CN109753063B - Remote mobile device motion control method and system - Google Patents
Remote mobile device motion control method and system Download PDFInfo
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Abstract
The invention relates to a motion control method and a motion control system for a remote mobile device, belongs to the technical field of teleoperation, and solves the problem that safety of the remote mobile device in the moving process cannot be guaranteed due to artificial operation delay in the prior art. The method comprises the following steps: obtaining distance information between a remote mobile device and a target obstacle, and sending the distance information to a control end; the control end generates a control trimming coefficient according to the distance information to obtain displacement information of the control rod; generating a corresponding PWM wave control signal according to the displacement information and the control trimming coefficient and sending the PWM wave control signal to a remote mobile device; and the remote mobile device moves according to the PWM wave control signal. The remote mobile device motion control is realized, the collision between the remote mobile device and a target obstacle in the moving process caused by artificial operation delay is avoided, and the safety of the remote mobile device in the moving process is ensured.
Description
Technical Field
The invention relates to the technical field of teleoperation, in particular to a method and a system for controlling the motion of a remote mobile device.
Background
Teleoperation is a basic means for motion control of a remote mobile device, and as a typical application of the remote mobile device, a teleoperation robot is generally applicable to special working environments, such as resource development, nuclear waste cleaning, explosion elimination, high-pressure and high-risk operation, and generally encounters an obstacle in the operation process, so that the teleoperation robot needs to be subjected to motion control on a device with a remote moving function, such as the teleoperation robot, in order to avoid collision with the obstacle due to artificial operation delay and ensure the safety of the teleoperation robot in the moving process.
Disclosure of Invention
In view of the foregoing analysis, embodiments of the present invention provide a method and a system for controlling a motion of a remote mobile device, so as to solve the problem in the prior art that the safety of the remote mobile device during the moving process cannot be guaranteed due to a delay of manual operation.
In one aspect, the present invention provides a method for controlling motion of a remote mobile device, the method comprising the steps of:
obtaining distance information between a remote mobile device and a target obstacle, and sending the distance information to a control end;
the control end generates a control trimming coefficient according to the distance information to obtain displacement information of the control rod; generating a corresponding PWM wave control signal according to the displacement information and the control trimming coefficient and sending the PWM wave control signal to a remote mobile device;
and the remote mobile device moves according to the PWM wave control signal.
The beneficial effects of the above technical scheme are: by the scheme, the motion control of the remote mobile device is realized, the collision between the remote mobile device and a target obstacle in the moving process caused by artificial operation delay is avoided, and the safety of the remote mobile device in the moving process is ensured.
Further, generating a control trimming coefficient according to the distance information, operating a control lever to generate a displacement, and generating a corresponding PWM wave control signal according to the displacement and the control trimming coefficient, specifically comprising:
judging whether the distance is larger than a preset safety distance threshold value or not; if the distance is greater than a preset safety distance threshold value, generating a corresponding control trimming coefficient gamma, operating the control lever to a certain displacement to obtain a control displacement alpha, and generating a PWM (pulse-width modulation) wave control signal with a corresponding duty ratio according to the displacement alpha and the control trimming coefficient gamma;
otherwise, generating a corresponding control trimming coefficient rho, operating the control rod to a certain displacement to obtain a control rod displacement beta, and generating a PWM wave control signal with a corresponding duty ratio according to the displacement beta and the control trimming coefficient rho; wherein ρ is less than γ.
The beneficial effects of the further technical scheme are as follows: according to the scheme, different control trimming coefficients are respectively set according to the distance between the remote mobile device and the target barrier, so that the remote mobile device is guaranteed to have a proper moving speed outside the range of the preset safe distance threshold, and is controlled more easily in the preset safe distance threshold, and further the barrier is not easy to collide.
Further, the control trimming coefficient γ is a constant value or has a positive correlation function relationship with the distance, and the control trimming coefficient ρ has a positive correlation function relationship with the distance.
The beneficial effects of the further technical scheme are as follows: the remote mobile device is out of the range of the preset safe distance threshold value, and an operator can effectively control the moving speed of the remote mobile device; the remote mobile device is within the preset safety distance threshold range, so that the safety of the remote mobile device can be ensured.
Further, the remote mobile device moves according to the PWM wave control signal, and specifically includes: and the motor controller of the remote mobile device controls the motor to generate corresponding power to drive the remote mobile device to move according to the duty ratio of the PWM wave control signal.
Further, if the target obstacle is in front of the remote mobile device, operating the control lever to generate a positive displacement, and if the target obstacle is behind the remote mobile device, generating a negative displacement, and generating a corresponding PWM control signal according to the control trimming coefficient and the positive displacement or the negative displacement; and the motor controller of the remote mobile device controls the motor to generate corresponding power to drive the remote mobile device to move forwards or backwards according to the duty ratio of the PWM wave control signal.
The beneficial effects of the further technical scheme are as follows: through the scheme, the remote mobile device can be conveniently and quickly controlled to move forwards or backwards.
In another aspect, the present invention provides a system for controlling the movement of a remote mobile device, the system comprising a distance measuring device disposed on the remote mobile device, a motor controller, a control end, and a control rod disposed on the control end;
the distance measuring equipment is used for acquiring distance information between the remote mobile device and a target obstacle and sending the distance information to the control end;
the control rod is used for generating displacement when being manipulated to move,
the control end is used for generating a control trimming coefficient according to the distance information, generating a corresponding PWM wave control signal according to the displacement generated by the control rod and the control trimming coefficient, and sending the PWM wave control signal to a motor controller of the remote mobile device;
the remote mobile device is used for moving according to the PWM wave control signal.
The beneficial effects of the above technical scheme are: by the scheme, the motion control of the remote mobile device is realized, the collision between the remote mobile device and a target obstacle in the moving process caused by artificial operation delay is avoided, and the safety of the remote mobile device in the moving process is ensured.
Further, the control end judges whether the distance is greater than a preset safe distance threshold value, if the distance is greater than the preset safe distance threshold value, a corresponding control trimming coefficient gamma is generated, the control rod is operated to a certain displacement, the control end obtains a displacement alpha of the control rod, and a PWM wave control signal with a corresponding duty ratio is generated according to the displacement alpha and the control trimming coefficient gamma;
otherwise, generating a corresponding control trimming system rho, operating the control rod to a certain displacement, obtaining a control rod displacement beta by the control end, and generating a PWM wave control signal with a corresponding duty ratio according to the displacement beta and the control trimming coefficient rho; wherein ρ is less than γ.
The beneficial effects of the further technical scheme are as follows: according to the scheme, different control trimming coefficients are respectively set according to the distance between the remote mobile device and the target barrier, so that the remote mobile device is guaranteed to have a proper moving speed outside the range of the preset safe distance threshold, and is controlled more easily in the preset safe distance threshold, and further the barrier is not easy to collide.
Further, the control trimming coefficient γ generated by the control end is a constant value or has a positive correlation function relationship with the distance, and the control trimming coefficient ρ generated by the control end has a positive correlation function relationship with the distance.
The beneficial effects of the further technical scheme are as follows: the remote mobile device is out of the range of the preset safe distance threshold value, and an operator can effectively control the moving speed of the remote mobile device; the remote mobile device is within the preset safety distance threshold range, so that the safety of the remote mobile device can be ensured.
Further, the motor controller of the remote mobile device receives the PWM wave control signal, and controls the motor to generate power to drive the remote mobile device to move according to the duty ratio of the PWM wave control signal.
Further, if the target obstacle is in front of the remote mobile device, operating the control lever to generate a positive displacement, and if the target obstacle is behind the remote mobile device, generating a negative displacement; the control end generates a corresponding PWM control signal according to the control trimming coefficient and the positive displacement or the negative displacement; and the motor controller of the remote mobile device controls the motor to generate corresponding power to drive the remote mobile device to move forwards or backwards according to the duty ratio of the PWM wave control signal.
The beneficial effects of the further technical scheme are as follows: through the scheme, the remote mobile device can be conveniently and quickly controlled to move forwards or backwards.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a schematic flow chart of the method of example 1 of the present invention;
fig. 2 is a schematic structural diagram of the system according to example 2 of the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
Example 1
The embodiment of the invention discloses a motion control method of a remote mobile device, which comprises the following steps:
obtaining distance information between a remote mobile device and a target obstacle, and sending the distance information to a control end;
the control end generates a control trimming coefficient according to the distance information to obtain displacement information of the control rod; generating a corresponding PWM wave control signal according to the displacement information and the control trimming coefficient and sending the PWM wave control signal to a remote mobile device;
and the remote mobile device moves according to the PWM wave control signal.
Optionally, the remote mobile device is a human body following teleoperation robot; the operator can control the human body to follow the moving and remotely control the moving action of the robot by operating the control rod.
It should be noted that, during the process of moving the remote moving device (for example, a human body following teleoperation robot), the operator can manually adjust the displacement of the control rod according to the distance information fed back to the control end by the distance measuring device, so as to increase or decrease the moving speed of the remote moving device; however, in order to secure the safety of the remote mobile device and prevent human errors, a control trimming coefficient needs to be set according to the distance information between the remote mobile device and the target obstacle.
Then, generating a control trimming coefficient according to the distance information, operating the control lever to generate a displacement, and generating a corresponding PWM wave control signal according to the displacement and the control trimming coefficient, specifically comprising:
judging whether the distance is larger than a preset safety distance threshold value or not; if the distance is greater than a preset safety distance threshold value, generating a corresponding control trimming coefficient gamma, operating the control rod to a certain displacement to obtain the displacement alpha of the control rod, and generating a PWM (pulse-width modulation) wave control signal with a corresponding duty ratio according to the displacement alpha and the control trimming coefficient gamma;
otherwise, generating a corresponding control trimming coefficient rho, operating the control rod to a certain displacement to obtain the displacement beta of the control rod, and generating PWM wave control signals with corresponding duty ratios according to the displacement beta and the control trimming coefficient rho; wherein ρ is less than γ.
Specifically, the control trimming coefficient γ is a constant value or has a positive correlation with the distance, and the control trimming coefficient ρ has a positive correlation function with the distance.
When the distance between the remote mobile device and the target obstacle is greater than the preset safe distance threshold value, the remote mobile device is in the safe position at the moment, the control trimming coefficient can be set to be constant at the moment, so that the control trimming coefficient can be favorably set to be constant by an operator according to distance information, the displacement of the control lever can be automatically adjusted, the moving speed of the remote mobile device can be effectively mastered, meanwhile, the control trimming coefficient can also be set to be a positive correlation function of the distance, under the condition that the displacement of the control lever is certain, the control trimming coefficient has higher moving speed at a position far away from the control lever, and the moving speed of the remote mobile device at the position can be greatly improved by the operator.
When the distance between the remote mobile device and the target obstacle is less than or equal to the preset safe distance threshold, the safety of the remote mobile device needs to be ensured, so that the control trimming coefficient needs to be set as a positive correlation function of the distance, namely, the smaller the distance is, the smaller the control trimming coefficient is, the smaller the moving speed of the remote mobile device caused by the displacement of the operating rod is,
for example, the displacement of the control lever is an angular amount, when the remote mobile device is far away from the target obstacle, the control lever is operated to generate an angular amount of 20 °, and at this time, the motor of the remote mobile device drives the remote mobile device to move with a watt of power; as the distance is reduced, under the condition that the angle quantity is unchanged, the motor of the remote mobile device drives the remote mobile device to move at the power of b watts, wherein a > b; the positive correlation function can be a proportional function or an exponential function.
The safe distance threshold is set in relation to the working conditions, and the safe distance threshold is set to be larger if the working environment of the remote mobile device is more dangerous.
In the embodiment, the displacement of the control rod and the control trimming coefficient jointly determine the duty ratio of a PWM (pulse-width modulation) wave control signal, and the duty ratio of the PWM wave control signal determines the power and the rotation direction of the motor;
then, the moving of the remote mobile device according to the PWM wave control signal specifically includes: and the motor controller of the remote mobile device controls the motor to generate corresponding power to drive the remote mobile device to move according to the duty ratio of the PWM wave control signal.
In the method, if the target obstacle is in front of the remote mobile device, a control lever is operated to generate a positive displacement, if the target obstacle is behind the remote mobile device, the control lever generates a negative displacement, and a corresponding PWM control signal is generated according to the control trimming coefficient and the positive displacement or the negative displacement; and the motor controller of the remote mobile device controls the motor to generate corresponding power to drive the remote mobile device to move forwards or backwards according to the duty ratio of the PWM wave control signal.
It should be noted that, if the motors disposed on both sides of the remote mobile device rotate forward at the same speed, the remote mobile device moves forward, and if the motors rotate backward at the same speed, the remote mobile device moves backward.
Example 2
The embodiment of the invention discloses a motion control system of a remote mobile device, which comprises distance measuring equipment, a motor controller, a control end and a control rod, wherein the distance measuring equipment, the motor controller, the control end and the control rod are arranged on the remote mobile device;
the distance measuring equipment is used for acquiring distance information between the remote mobile device and a target obstacle and sending the distance information to the control end;
the control rod is used for generating displacement amount,
the control end is used for generating a control trimming coefficient according to the distance information, generating a corresponding PWM wave control signal according to the displacement generated by the control rod and the control trimming coefficient, and sending the PWM wave control signal to a motor controller of the remote mobile device;
the remote mobile device is used for moving according to the PWM wave control signal.
It should be noted that the distance measuring device may be a distance measuring radar or a binocular camera, and the displacement may be an angle.
In a specific embodiment, the control end judges whether the distance is greater than a preset safe distance threshold, if the distance is greater than the preset safe distance threshold, a corresponding control trimming coefficient γ is generated, the control rod is operated to a certain displacement, the control end obtains the displacement amount α of the control rod, and a PWM wave control signal with a corresponding duty ratio is generated according to the displacement amount α and the control trimming coefficient γ;
otherwise, generating a corresponding control trimming system rho, operating the control rod to a certain displacement, obtaining a control rod displacement beta by the control end, and generating a PWM wave control signal with a corresponding duty ratio according to the displacement beta and the control trimming coefficient rho; wherein ρ is less than γ.
Because the displacement of control lever and control trimming coefficient have decided remote mobile device's translation rate jointly, above-mentioned scheme has set up different control trimming coefficient respectively according to the distance condition between remote mobile device and the target barrier, has guaranteed that remote mobile device has suitable translation rate outside predetermineeing safe distance threshold value scope, makes it in predetermineeing safe distance threshold value simultaneously, and is controlled more easily, and then is difficult for hitting the barrier.
Specifically, the control trimming coefficient γ generated by the control end is a constant value or has a positive correlation function relationship with the distance, and the control trimming coefficient ρ generated by the control end has a positive correlation function relationship with the distance;
and a motor controller of the remote mobile device receives the PWM wave control signal and controls a motor to generate corresponding power to drive the remote mobile device to move according to the duty ratio of the PWM wave control signal.
If the target obstacle is in front of the remote mobile device, operating the control lever to generate a positive displacement, and if the target obstacle is behind the remote mobile device, generating a negative displacement; the control end generates a corresponding PWM control signal according to the control trimming coefficient and the positive displacement or the negative displacement; and the motor controller of the remote mobile device controls the motor to generate corresponding power to drive the remote mobile device to move forwards or backwards according to the duty ratio of the PWM wave control signal.
It should be noted that the two examples are based on the same principle and inventive concept, and the description is not repeated for reference.
Those skilled in the art will appreciate that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program, which is stored in a computer readable storage medium, to instruct related hardware. The computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (6)
1. A method for remote mobile device motion control, the method comprising the steps of:
obtaining distance information between a remote mobile device and a target obstacle, and sending the distance information to a control end;
the control end generates a control trimming coefficient according to the distance information to obtain displacement information of the control rod; generating a corresponding PWM wave control signal according to the displacement information and the control trimming coefficient and sending the PWM wave control signal to a remote mobile device;
the remote mobile device moves according to the PWM wave control signal;
generating a control trimming coefficient according to the distance information, operating a control lever to enable the control lever to generate a displacement, and generating a corresponding PWM wave control signal according to the displacement and the control trimming coefficient, wherein the method specifically comprises the following steps:
judging whether the distance is larger than a preset safety distance threshold value or not; if the distance is greater than a preset safety distance threshold value, generating a corresponding control trimming coefficient gamma, operating the control lever to a certain displacement to obtain a control displacement alpha, and generating a PWM (pulse-width modulation) wave control signal with a corresponding duty ratio according to the displacement alpha and the control trimming coefficient gamma;
otherwise, generating a corresponding control trimming coefficient rho, operating the control rod to a certain displacement to obtain a control rod displacement beta, and generating a PWM wave control signal with a corresponding duty ratio according to the displacement beta and the control trimming coefficient rho; wherein rho is less than gamma; a preset safety distance threshold value is set according to the working condition; the displacement of the control rod is an angle; the control trimming coefficient gamma is a constant value or has a positive correlation function relationship with the distance, and the control trimming coefficient rho has a positive correlation function relationship with the distance.
2. The method according to claim 1, wherein the moving of the remote mobile device according to the PWM wave control signal comprises: and the motor controller of the remote mobile device controls the motor to generate corresponding power to drive the remote mobile device to move according to the duty ratio of the PWM wave control signal.
3. The method according to claim 2, wherein if the target obstacle is in front of the remote mobile device, operating a control lever to generate a positive displacement amount, and if the target obstacle is behind the remote mobile device, generating a negative displacement amount, and generating a corresponding PWM control signal according to the control trimming coefficient and the positive or negative displacement amount; and the motor controller of the remote mobile device controls the motor to generate corresponding power to drive the remote mobile device to move forwards or backwards according to the duty ratio of the PWM wave control signal.
4. A motion control system of a remote mobile device is characterized by comprising a distance measuring device, a motor controller, a control end and a control rod, wherein the distance measuring device and the motor controller are arranged on the remote mobile device;
the distance measuring equipment is used for acquiring distance information between the remote mobile device and a target obstacle and sending the distance information to the control end;
the control rod is used for generating displacement when being manipulated to move;
the control end is used for generating a control trimming coefficient according to the distance information, generating a corresponding PWM wave control signal according to the displacement generated by the control rod and the control trimming coefficient, and sending the PWM wave control signal to a motor controller of the remote mobile device;
the remote mobile device is used for moving according to the PWM wave control signal;
the control end judges whether the distance is greater than a preset safe distance threshold value or not, if the distance is greater than the preset safe distance threshold value, a corresponding control trimming coefficient gamma is generated, the control rod is operated to a certain displacement, the control end obtains a control rod displacement alpha, and PWM wave control signals with corresponding duty ratios are generated according to the displacement alpha and the control trimming coefficient gamma;
otherwise, generating a corresponding control trimming system rho, operating the control rod to a certain displacement, obtaining a control rod displacement beta by the control end, and generating a PWM wave control signal with a corresponding duty ratio according to the displacement beta and the control trimming coefficient rho; wherein rho is less than gamma; a preset safety distance threshold value is set according to the working condition; the displacement of the control rod is an angle; the control trimming coefficient gamma generated by the control end is a constant value or has a positive correlation function relationship with the distance, and the control trimming coefficient rho generated by the control end has a positive correlation function relationship with the distance.
5. The system of claim 4, wherein the motor controller of the remote mobile device receives the PWM wave control signal, and controls the motor to generate power to drive the remote mobile device to move according to the duty ratio of the PWM wave control signal.
6. The system of claim 5, wherein the control lever is operated to produce a positive displacement if the target obstacle is in front of the remote mobile unit and a negative displacement if the target obstacle is behind the remote mobile unit; the control end generates a corresponding PWM control signal according to the control trimming coefficient and the positive displacement or the negative displacement; and the motor controller of the remote mobile device controls the motor to generate corresponding power to drive the remote mobile device to move forwards or backwards according to the duty ratio of the PWM wave control signal.
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