CN109814560B - Motion control method, motion control device, storage medium and electronic equipment - Google Patents
Motion control method, motion control device, storage medium and electronic equipment Download PDFInfo
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Abstract
The application provides a motion control method, which relates to the technical field of robot control and comprises the following steps: when the robot and M electronic tags are in a communication state at the position of the robot, N motion control strategies determined according to the M electronic tags are obtained, wherein M and N are positive integers; and determining a control strategy for controlling the robot to move according to the N motion control strategies. And when the position of the robot can be in a communication state with the M electronic tags, obtaining the N motion control strategies determined by the M electronic tags, and determining the strategy for controlling the robot. Therefore, when the robot runs in a complex path, a proper operation control strategy can be determined from the electronic tag according to the current position to realize the stable operation of the robot in the complex path, and the robot can run more accurately in the complex path.
Description
Technical Field
The present disclosure relates to the field of robot control technologies, and in particular, to a motion control method and apparatus, a storage medium, and an electronic device.
Background
At present, in the operation control of a complex path of a robot, manual control is mostly used, and the manual control depends on the experience and stability of an operator, so that the problem that the robot is unstable in operation in the complex path is easily caused.
Disclosure of Invention
In view of the above, an object of the present application is to provide a motion control method, a motion control apparatus, a storage medium, and an electronic device, so as to solve the problem that the robot runs unstably in a complex path due to instability of manual control by manual control when the robot runs in the complex path at present.
In order to achieve the above object, embodiments of the present application are implemented as follows:
in a first aspect, an embodiment of the present application provides a motion control method, including: when the robot and M electronic tags are in a communication state at the position of the robot, N motion control strategies determined according to the M electronic tags are obtained, wherein M and N are positive integers; and determining a control strategy for controlling the robot to move according to the N motion control strategies.
In the embodiment of the application, when the position of the robot can be in a communication state with the M electronic tags, the M electronic tags are obtained to determine the N motion control strategies, and the strategies for controlling the robot are determined from the N motion control strategies, so that when the robot runs in a complex path, a proper operation control strategy can be determined from the electronic tags according to the current position to realize stable running of the robot in the complex path, and the robot can run in the complex path more accurately.
With reference to the first aspect, in a first possible implementation manner of the first aspect, the obtaining N motion control strategies determined according to the M electronic tags includes: obtaining state parameters representing a current motion state of the robot; and determining N matched motion control strategies from all the motion control strategies determined by the M electronic tags according to the state parameters.
In the embodiment of the application, the N motion control strategies matched with the current state parameters of the robot are determined from the M labels, so that the motion control strategies determined by the electronic labels matched with the state parameters of the current motion state of the robot can be obtained, the motion control strategies more suitable for the state parameters of the current robot are determined, and the robot can stably and accurately run in a complex path.
With reference to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the state parameter includes: determining N matched motion control strategies from all the motion control strategies determined by the M electronic tags according to the current position and the state parameters, wherein the method comprises the following steps: matching the current position with a preset position corresponding to each motion control strategy in all the motion control strategies determined by the M electronic tags to obtain a first matching result of each motion control strategy; and determining the N matched motion control strategies from all the motion control strategies determined by the M electronic tags according to the first matching result of each motion control strategy.
In the embodiment of the application, the current position of the robot is matched with the preset position corresponding to each motion control strategy in all the motion control strategies determined by the M electronic tags, a first matching result corresponding to each motion control strategy is obtained, and the N motion control strategies are determined according to the first matching result. By matching the preset position in the motion control strategy with the current position of the robot, the appropriate motion control strategy in the area where the current position is located can be determined according to the current position of the robot, the determined control strategy can more accurately control the operation of the robot, and therefore the stability and the accuracy of the operation of the robot in a complex path are improved.
With reference to the second possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, the state parameter further includes: determining the N matched motion control strategies from all the motion control strategies determined by the M electronic tags according to the first matching result of each motion control strategy, including: when the first matching result is successful, matching the current speed with a preset speed corresponding to each motion control strategy of which the first matching result is successful to obtain a second matching result of each motion control strategy, matching the current friction with a preset friction corresponding to each motion control strategy of which the first matching result is successful to obtain a third matching result of each motion control strategy, and matching the current gravity with a preset gravity corresponding to each motion control strategy of which the first matching result is successful to obtain a fourth matching result of each motion control strategy; and when at least one of the second matching result, the third matching result and the fourth matching result of each motion control strategy which is successfully matched with the first matching result is successfully matched, determining each motion control strategy which is successfully matched with the first matching result as each matched motion control strategy, and determining N matched motion control strategies from all the motion control strategies determined by the M electronic tags.
In the embodiment of the application, N suitable motion control strategies are determined by matching the preset speed in the motion control strategy with the current speed of the robot, the preset friction force is matched with the current friction force of the robot, and the preset gravity is matched with the current gravity of the robot, wherein the first matching result is that the matching is successful, so that the control strategy for controlling the motion of the robot determined from the N motion control strategies can better accord with the current motion state of the robot, and the robot can run more stably and accurately in a complex path.
With reference to the first aspect, in a fourth possible implementation manner of the first aspect, the determining, according to the N motion control strategies, a control strategy for controlling a motion of the robot includes: according to the matching of the state parameters representing the current motion state of the robot and each motion control strategy in the N motion control strategies, the matching degree of each motion control strategy is determined; and determining the motion control strategy with the highest matching degree as the control strategy for controlling the motion of the robot according to the matching degree of each motion control strategy.
In the embodiment of the application, the state parameters of the robot are matched with each motion control strategy in the N motion control strategies, N matching degrees are determined, and the motion control strategy with the highest matching degree is determined as the control strategy for controlling the motion of the robot. By matching each motion control strategy with the state parameters of the robot, the matching condition of the motion control strategy and the current motion state of the robot can be known, so that the most suitable motion control strategy is determined, and the stable operation of the robot in a complex operation path is controlled.
With reference to the fourth possible implementation manner of the first aspect, in a fifth possible implementation manner of the first aspect, the state parameter includes: the determining the matching degree of each motion control strategy according to the matching of the state parameters and each motion control strategy in the N motion control strategies comprises: matching the current speed with a target speed of each motion control strategy in the N motion control strategies, determining a speed matching result of each motion control strategy, matching the current friction with a target friction of each motion control strategy, determining a friction matching result of each motion control strategy, matching the current position with a target position of each motion control strategy, and determining a position matching result of each motion control strategy; and determining the matching degree of each motion control strategy according to the speed matching result, the friction force matching result, the position matching result and the current gravity of each motion control strategy.
In this embodiment, the current speed, the current friction force, and the current position of the robot are respectively matched with the target speed, the target friction force, and the target position of each motion control strategy to obtain a speed matching result, a friction force matching result, and a position matching result, and the matching degree of each motion control strategy is determined according to the speed matching result, the friction force matching result, the position matching result, and the current gravity of each motion control strategy. The multiple state parameters are respectively matched with the target value, the matching degree of the motion control strategy and the state parameters is determined, and a more appropriate motion control strategy is selected to control the motion of the robot, so that the robot can more accurately and stably run in a complex running path.
In a second aspect, an embodiment of the present application provides a motion control apparatus, including: the system comprises an obtaining module, a judging module and a judging module, wherein the obtaining module is used for obtaining N motion control strategies determined according to M electronic tags when the robot and the M electronic tags are in a communication state at the position of the robot, and M and N are positive integers; and the determining module is used for determining a control strategy for controlling the robot to move according to the N motion control strategies.
With reference to the second aspect, in a first possible implementation manner of the second aspect, the obtaining module is further configured to obtain a state parameter used for representing a current motion state of the robot; and determining N matched motion control strategies from all the motion control strategies determined by the M electronic tags according to the state parameters.
With reference to the first possible implementation manner of the second aspect, in a second possible implementation manner of the second aspect, the state parameter includes: the current position obtaining module is further configured to match the current position with a preset position corresponding to each motion control strategy in all the motion control strategies determined by the M electronic tags, and obtain a first matching result of each motion control strategy; and determining the N matched motion control strategies from all the motion control strategies determined by the M electronic tags according to the first matching result of each motion control strategy.
With reference to the second possible implementation manner of the second aspect, in a third possible implementation manner of the second aspect, the state parameter further includes: the obtaining module is further configured to, when the first matching result is that matching is successful, match the current speed with a preset speed corresponding to each motion control policy for which the first matching result is that matching is successful, obtain a second matching result of each motion control policy, match the current friction with a preset friction corresponding to each motion control policy for which the first matching result is that matching is successful, obtain a third matching result of each motion control policy, match the current gravity with a preset gravity corresponding to each motion control policy for which the first matching result is that matching is successful, and obtain a fourth matching result of each motion control policy; and when at least one of the second matching result, the third matching result and the fourth matching result of each motion control strategy which is successfully matched with the first matching result is successfully matched, determining each motion control strategy which is successfully matched with the first matching result as each matched motion control strategy, and determining N matched motion control strategies from all the motion control strategies determined by the M electronic tags.
With reference to the second aspect, in a fourth possible implementation manner of the second aspect, the determining module is further configured to determine a matching degree of each motion control policy according to matching a state parameter indicating a current motion state of the robot with each motion control policy of the N motion control policies; and determining the motion control strategy with the highest matching degree as the control strategy for controlling the motion of the robot according to the matching degree of each motion control strategy.
With reference to the fourth possible implementation manner of the second aspect, in a fifth possible implementation manner of the second aspect, the state parameter includes: the determining module is further configured to match the current speed with a target speed of each of the N motion control strategies, determine a speed matching result of each of the motion control strategies, match the current friction with a target friction of each of the motion control strategies, determine a friction matching result of each of the motion control strategies, match the current position with a target position of each of the motion control strategies, and determine a position matching result of each of the motion control strategies; and determining the matching degree of each motion control strategy according to the speed matching result, the friction force matching result, the position matching result and the current gravity of each motion control strategy.
In a third aspect, an embodiment of the present application provides a computer-readable storage medium having non-volatile program code executable by a processor, and configured to store program code, where the program code, when read and executed by a computer, performs a motion control method according to the first aspect or any optional implementation manner of the first aspect.
In a fourth aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, where the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the motion control method according to the first aspect or any possible implementation manner of the first aspect is performed.
In order to make the aforementioned objects, features and advantages of the present application comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and it will be apparent to those skilled in the art that other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 shows a block diagram of an electronic device according to a first embodiment of the present application;
fig. 2 is a block diagram illustrating a ground robot according to a first embodiment of the present disclosure;
fig. 3 is a block diagram illustrating a configuration of an orbital robot according to a first embodiment of the present application;
FIG. 4 is a flow chart illustrating a method of motion control provided by a second embodiment of the present application;
fig. 5 is a sub-flowchart of step S100 in a motion control method according to a second embodiment of the present application;
fig. 6 is a sub-flowchart of step S200 in a motion control method according to a second embodiment of the present application;
fig. 7 is a block diagram illustrating a motion control apparatus according to a third embodiment of the present application.
Icon: 10-an electronic device; 11-a memory; 12-a communication interface; 13-a bus; 14-a processor; 20-a ground robot; 21-a ground robot housing; 22-ground robot control elements; 23-a motor; 24-a transmission mechanism; 25-a running wheel; 30-an orbital robot; 31-a housing; 32-a power wheel; 33-a first transmission mechanism; 34-a brushless motor; 35-a second transmission mechanism; 36-a push rod motor; 37-a pressure wheel; 38-a control element; 40-electronic label.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
First embodiment
Referring to fig. 1, an embodiment of the present application provides an electronic device 10, where the electronic device 10 may be a server or a control element disposed on a robot for controlling at least a motion of the robot. When the electronic device 10 is a server, for example, it may be a web server, a database server, a cloud server, or a server assembly composed of a plurality of sub servers; alternatively, when the electronic device 10 is a control element provided on a robot at least for controlling the motion of the robot, the control element may be a central processor, a single chip microcomputer, or the like, wherein the robot may be various types of intelligent robots, or the like. Of course, the above-mentioned devices are for easy understanding of the present embodiment, and should not be taken as limiting the present embodiment.
In this embodiment, in a case where the electronic device 10 is a server, the electronic device 10 may include: memory 11, communication interface 12, bus 13, and processor 14. The processor 14, the communication interface 12, and the memory 11 are connected by a bus 13.
The processor 14 is arranged to execute executable modules, such as computer programs, stored in the memory 11. The components and configurations of electronic device 10 shown in FIG. 1 are for example, and not for limitation, and electronic device 10 may have other components and configurations as desired.
The Memory 11 may include a Random Access Memory (RAM) and may further include a non-volatile Memory (non-volatile Memory), such as at least two disk memories. In the present embodiment, the memory 11 stores a program necessary for executing the motion control method.
The bus 13 may be an ISA bus, a PCI bus, an EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 1, but this does not indicate only one bus or one type of bus.
The method performed by the flow process or the defined apparatus disclosed in any of the embodiments of the present application may be applied in the processor 14 or implemented by the processor 14. After the processor 14 receives the execution instruction and calls the program stored in the memory 11 through the bus 13, the processor 14 controls the communication interface 12 through the bus 13 to execute the flow of the motion control method.
In the present embodiment, in the case where the electronic device 10 is a control element on the robot that controls the robot, the electronic device 10 may be a control element on a rail robot, a control element on a ground robot, a control element on a robot that acts on the water surface, a control element on a robot that flies in the air, or the like. And the control element may include: memory, a communication interface, a bus, and a processor. Wherein the processor, the communication interface and the memory are connected by a bus.
For example, referring to fig. 2, when the electronic device 10 is a control element on the ground robot 20, the ground robot 20 may include: a ground robot housing 21, a ground robot control element 22, a motor 23, a transmission 24, a moving wheel 25, and the like. The moving wheel 25 can be disposed on the ground robot housing 21, the motor 23 and the ground robot control element 22 can be disposed in the ground robot housing 21, and the motor 23 can be connected to the moving wheel 25 through the transmission mechanism 24 to realize the function of controlling the robot movement. The ground robot control element 22 may be coupled to a motor 23, and the ground robot control element 22 may be capable of performing the motion control methods provided herein.
For another example, referring to fig. 3, when the electronic device 10 is a control element on the track robot 30, the track robot 30 may include: the housing 31, the power wheel 32, the first transmission mechanism 33, the brushless motor 34, the second transmission mechanism 35, the push rod motor 36, the pressure wheel 37, the control element 38, and the like, and the push rod motor 36, the brushless motor 34, the first transmission mechanism 33, the second transmission mechanism 35, the power wheel 32, the pressure wheel 37, and the control element 38 may be disposed inside the housing 31. The power wheel 32 and the pressure wheel 37 are respectively arranged on the two sides of the track. The brushless motor 34 can be connected with the power wheel 32 through a first transmission mechanism 33 and used for providing power for the movement of the track robot 30; the push rod motor 36 may be connected to the pressure wheel 37 via a second transmission 35 for adjusting the pressure between the power wheel 32 and the pressure wheel 37 and the rail, thereby changing the friction. The control unit 38 is connected to the push rod motor 36 and the brushless motor 34 for controlling the operation of the track robot 30 and performing the motion control method provided herein. The electronic tag 40 may be located on the track, for example, near the track where the track changes when the track changes course.
Second embodiment
In the motion control method provided in the present embodiment, the motion control method is applied to the electronic device 10, and the description may be made from the perspective of the electronic device 10. In the present embodiment, the electronic device 10 may be at least a control element provided on the robot for controlling the motion of the robot, or may also be the robot itself, for executing the motion control method provided in the present application. Compared with the motion control method provided by the application executed by a server, the motion control method is directly executed by a part arranged on the robot, so that the position judgment can be more accurate and the execution speed can be quicker; on the other hand, if the motion control method provided by the present application is executed by a server, motion control of the robot in a complicated path can be implemented from a long distance, and therefore, in the present embodiment, a component provided on the robot is selected as an execution subject of the motion control method, which is not considered to be limited to the present application. Hereinafter, each step of the motion control method in the embodiment of the present application will be described in detail with reference to fig. 3 to 7.
In this embodiment, the robot is exemplified by a track robot, the track robot is disposed on a track, the running path of the track robot is a track, and the track may include various complex moving routes, such as a combination of multiple complex routes of horizontal, inclined, vertical upward, vertical downward, straight, curved, and the like, and is not limited herein. It should be noted that, the track robot is taken as an example herein, and the description is only for convenience, and other types of robots may be used, for example, a robot moving on the ground, a robot moving on the water, and the like, and the present application is not limited thereto.
Referring to fig. 4, fig. 4 is a flowchart of a motion control method provided in the present embodiment. In the motion control method provided in this embodiment, the method may include: step S100 and step S200.
Step S100: when the robot and M electronic tags are in a communication state at the position of the robot, N motion control strategies determined according to the M electronic tags are obtained, wherein M and N are positive integers.
Step S200: and determining a control strategy for controlling the robot to move according to the N motion control strategies.
In this embodiment, the robot may run on a track, and when the electronic device 10 disposed on the robot senses that an electronic tag exists around, step S100 may be performed. It should be noted that the electronic tags may be disposed on the track, which is convenient for the electronic device 10 to obtain, and the distances between the robot and each electronic tag obtained by the electronic device 10 are relatively more accurate, so as to facilitate accurate selection of a control strategy for controlling the movement of the robot. Of course, the electronic tag may be disposed at other positions, not necessarily on the track, for example, beside the track, or at a node position having a certain distance from the track, which is not limited herein.
Referring to fig. 5, in the present embodiment, the step S100 may include: step S111 and step S112.
Step S111: state parameters representing a current motion state of the robot are obtained.
Step S112: and determining N matched motion control strategies from all the motion control strategies determined by the M electronic tags according to the state parameters.
The electronic device 10 may execute step S111 when the position of the robot is such that the robot is in a communication state with the M electronic tags.
In this embodiment, the electronic device 10 may obtain state parameters of the current motion state of the robot, for example, obtain state parameters such as the current position, the current speed, the current friction force, and the current gravity of the robot, and it should be noted that the state parameters listed here are only a part of the state parameters of the robot, and not all of the state parameters, and the state parameters may also be the current acceleration, the current power, the running time, and the like, and therefore, the present application should not be considered as limiting herein. The state parameter may be obtained by determining when the electronic tag is connected, that is, obtaining the state information of the electronic device when the electronic tag is in a connected state, or obtaining the state parameter from the state parameter detected by the robot in real time by the electronic device, which is not limited herein.
The electronic device 10 may determine M electronic tags within a certain range around the robot, where the certain range may be a distance range for implementing wireless communication between the robot and the electronic tags, or may be a preset certain distance range, for example, within 10 meters, within 5 meters, within 20 meters, within 50 meters, and the like, and is not limited herein. Here, the wireless communication method may be that the electronic tag transmits a signal, and the electronic device 10 detects whether there is a signal transmitted by the electronic tag around, and if so, may determine the electronic tag that has transmitted the signal according to the signal. Of course, this is only one way, and it may also be that the electronic device 10 actively detects whether there is an electronic tag around, and if it is detected that there is an electronic tag around, the electronic device 10 may establish a communication connection with the electronic tag, so as to determine the electronic tag, and this should not be considered as a limitation to this application.
After the electronic device 10 obtains the state parameters of the robot, step S112 may be performed.
In this embodiment, the electronic device 10 may match the current position in the state parameters of the robot with a preset position corresponding to each of all the motion control strategies determined by the M electronic tags, so as to obtain a first matching result of each motion control strategy. The preset position in the motion control strategy may be a range, for example, if the preset position of a certain motion control strategy is within a range from a to 5 meters around a, and the robot is located at a, then the motion control strategy can be successfully matched with the current position. Of course, this is only an example, and the preset position of the motion control policy may be matched with the current position of the robot, and it may also be determined whether a distance between the electronic tag corresponding to the motion control policy and the robot meets a preset position requirement. For example, the preset position of the electronic tag corresponding to the motion control strategy may be set to be within a range of 10-20 meters from the current position of the robot, and if the distance between the current position of the robot and the electronic tag is 15 meters, the electronic tag can be successfully matched with the current position of the robot, and therefore, the present application should not be considered as limited herein.
The current position is matched with the preset position, a motion control strategy capable of controlling the motion of the robot within a certain range of the current position is determined, and the motion of the robot within the range can be controlled. Therefore, due to the fact that the plurality of electronic tags exist, when some electronic tags fail, the robot can be controlled by selecting the motion control strategy determined according to other electronic tags, and stable running of the robot on the track is guaranteed.
After the electronic device 10 matches the current position of the robot with the preset position corresponding to each of all the motion control strategies determined by the M electronic tags, corresponding M first matching results may be obtained.
In this embodiment, after obtaining the M first matching results, the electronic device 10 may directly determine that the first matching results are the corresponding N motion control strategies that are successfully matched. The N successfully matched motion control strategies are determined by matching the preset positions of the motion control strategies with the current position of the robot, so that the robot can select a proper motion control strategy at the current position, and the motion of the robot is better controlled.
It should be noted that, in this embodiment, the control policy associated with the electronic tag is determined according to the electronic tag, the motion control policy may be stored in the electronic tag, or a motion control policy matching with the electronic tag is determined from the electronic device 10 according to some identification information provided by the electronic tag, for example, a location of the electronic tag, which is not limited herein. One electronic tag may be associated with one motion control strategy, or may be associated with a plurality of motion control strategies, which is not limited herein.
In this embodiment, after obtaining the M first matching results, the electronic device 10 may further obtain, from the M first matching results, a preset speed, a preset friction force, a preset gravity, and the like of each electronic tag in the multiple motion control strategies for a corresponding multiple motion control strategies successfully matched, respectively match with a current speed, a current friction force, a current gravity, and the like in the state parameters of the robot, and correspondingly obtain a second matching result, a third matching result, and a fourth matching result of each motion control strategy. Here, the preset speed may be a preset speed range, for example, 0.5 to 0.7 meters per second, and when the value of the current speed is within the preset speed range, the second matching result of the current speed matching with the preset speed is successful; similarly, the preset friction force may be a preset friction force range, for example, 300 newton to 350 newton, and when the current friction force is within the preset friction force range, the third matching result is a successful matching; the preset gravity may be a preset gravity range, for example, 200 newton to 400 newton, and when the current gravity is within the preset gravity range, the fourth matching result is a successful matching.
The electronic device 10 may determine, from the plurality of motion control policies, that at least one of the second matching result, the third matching result, and the fourth matching result is N motion control policies that are successfully matched. It should be noted that, here, the matching between the preset speed, the preset friction force, the preset gravity and the current speed, the current friction force, and the current gravity may also be range value matching. After the preset position of the motion control strategy is successfully matched with the current position of the robot, the preset speed, the preset friction force and the preset gravity of the motion control strategy are respectively matched with the current speed, the current friction force and the current gravity of the robot, so that N motion control strategies which are more suitable for the state parameters of the robot can be better screened out.
In some other optional embodiments, each of the M electronic tags may determine at least one motion control policy, and the electronic device 10 may match preset state parameters of all the motion control policies determined by the M electronic tags with state parameters of the robot. For example, the preset position, the preset speed, the preset friction force and the preset gravity in the preset parameters of each motion control strategy may be respectively matched with the current position, the current speed, the current friction force and the current gravity, so as to determine N motion control strategies in total, in which at least one state parameter is successfully matched; a certain weight value may be assigned to the matching of various state parameters, for example, position matching time a, speed matching time B, friction matching time C, and gravity matching time D, where a + B + C + D is 1, and the matching is finally counted. By correspondingly determining a plurality of motion control strategies by one electronic tag, the using amount of the electronic tags can be reduced, and the mutual interference among the electronic tags can also be reduced. The electronic device may determine a total of N motion control strategies where the score is high, and is not limited herein. Through directly confirming N motion control strategies that match with the state parameter of robot according to M electronic tags, can make the motion control strategy who determines more be fit for the current state of robot, be favorable to the stable and accurate operation of robot.
After the electronic device 10 obtains N motion control strategies determined by the robot, step S200 may be performed. Referring to fig. 6, step S200 may include: step S210 and step S220.
Step S210: and determining the matching degree of each motion control strategy according to the matching of the state parameters representing the current motion state of the robot and each motion control strategy in the N motion control strategies.
Step S220: and determining the motion control strategy with the highest matching degree as the control strategy for controlling the motion of the robot according to the matching degree of each motion control strategy.
After the electronic device 10 obtains N motion control strategies determined by the robot, step S210 may be performed.
In this embodiment, the electronic device 10 may match the state parameter of the robot with each motion control strategy of the N motion control strategies, for example, the current position, the current speed, and the current friction may be respectively matched with a target position, a target speed, and a target friction preset in each motion control strategy, so as to obtain a corresponding position matching result, a corresponding speed matching result, and a corresponding friction matching result. It should be noted that the target position preset by a certain motion control strategy represents a preferred operating range in which the motion control strategy exerts control over the motion of the robot; the target speed represents an ideal operating speed range of the robot; the target friction force represents a range of friction force between the robot and the rail. For example, when encountering an uphill stage of the track, 5-8 meters before the uphill, the electronic device 10 may determine a motion control policy most suitable for the state parameter from among the motion control policies determined by the surrounding electronic tags, as the control policy for controlling the motion of the robot. The target position in the motion control strategy represents a position to which the robot needs to operate, wherein the position may be a position which should be reached after ascending, or a position which should adjust the operation state of the robot before ascending, and the position is not limited herein; the target speed represents the speed or speed range of the robot when running on the track slope stage; the target friction force can be a friction force range which the robot must reach when ascending, and when the friction force does not reach the minimum limit of the target friction force, the robot cannot finish the ascending operation. The target position can be set according to actual conditions, when the track changes, the robot also needs to change the running state correspondingly, generally, at a position within a certain distance before the track changes, the target speed can be set to different speeds according to different routes of the track, for example, when the track is a straight line, the target speed is set to 1.0 meter per second, and when the track is on an uphill, the target speed can be set to 0.5 meter per second, and the like, and the setting is not limited herein; the target friction force is generally set when the robot ascends and descends, the set target friction force is larger than the target friction force of the track when the robot horizontally moves on a straight line, but the target friction force is not absolute, and only the stable operation of the robot needs to be ensured based on the actual situation.
Referring to fig. 3, for example, a certain section of track is formed by splicing a horizontal straight track of 10 meters and a track inclined upward at an angle of 30 degrees from the horizontal direction by 20 meters, an electronic tag 40 is disposed at the spliced position, and the target position of the motion control strategy determined by the electronic tag 40 is within 5 meters of the current position of the track robot 30 from the position of the electronic tag 40, the target speed is 0.5-0.8 meter per second, and the target frictional force is 400 newtons and 450 newtons, so that the target speed of the motion control strategy is matched with the current speed of the track robot 30 when the current position of the track robot 30 is 8 meters away from the electronic tag 40, the current frictional force is 300 newtons, and the current speed is 0.6 meter per second, but the target position and the target frictional force are not matched with the current position and the current frictional force of the track robot 30.
By matching the current position with the target position, whether the target position of the motion control strategy is within a range enabling the robot to stably run can be determined, if the target position is not matched with the current position, it can be shown that the target position of the electronic tag is far away from the current position of the robot, or a section of track which is not suitable for using the motion control strategy exists between the target position and the current position of the robot; the current speed is matched with the target speed, the running state of the robot can be predicted in a short time, and if the speed difference is too large, a good running control effect can not be achieved by using the control strategy; and the current friction force is matched with the target friction force, so that the friction force between the robot and the track can be changed conveniently in the running process of the robot in a short time. Thus, matching the current position to the target position, the current speed to the target speed, and the current friction to the target friction may determine a more appropriate motion control strategy.
After the electronic device 10 determines the position matching result, the velocity matching result, and the friction matching result, step S220 may be performed.
In this embodiment, the electronic device 10 may assign a certain weight to the obtained position matching result, speed matching result, and friction matching result, for example, the position matching result is represented as Q1, the speed matching result is represented as Q2, the friction matching result is represented as Q3, Q1+ Q2+ Q3 is 1, and the matching degree between the motion control policy and the state parameter is obtained according to the coefficient P of the motion control policy that is applied to the current gravity. Assuming that the applicable coefficient P of the current gravity and a certain motion control strategy is 0.7, the position matching result Q1 is 0.4, the speed matching result Q2 is 0.4, and the friction matching result Q3 is 0.2, when the position matching result is matched, the speed matching result is matched, and the friction matching result is not matched, the matching degree of the state parameter of the matching degree robot and the motion control strategy is 0.7 (0.4+0.4) ═ 0.56. Of course, the matching degree calculation method listed here is only one, and there are other methods, for example, the matching degree is determined according to the number of kinds of state parameters in which matching is performed, and when only one of the position matching result, the velocity matching result, and the friction matching result is successful, the matching degree is 0.5, when any two matching results are successful, the matching degree is 0.8, and when all three matching results are successful, the matching degree is 1.0. Therefore, the present application should not be considered as limited herein.
After determining the matching degree of each motion control strategy matching with the state parameter of the robot, the electronic device 10 may determine the motion control strategy with the highest matching degree as the control strategy for controlling the motion of the robot, and may select the motion control strategy most suitable for the state parameter of the current robot. By determining the matching degree of each motion control strategy and the state parameters of the robot, the most suitable motion control strategy can be determined from a plurality of motion control strategies to be used as the control strategy for controlling the motion of the robot, so that the robot can keep stable and accurate operation in a complex operation path.
It should be noted that the numerical values listed in the present embodiment are listed for convenience of illustration, and the specific numerical values should be subject to practical standards, and the numerical values of these data should not be considered as limitations of the present application.
Third embodiment
Referring to fig. 7, fig. 7 is a block diagram illustrating a motion control apparatus 100 according to the present disclosure.
An embodiment of the present application provides a motion control apparatus 100 including: an obtaining module 110, configured to obtain N motion control strategies determined according to M electronic tags when the robot and the M electronic tags are in a communication state at a position of the robot, where M and N are positive integers; and a determining module 120, configured to determine, according to the N motion control strategies, a control strategy for controlling the motion of the robot.
In this embodiment, the obtaining module 110 is further configured to obtain a state parameter indicating a current motion state of the robot; and determining N matched motion control strategies from all the motion control strategies determined by the M electronic tags according to the state parameters.
In this embodiment, the status parameters include: the obtaining module 110 is further configured to match the current position with a preset position corresponding to each motion control policy in all the motion control policies determined by the M electronic tags, and obtain a first matching result of each motion control policy; and determining the N matched motion control strategies from all the motion control strategies determined by the M electronic tags according to the first matching result of each motion control strategy.
In this embodiment, the state parameters further include: the obtaining module 110 is further configured to, when the first matching result is a successful matching, match the current speed with a preset speed corresponding to each motion control strategy of which the first matching result is a successful matching, obtain a second matching result of each motion control strategy, match the current friction with a preset friction corresponding to each motion control strategy of which the first matching result is a successful matching, obtain a third matching result of each motion control strategy, match the current gravity with a preset gravity corresponding to each motion control strategy of which the first matching result is a successful matching, and obtain a fourth matching result of each motion control strategy; and when at least one of the second matching result, the third matching result and the fourth matching result of each motion control strategy which is successfully matched with the first matching result is successfully matched, determining each motion control strategy which is successfully matched with the first matching result as each matched motion control strategy, and determining N matched motion control strategies from all the motion control strategies determined by the M electronic tags.
In this embodiment, the determining module 120 is further configured to determine a matching degree of each motion control strategy according to matching a state parameter indicating a current motion state of the robot with each motion control strategy in the N motion control strategies; and determining the motion control strategy with the highest matching degree as the control strategy for controlling the motion of the robot according to the matching degree of each motion control strategy.
In this embodiment, the status parameters include: the determining module 120 is further configured to match the current speed with a target speed of each of the N motion control strategies, determine a speed matching result of each of the motion control strategies, match the current friction with a target friction of each of the motion control strategies, determine a friction matching result of each of the motion control strategies, match the current position with a target position of each of the motion control strategies, and determine a position matching result of each of the motion control strategies; and determining the matching degree of each motion control strategy according to the speed matching result, the friction force matching result, the position matching result and the current gravity of each motion control strategy.
The present embodiment provides a computer-readable storage medium having a processor-executable nonvolatile program code for storing a program code, which, when read and executed by a computer, performs the motion control method in the second embodiment.
An embodiment of the present application provides an electronic device, which includes a processor and a memory, where the memory stores computer readable instructions, and when the computer readable instructions are executed by the processor, the motion control method in the second embodiment is performed.
In summary, embodiments of the present application provide a motion control method, a motion control apparatus, a storage medium, and an electronic device, where the method includes: when the robot and M electronic tags are in a communication state at the position of the robot, N motion control strategies determined according to the M electronic tags are obtained, wherein M and N are positive integers; and determining a control strategy for controlling the robot to move according to the N motion control strategies.
When the position of the robot can be in a communication state with the M electronic tags, the N motion control strategies determined according to the M electronic tags are obtained, and the strategy for controlling the robot is determined, so that when the robot runs in a complex path, a proper operation control strategy can be determined from the electronic tags according to the current position to realize stable running of the robot in the complex path, and the robot can run in the complex path more accurately.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (6)
1. A motion control method, comprising:
when the robot and M electronic tags are in a communication state at the position of the robot, N motion control strategies determined according to the M electronic tags are obtained, wherein M and N are positive integers;
determining a control strategy for controlling the robot to move according to the N motion control strategies;
wherein, obtaining N motion control strategies determined according to the M electronic tags comprises: obtaining state parameters representing a current motion state of the robot;
according to the state parameters, determining N matched motion control strategies from all the motion control strategies determined by the M electronic tags;
wherein the state parameters include: determining N matched motion control strategies from all the motion control strategies determined by the M electronic tags according to the current position and the state parameters, wherein the method comprises the following steps:
matching the current position with a preset position corresponding to each motion control strategy in all the motion control strategies determined by the M electronic tags to obtain a first matching result of each motion control strategy;
determining the N matched motion control strategies from all the motion control strategies determined by the M electronic tags according to the first matching result of each motion control strategy;
the state parameters further include: determining the N matched motion control strategies from all the motion control strategies determined by the M electronic tags according to the first matching result of each motion control strategy, including:
when the first matching result is successful, matching the current speed with a preset speed corresponding to each motion control strategy of which the first matching result is successful to obtain a second matching result of each motion control strategy, matching the current friction with a preset friction corresponding to each motion control strategy of which the first matching result is successful to obtain a third matching result of each motion control strategy, and matching the current gravity with a preset gravity corresponding to each motion control strategy of which the first matching result is successful to obtain a fourth matching result of each motion control strategy;
and when at least one of the second matching result, the third matching result and the fourth matching result of each motion control strategy which is successfully matched with the first matching result is successfully matched, determining each motion control strategy which is successfully matched with the first matching result as each matched motion control strategy, and determining N matched motion control strategies from all the motion control strategies determined by the M electronic tags.
2. The motion control method according to claim 1, wherein the determining a control strategy for controlling the motion of the robot according to the N motion control strategies comprises:
according to the matching of the state parameters representing the current motion state of the robot and each motion control strategy in the N motion control strategies, determining the matching degree of each motion control strategy;
and determining the motion control strategy with the highest matching degree as the control strategy for controlling the motion of the robot according to the matching degree of each motion control strategy.
3. The motion control method of claim 2, wherein the state parameters comprise: the determining the matching degree of each motion control strategy according to the matching of the state parameters and each motion control strategy in the N motion control strategies comprises the following steps:
matching the current speed with a target speed of each motion control strategy in the N motion control strategies, determining a speed matching result of each motion control strategy, matching the current friction with a target friction of each motion control strategy, determining a friction matching result of each motion control strategy, matching the current position with a target position of each motion control strategy, and determining a position matching result of each motion control strategy;
and determining the matching degree of each motion control strategy according to the speed matching result, the friction force matching result, the position matching result and the current gravity of each motion control strategy.
4. A motion control apparatus, comprising:
the system comprises an obtaining module, a judging module and a judging module, wherein the obtaining module is used for obtaining N motion control strategies determined according to M electronic tags when the robot and the M electronic tags are in a communication state at the position of the robot, and M and N are positive integers;
the determining module is used for determining a control strategy for controlling the robot to move according to the N motion control strategies;
wherein the obtaining module is further configured to obtain a state parameter representing a current motion state of the robot; according to the state parameters, determining N matched motion control strategies from all the motion control strategies determined by the M electronic tags;
the state parameters include: the obtaining module is further configured to match the current position with a preset position corresponding to each motion control strategy in all the motion control strategies determined by the M electronic tags, and obtain a first matching result of each motion control strategy; determining the N matched motion control strategies from all the motion control strategies determined by the M electronic tags according to the first matching result of each motion control strategy;
the state parameters further include: the obtaining module is further configured to, when the first matching result is a successful matching, match the current speed with a preset speed corresponding to each of the motion control strategies for which the first matching result is a successful matching, obtain a second matching result of each of the motion control strategies, match the current friction with a preset friction corresponding to each of the motion control strategies for which the first matching result is a successful matching, obtain a third matching result of each of the motion control strategies, match the current gravity with a preset gravity corresponding to each of the motion control strategies for which the first matching result is a successful matching, and obtain a fourth matching result of each of the motion control strategies; and when at least one of the second matching result, the third matching result and the fourth matching result of each motion control strategy which is successfully matched with the first matching result is successfully matched, determining each motion control strategy which is successfully matched with the first matching result as each matched motion control strategy, and determining N matched motion control strategies from all the motion control strategies determined by the M electronic tags.
5. A computer-readable storage medium having non-volatile program code executable by a processor for storing program code, characterized in that the program code, when read and executed by a computer, performs the method according to any one of claims 1-3.
6. An electronic device comprising a processor and a memory, said memory storing computer readable instructions which, when executed by said processor, perform the steps of the method according to any one of claims 1 to 3.
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