain displacement obtains command displacement amount α, according to the displacement α and
Control trims coefficient gamma, generates the PWM wave control signal of corresponding duty ratio；
Otherwise, it generating corresponding control and trims coefficient ρ, operation control-rod to certain displacement obtains control-rod displacement β,
Coefficient ρ is trimmed according to the displacement β and control, generates the PWM wave control signal of corresponding duty ratio；Wherein, ρ < γ.
Above-mentioned further technical solution have the beneficial effect that above scheme according to remote mobile device and target obstacle it
Between apart from situation, be respectively provided with different controls and trim coefficient, ensure that remote mobile device in default safe distance threshold value
There is suitable movement speed outside range, while making it in default safe distance threshold value, it is easier to be controlled, and then not
Easily bump against barrier.
Further, the control trims coefficient gamma and is constant value or is positively correlated functional relation with distance, the control
It trims coefficient ρ and distance is positively correlated functional relation.
Above-mentioned further technical solution have the beneficial effect that remote mobile device outside default safe distance threshold range,
Operator can effectively control the movement speed of remote mobile device；Remote mobile device is in default safe distance threshold range
It is interior, it can be ensured that the safety of remote mobile device.
Further, remote mobile device controls signal according to the PWM wave and is moved, and specifically includes: remote mobile
The electric machine controller of device controls the duty ratio of signal according to the PWM wave, and control motor generates long-range with corresponding power driving
Mobile device is mobile.
Further, if the target obstacle operates control-rod in the front of remote mobile device, generate it just
Displacement trims if the target obstacle at the rear of remote mobile device, makes it generate negative displacement amount according to the control
Coefficient and positive displacement amount or negative displacement amount, generate corresponding pwm control signal；The electric machine controller root of the remote mobile device
According to the duty ratio of PWM wave control signal, control motor is generated to be moved forward or back with corresponding power driving remote mobile device.
Having the beneficial effect that for above-mentioned further technical solution can be convenient through the above scheme, efficiently control is long-range moves
The forward or backward of dynamic device.
On the other hand, the present invention provides a kind of remote mobile device kinetic control system, the system comprises be set to
Distance-measuring equipment, electric machine controller on remote mobile device, control terminal and the control-rod being set in control terminal；
The distance-measuring equipment for obtaining the distance between remote mobile device and target obstacle information, and will described in away from
Control terminal is sent to from information；
The control-rod is used to generate displacement when being manipulated mobile,
The control terminal, which is used to generate control according to range information, trims coefficient, and the displacement that is generated according to control-rod and
The control trims coefficient and generates corresponding PWM wave control signal, and is sent to the electric machine controller of remote mobile device；
Remote mobile device is used to control signal according to the PWM wave and be moved.
Having the beneficial effect that for above-mentioned technical proposal is realized through the above scheme to remote mobile device motion control, is kept away
Exempt to postpone the generation for causing remote mobile device in moving process and target obstacle collision because of manual operation, ensure that long-range
Safety of the mobile device in moving process.
Further, the control terminal judges whether the distance is greater than default safe distance threshold value, if distance is greater than in advance
If safety distance threshold, then generates corresponding control and trim coefficient gamma, operation control-rod to certain displacement, control terminal obtains control
Bar displacement α trims coefficient gamma according to the displacement α and control, generates the PWM wave control signal of corresponding duty ratio；
Otherwise, it generates corresponding control and trims system ρ, operation control-rod to certain displacement, control terminal obtains control-rod position
Shifting amount β trims coefficient ρ according to the displacement β and control, generates the PWM wave control signal of corresponding duty ratio；Wherein, ρ <
γ。
Above-mentioned further technical solution have the beneficial effect that above scheme according to remote mobile device and target obstacle it
Between apart from situation, be respectively provided with different controls and trim coefficient, ensure that remote mobile device in default safe distance threshold value
There is suitable movement speed outside range, while making it in default safe distance threshold value, it is easier to be controlled, and then not
Easily bump against barrier.
Further, the control that control terminal generates trims coefficient gamma and is constant value or is positively correlated functional relation with distance,
Functional relation that the control that control terminal generates trims coefficient ρ and distance is positively correlated.
Above-mentioned further technical solution have the beneficial effect that remote mobile device outside default safe distance threshold range,
Operator can effectively control the movement speed of remote mobile device；Remote mobile device is in default safe distance threshold range
It is interior, it can be ensured that the safety of remote mobile device.
Further, the electric machine controller of the remote mobile device receives the PWM wave and controls signal, according to described
PWM wave controls the duty ratio of signal, and control motor generates mobile with corresponding power driving remote mobile device.
Further, if the target obstacle operates control-rod in the front of remote mobile device, generate it just
Displacement, if the target obstacle at the rear of remote mobile device, makes it generate negative displacement amount；The control terminal is according to root
Coefficient and positive displacement amount or negative displacement amount are trimmed according to the control, generates corresponding pwm control signal；The remote mobile device
Electric machine controller according to the PWM wave control signal duty ratio, control motor generate with corresponding power drive remote mobile
Device moves forward or back.
Having the beneficial effect that for above-mentioned further technical solution can be convenient through the above scheme, efficiently control is long-range moves
The forward or backward of dynamic device.
It in the present invention, can also be combined with each other between above-mentioned each technical solution, to realize more preferred assembled schemes.This
Other feature and advantage of invention will illustrate in the following description, also, certain advantages can become from specification it is aobvious and
It is clear to, or understand through the implementation of the invention.The objectives and other advantages of the invention can by specification, claims with
And it is achieved and obtained in specifically noted content in attached drawing.
Detailed description of the invention
Attached drawing is only used for showing the purpose of specific embodiment, and is not to be construed as limiting the invention, in entire attached drawing
In, identical reference symbol indicates identical component.
Fig. 1 is the flow diagram of 1 the method for the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of system described in present example example 2.
Specific embodiment
Specifically describing the preferred embodiment of the present invention with reference to the accompanying drawing, wherein attached drawing constitutes the application a part, and
Together with embodiments of the present invention for illustrating the principle of the present invention, it is not intended to limit the scope of the present invention.
Embodiment 1
The embodiment of the invention discloses a kind of remote mobile device motion control methods, the described method comprises the following steps:
The distance between remote mobile device and target obstacle information are obtained, the range information is sent to control
End；
Control terminal generates control according to the range information and trims coefficient, obtains the displacement information of control-rod；According to institute
It states displacement information and control trims coefficient, generate corresponding PWM wave control signal and be sent to remote mobile device；
Remote mobile device controls signal according to the PWM wave and is moved.
Optionally, above-mentioned remote mobile device is that human body is servo-actuated teleoperation robot；Operator passes through operation control-rod,
And then control the traveling movement that human body is servo-actuated teleoperation robot.
It should be noted that operator can be in remote mobile device (for example, human body is servo-actuated teleoperation robot) row
Into in the process, the range information of control terminal is fed back to according to distance-measuring equipment, manually adjusts the displacement of control-rod, with increase or
Reduce the movement speed of remote mobile device；But in order to ensure the safety of remote mobile device, the fault of manual operation is prevented,
Control need to be set according to the distance between remote mobile device and target obstacle information and trim coefficient.
Then, control is generated according to the range information and trims coefficient, operate control-rod, it is made to generate displacement, according to
The displacement and control trim coefficient, generate corresponding PWM wave control signal, specifically include:
Judge whether the distance is greater than default safe distance threshold value；If distance is greater than default safe distance threshold value, give birth to
Coefficient gamma is trimmed at corresponding control, control-rod is operated to certain displacement, the displacement α of control-rod is obtained, according to the displacement
Amount α and control trim coefficient gamma, generate the PWM wave control signal of corresponding duty ratio；
Otherwise, it generates corresponding control and trims coefficient ρ, operate control-rod to certain displacement, obtain the displacement of control-rod
β trims coefficient ρ according to the displacement β and control, generates the PWM wave control signal of corresponding duty ratio；Wherein, ρ < γ.
Specifically, the control trims coefficient gamma for constant value or with apart from correlation, the control, which trims, is
The positive correlation functional relation relationship of number ρ and distance.
It is long-range at this time to move when the distance between remote mobile device and target obstacle are greater than default safe distance threshold value
Dynamic device is in home, and control can be trimmed to coefficient at this time and be set as constant, be just conducive in this way operator according to away from
From information, the voluntarily displacement of lever for adjusting oil, effectively to control the movement speed of remote mobile device, meanwhile, it can also will control
System trims the positive correlation function that coefficient is set as distance, in the certain situation of the displacement of control-rod, apart from farther out
Position just there is larger movement speed, enable an operator to compared with limits improve in the position remote mobile device shifting
Dynamic speed.
When the distance between remote mobile device and target obstacle are less than or equal to default safe distance threshold value, at this time
It is necessary to ensure that the safety of remote mobile device, thus control need to be trimmed to the positive correlation function of coefficient setting distance, is i.e. distance is got over
Small, control trims that coefficient is smaller, the displacement of same operating stick to remote mobile device bring movement speed with regard to smaller,
For example, control-rod displacement be angular amount, remote mobile device and target obstacle distance farther out when, operation control
The angular amount that bar makes it generate 20 °, the motor of remote mobile device is mobile with a watts of power drive remote mobile device at this time；
With the reduction of distance, in the situation that angular amount is constant, the motor of remote mobile device is remotely moved at this time with b watts of power drive
Dynamic device is mobile, wherein a > b；Above-mentioned positive correlation function can be proportion function or exponential function.
The setting of the safety distance threshold is related with operating condition, if the working environment of remote mobile device is more dangerous, pacifies
The setting of full distance threshold value is bigger.
In embodiment, the displacement of control-rod and control trim the duty that coefficient has codetermined PWM wave control signal
Than the duty ratio of PWM wave control signal determines the power and its rotation direction of motor；
Then, remote mobile device controls signal according to the PWM wave and is moved, and specifically includes: remote mobile device
Electric machine controller according to the PWM wave control signal duty ratio, control motor generate with corresponding power drive remote mobile
Device is mobile.
In the method, if the target obstacle operates control-rod in the front of remote mobile device, make its generation
Positive displacement amount is repaired if the target obstacle at the rear of remote mobile device, makes it generate negative displacement amount according to the control
Coefficient and positive displacement amount or negative displacement amount are adjusted, corresponding pwm control signal is generated；The electric machine controller of the remote mobile device
According to the PWM wave control signal duty ratio, control motor generate with corresponding power driving remote mobile device advance or after
It moves back.
It should be noted that the motor of remote mobile device two sides is set to, if rotating forward simultaneously, at the same speed, remote mobile
Device advances, if inverting simultaneously, at the same speed, remote mobile device is retreated.
Embodiment 2
The embodiment of the invention discloses a kind of remote mobile device kinetic control systems, long-range the system comprises being set to
Distance-measuring equipment, electric machine controller in mobile device, control terminal and the control-rod being set in control terminal；
The distance-measuring equipment for obtaining the distance between remote mobile device and target obstacle information, and will described in away from
Control terminal is sent to from information；
The control-rod is used to generate displacement,
The control terminal, which is used to generate control according to range information, trims coefficient, and the displacement that is generated according to control-rod and
The control trims coefficient and generates corresponding PWM wave control signal, and is sent to the electric machine controller of remote mobile device；
Remote mobile device is used to control signal according to the PWM wave and be moved.
It should be noted that the distance-measuring equipment can be range radar or binocular camera, the displacement can be angle
Measurement.
In a specific embodiment, the control terminal judges whether the distance is greater than default safe distance threshold value, if
Distance is greater than default safe distance threshold value, then generates corresponding control and trim coefficient gamma, operation control-rod to certain displacement, control
End obtains the displacement α of control-rod, trims coefficient gamma according to the displacement α and control, generates the PWM wave control of corresponding duty ratio
Signal processed；
Otherwise, it generates corresponding control and trims system ρ, operation control-rod to certain displacement, control terminal obtains control-rod position
Shifting amount β trims coefficient ρ according to the displacement β and control, generates the PWM wave control signal of corresponding duty ratio；Wherein, ρ <
γ。
It is above-mentioned since the displacement of control-rod and control trim the movement speed that coefficient has codetermined remote mobile device
Scheme is respectively provided with different controls and trims coefficient, protect according to the distance between remote mobile device and target obstacle situation
Having demonstrate,proved remote mobile device has suitable movement speed outside default safe distance threshold range, while making it default
In safety distance threshold, it is easier to be controlled, and then be not easy to bump against barrier.
It is constant value specifically, the control that control terminal generates trims coefficient gamma or is positively correlated functional relation with distance, control
Functional relation that the control that end processed generates trims coefficient ρ and distance is positively correlated；
The electric machine controller of the remote mobile device receives the PWM wave and controls signal, is controlled and is believed according to the PWM wave
Number duty ratio, control motor generates mobile with corresponding power driving remote mobile device.
If the target obstacle operates control-rod in the front of remote mobile device, it is made to generate positive displacement amount, if
The target obstacle makes it generate negative displacement amount at the rear of remote mobile device；The control terminal is according to according to the control
System trims coefficient and positive displacement amount or negative displacement amount, generates corresponding pwm control signal；The motor control of the remote mobile device
Device processed controls the duty ratio of signal according to the PWM wave, and control motor is generated to be advanced with corresponding power driving remote mobile device
Or it retreats.
It should be noted that above-mentioned two example example is based on identical principle and inventive concept, it can in place of non-repeated description
It uses for reference mutually.
It will be understood by those skilled in the art that realizing all or part of the process of above-described embodiment method, meter can be passed through
Calculation machine program is completed to instruct relevant hardware, and the program can be stored in computer readable storage medium.Wherein, institute
Stating computer readable storage medium is disk, CD, read-only memory or random access memory etc..
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of remote mobile device motion control method, which is characterized in that the described method comprises the following steps:
The distance between remote mobile device and target obstacle information are obtained, the range information is sent to control terminal；
Control terminal generates control according to the range information and trims coefficient, obtains the displacement information of control-rod；According to institute's rheme
Shifting amount information and control trim coefficient, generate corresponding PWM wave control signal and are sent to remote mobile device；
Remote mobile device controls signal according to the PWM wave and is moved.
2. being grasped the method according to claim 1, wherein generating control according to the range information trims coefficient
Make control-rod, so that it is generated displacement, coefficient is trimmed according to the displacement and control, generates corresponding PWM wave control signal, tool
Body includes:
Judge whether the distance is greater than default safe distance threshold value；If distance is greater than default safe distance threshold value, phase is generated
The control answered trims coefficient gamma, and operation control-rod to certain displacement obtains command displacement amount α, according to the displacement α and control
Coefficient gamma is trimmed, the PWM wave control signal of corresponding duty ratio is generated；
Otherwise, it generating corresponding control and trims coefficient ρ, operation control-rod to certain displacement obtains control-rod displacement β, according to
The displacement β and control trim coefficient ρ, generate the PWM wave control signal of corresponding duty ratio；Wherein, ρ < γ.
3. according to the method described in claim 2, it is characterized in that, the control trims coefficient gamma is constant value or with distance is in
It is positively correlated functional relation, functional relation that the control trims coefficient ρ and distance is positively correlated.
4. the method according to claim 1, wherein remote mobile device according to the PWM wave control signal into
Row movement, specifically includes: the electric machine controller of remote mobile device controls the duty ratio of signal, control electricity according to the PWM wave
Machine generates mobile with corresponding power driving remote mobile device.
5. according to the method described in claim 4, it is characterized in that, if the target obstacle is before remote mobile device
Side, then operate control-rod, so that it is generated positive displacement amount, if the target obstacle at the rear of remote mobile device, makes its production
Raw negative displacement amount trims coefficient and positive displacement amount or negative displacement amount according to the control, generates corresponding pwm control signal；Institute
The electric machine controller for stating remote mobile device controls the duty ratio of signal according to the PWM wave, and control motor is generated with corresponding function
Rate drives remote mobile device to move forward or back.
6. a kind of remote mobile device kinetic control system, which is characterized in that the system comprises be set to remote mobile device
On distance-measuring equipment, electric machine controller, control terminal and the control-rod being set in control terminal；
The distance-measuring equipment is believed for obtaining the distance between remote mobile device and target obstacle information, and by the distance
Breath is sent to control terminal；
The control-rod is used to generate displacement when being manipulated mobile,
The control terminal, which is used to generate control according to range information, trims coefficient, and the displacement that is generated according to control-rod and described
Control trims coefficient and generates corresponding PWM wave control signal, and is sent to the electric machine controller of remote mobile device；
Remote mobile device is used to control signal according to the PWM wave and be moved.
7. system according to claim 6, which is characterized in that the control terminal judges whether the distance is greater than default peace
Full distance threshold value generates corresponding control and trims coefficient gamma, operation control-rod is extremely if distance is greater than default safe distance threshold value
Certain displacement, control terminal obtain control-rod displacement α, trim coefficient gamma according to the displacement α and control, generate corresponding duty
The PWM wave of ratio controls signal；
Otherwise, it generates corresponding control and trims system ρ, operation control-rod to certain displacement, control terminal obtains control-rod displacement
β trims coefficient ρ according to the displacement β and control, generates the PWM wave control signal of corresponding duty ratio；Wherein, ρ < γ.
8. system according to claim 7, which is characterized in that control terminal generate control trim coefficient gamma be constant value or
It is positively correlated functional relation with distance, functional relation that the control that control terminal generates trims coefficient ρ and distance is positively correlated.
9. system according to claim 8, which is characterized in that described in the electric machine controller of the remote mobile device receives
PWM wave controls signal, and the duty ratio of signal is controlled according to the PWM wave, and control motor, which is generated, drives long-range move with corresponding power
Dynamic device is mobile.
10. system according to claim 8, which is characterized in that if the target obstacle is before remote mobile device
Side, then operate control-rod, so that it is generated positive displacement amount, if the target obstacle at the rear of remote mobile device, makes its production
Raw negative displacement amount；The control terminal trims coefficient and positive displacement amount or negative displacement amount according to according to the control, generates corresponding
Pwm control signal；The electric machine controller of the remote mobile device controls the duty ratio of signal, control electricity according to the PWM wave
Machine is generated to be moved forward or back with corresponding power driving remote mobile device.
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