CN110103216A - Robot control method and Related product - Google Patents
Robot control method and Related product Download PDFInfo
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- CN110103216A CN110103216A CN201910376280.9A CN201910376280A CN110103216A CN 110103216 A CN110103216 A CN 110103216A CN 201910376280 A CN201910376280 A CN 201910376280A CN 110103216 A CN110103216 A CN 110103216A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
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Abstract
The embodiment of the present application provides a kind of robot control method and Related product, wherein the described method includes: obtaining the target component set in preset time period of robot controller；According to the target component set, method is determined using preset target control parameter, determines the target control parameter of robot；The target control parameter is sent to the robot.With this, it is able to ascend convenience when robot control.
Description
Technical field
This application involves control technology fields, and in particular to a kind of robot control method and Related product.
Background technique
With the continuous development of society, robot more and more appears in the visual field of people, while being the life of people
Work brings great convenience.Traditional joint of robot control system, control method when usually controlling robot
Are as follows: fixed action command number is directly issued by conventional handle etc., waits communication modes to pass to robot by wired or wireless
Processor searches the fixed movement number for writing on robot processor, is then converted into the corresponding director data of the number pair
The control signal controlling machine device people movement answered, due to being controlled in existing scheme only with fixed action command, causes
Accuracy when robot controls is lower.
Summary of the invention
The embodiment of the present application provides a kind of robot control method and Related product, when being able to ascend robot control just
Victory.
The first aspect of the embodiment of the present application provides a kind of robot control method, this method comprises:
Obtain the target component set in preset time period of robot controller；
According to the target component set, method is determined using preset target control parameter, determines the mesh of robot
Mark control parameter；
The target control parameter is sent to the robot.
The second aspect of the embodiment of the present application provides a kind of robot controller, the device include acquiring unit, really
Order member and transmission unit, wherein
The acquiring unit, for obtaining the target component set in preset time period of robot controller；
The determination unit, for determining method using preset target control parameter according to the target component set,
Determine the target control parameter of robot；
The transmission unit, for the target control parameter to be sent to the robot.
The third aspect of the embodiment of the present application provides a kind of terminal, including processor, input equipment, output equipment and storage
Device, the processor, input equipment, output equipment and memory are connected with each other, wherein the memory is for storing computer
Program, the computer program include program instruction, and the processor is configured for calling described program instruction, are executed such as this
Apply for the step instruction in embodiment first aspect.
The fourth aspect of the embodiment of the present application provides a kind of computer readable storage medium, wherein above-mentioned computer can
Read the computer program that storage medium storage is used for electronic data interchange, wherein above-mentioned computer program executes computer
The step some or all of as described in the embodiment of the present application first aspect.
5th aspect of the embodiment of the present application provides a kind of computer program product, wherein above-mentioned computer program produces
Product include the non-transient computer readable storage medium for storing computer program, and above-mentioned computer program is operable to make to count
Calculation machine executes the step some or all of as described in the embodiment of the present application first aspect.The computer program product can be
One software installation packet.
Implement the embodiment of the present application, at least has the following beneficial effects:
In the embodiment of the present application, by obtaining the target component set in preset time period of robot controller, foundation
The target component set determines method using preset target control parameter, determines the target control parameter of robot, will
The target control parameter is sent to the robot.Accordingly, with respect in existing scheme, only with fixed control instruction pair
Robot is controlled, and can determine target control according to parameter by the target component set of acquisition robot controller
Parameter, and the target control parameter is sent to robot, then it, being capable of target component set when controlling robot
Determine target control parameter, can to a certain extent hoisting machine people control when accuracy.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 provides a kind of structural schematic diagram of robot control system for the embodiment of the present application；
Fig. 2A provides a kind of flow diagram of robot control method for the embodiment of the present application；
Fig. 2 B provides a kind of schematic diagram of the rotation axis of electronic device for the embodiment of the present application；
Fig. 3 provides the flow diagram of another robot control method for the embodiment of the present application；
Fig. 4 provides the flow diagram of another robot control method for the embodiment of the present application；
Fig. 5 is a kind of structural schematic diagram of terminal provided by the embodiments of the present application；
Fig. 6 provides a kind of structural schematic diagram of robot controller for the embodiment of the present application.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
The description and claims of this application and term " first " in above-mentioned attached drawing, " second " etc. are for distinguishing
Different objects, are not use to describe a particular order.In addition, term " includes " and " having " and their any deformations, it is intended that
It is to cover and non-exclusive includes.Such as the process, method, system, product or equipment for containing a series of steps or units do not have
It is defined in listed step or unit, but optionally further comprising the step of not listing or unit, or optionally also wrap
Include other step or units intrinsic for these process, methods, product or equipment.
" embodiment " mentioned in this application is it is meant that a particular feature, structure, or characteristic described can be in conjunction with the embodiments
Included at least one embodiment of the application.The phrase, which occurs, in each position in the description might not each mean phase
Same embodiment, nor the independent or alternative embodiment with other embodiments mutual exclusion.Those skilled in the art are explicitly
Implicitly understand, embodiments described herein can be combined with other embodiments.
In the embodiment of the present application, it is mainly in view of the accuracy deficiency in the prior art when carrying out robot control, is
Accuracy when hoisting machine people control, is analyzed, and determine target control using the parameter sets to controller
Parameter is able to ascend accuracy when robot control.
In order to better understand a kind of robot control method provided by the embodiments of the present application, applied robot is controlled below
The robot control system of method processed is briefly introduced.Referring to Fig. 1, Fig. 1 provides a kind of machine for the embodiment of the present application
The structural schematic diagram of people's control system.As shown in Figure 1, robot control system includes robot controller 101 and robot
102, for user in Manipulation of the machine people's controller 101, robot controller 101 obtains the target component set of its own, then
Robot controller 101 determines method according to target component set, using preset target control parameter, determines the mesh of several people
Mark control parameter；Target control parameter is sent to robot 102 by robot controller 101.Accordingly, with respect to existing scheme
In, robot is controlled only with fixed control instruction, the target component collection of acquisition robot controller can be passed through
It closes, target control parameter is determined according to parameter, and the target control parameter is sent to robot, then carried out to robot
When control, can target component set determine target control parameter, being capable of standard when hoisting machine people controls to a certain extent
True property.
Fig. 2A is please referred to, Fig. 2A provides a kind of flow diagram of robot control method for the embodiment of the present application.Such as
Shown in Fig. 2A, robot control method includes step 201-203, specific as follows:
201, the target component set in preset time period of robot controller is obtained.
Wherein, target component set includes at least following at least one: target angular velocity, target acceleration of gravity and target
Magnetic field strength.Wherein, the parameter in above-mentioned target component set can be, when user manipulates robot controller, machine
Parameter sets possessed by device people, the set can reflect out user to the control action of robot controller.Preset time period
It is set by empirical value or historical data.
Optionally, robot controller can be Apery manipulator arm, or electronic device.Apery mechanical arm can be with
It is interpreted as the mechanical arm similar with body configuration.
Optionally, a kind of possible method for obtaining target component set are as follows: obtained by gyroscope or acceleration transducer
Target angular velocity is taken, target acceleration of gravity is obtained by acceleration transducer, and obtain by magnetic field strength detection sensor
Take magnetic field of the goal intensity.Wherein, above-mentioned target component set can store in nine central spindle pieces, can carry out directly from chip
It reads.
Optionally, before the target component set of acquisition robot controller, in the booting of robot controller level,
Since the signal acquisition sensor of robot controller may have offset, at this time, it may be necessary to be calibrated to data.Signal is adopted
Integrating sensor can be three-axis gyroscope, when being calibrated, can be calibrated with the following method, within a preset period of time
Using prefixed time interval carry out data acquisition, seek the arithmetic mean of instantaneous value of collected data, using the arithmetic mean of instantaneous value as
Deviation, then using deviation as basic numerical value.Baseline values can be a reference value of setting, and a reference value understands are as follows: with magnetic
For, using direct north as master reference value, then original orientation is displaced to the direction where the deviation, and with the direction
On the basis of be worth.Preset time period and prefixed time interval are set by empirical value or historical data.
202, according to the target component set, method is determined using preset target control parameter, determines robot
Target control parameter.
Optionally, a kind of possible according to target component set, method for determining the target control parameter of robot are as follows:
According to the target angular velocity, target acceleration of gravity and magnetic field of the goal intensity, is determined and calculated using preset target control parameter
Method determines the target control parameter.Wherein, algorithm is determined using preset target control parameter, determines target control
Parameter may include step A1-A4, specific as follows:
If A1, the robot are static in the horizontal direction, yaw angle is determined according to the magnetic field of the goal intensity
Deviant；
Wherein, a kind of method of the possible deviant that yaw angle is determined according to magnetic field of the goal intensity are as follows: with direct north
For reference, the offset between direct north is directed toward according to the magnetic field of rotation axis, as the deviant, deviant, Ke Yitong
It crosses clockwise offset to be indicated, is positive, is counterclockwise negative clockwise.Other sides can certainly be passed through
Formula is indicated, and herein by way of example only, is not especially limited.
A2, it is filtered, is obtained using preset filtering method according to the target angular velocity and target acceleration of gravity
Angular speed change curve of the robot controller in the preset time period；
Optionally, preset filtering method can be complementary filter method.It is a kind of possible according to target angular velocity and mesh
Mark acceleration of gravity uses complementary filter method to be filtered can be with are as follows: and complementary filter method may include low-pass filtering and high-pass filtering,
It is specifically as follows: target angular velocity is filtered using high-pass filtering method, obtains the first filtering signal；Using low pass filtering method
Target gravity acceleration value is filtered, the second filtering signal is obtained；First filtering signal and the second filtering signal are carried out
Combination obtains the angular speed change curve in preset time period.Wherein, angular speed change curve is one in space coordinates
Curve.Preset time period is to be set by empirical value or historical data.To the first filtering signal and the second filtering signal into
The combined method of row is to splice the high-frequency signal of the first filtering signal and the low frequency signal of the second filtering signal, obtain
Angular speed change curve.
Wherein, when carrying out low-pass filtering and high-pass filtering, passband section is set by empirical value or historical data.
A3, the angular speed change curve is integrated, obtains the robot controller in the preset time period
Interior rotation angle；
Optionally, a kind of method that possible angular velocity change curve is integrated can pass through following formula carry out table
Show:
Wherein, Δ θ is rotation angle, ωibFor angular speed change curve.Wherein, rotation angle is the rotation of robot controller
Vector is relative to the rotation angle between reference frame.The rotation axis of robot controller can be the arm of robot controller
The rotary shaft etc. of the vertical direction of straight line, robot controller where when in straight configuration.Reference frame can be pre-
The coordinate system first set, for example, using the rectangular coordinate system in space that the center of gravity of robot controller is set as origin, Huo Zhekong
Between polar coordinate system.
A4, it is determined according to the rotation angle with reference to control parameter.
It optionally, may include yaw angle, pitch angle and roll angle with reference to control parameter, rotary shaft meets following vector and closes
System:
R '=qRq ',
Wherein, R is the direction vector matrix of rotation axis, and R' is the inverse matrix of R, and q' is the inverse matrix of q, can be by as follows
Formula is indicated:
Q=λ+p1i+p2j+p3K,
Wherein, cos α is direction cosines of the rotary shaft relative to reference frame x, and axis cos β is rotary shaft relative to reference
The direction cosines of coordinate system y, cos γ are direction cosines of the rotary shaft relative to reference frame z, and i is the direction vector of x-axis, j
For the direction vector of y-axis, k is the direction vector of z-axis, and θ is that rotation angle is Δ θ.
Optionally, when controller is electronic device, rotation axis can be understood as the direction where electronic device middle line, such as
Shown in Fig. 2 B.
Optionally, target control parameter may include yaw angle, pitch angle and roll angle, and one kind is possible true according to rotation angle
The method for making target control parameter is to determine target control parameter by following formula:
Y=arctan2 (2 × q1×q2+2×q0×q3,-2×q2×q2-2×q3×q3+ 1) × 57.3,
P=arcsin2 (- 2 × q1×q3+2×q0×q3+2×q0×q2) × 57.3,
R=arctan2 (2 × q2×q3+2×q0×q1,-2×q1×q1-2×q2×q2+ 1) × 57.3,
Wherein, Y is yaw angle, and P is pitch angle, and R is roll angle, q0Scalar component for vector R is λ, q1For vector R
It is p in x-axis vector section1,q2It in y-axis vector section is p for vector R2,q3It in z-axis vector section is p for vector R3,
Arctan () is arctan function, and arcsin () is arcsin function.
A5, it is modified to described with reference to control parameter according to the deviant, obtains the target control parameter.
Wherein, target control parameter includes target yaw angle, target pitch angle and target roll angle.
Optionally, a kind of possible method that reference control parameter is modified are as follows: reference is controlled by deviant
Yaw angle in parameter is corrected.The method of correction are as follows: yaw angle is subtracted into deviant, obtains the mesh in target control parameter
Mark yaw angle.
In one possible example, robot may be at the state fought with other robots, then is being in this
When state, then the battle information of robot that robot can feed back and fight, battle information can be characterized as mechanical arm and be examined
The pressure value measured, then a kind of method that the possible movement to robot is adjusted includes step B1-B3, specific as follows:
B1, the parameter correction information that the robot is sent is received；
Wherein, robot may include mechanical arm, and target control parameter may include the sub-goal control parameter of mechanical arm, ginseng
Number control information can be the target pressure value that mechanical arm detects, due to carrying out in robot to wartime, if one's own side robot
The physical feeling of other side robot is hit, then can be determined that one's own side's score, then in order to protect other side robot not to be damaged, then
After impact, it needs timely to cancel hit condition, so that protecting robot.The target pressure value can be machine
Hit pressure value when other side robot in any position of the arm of people.
Optionally, before receiving the parameter correction information that machine human hair is sent, in order to which hoisting machine people and robot control
Safety when data are transmitted between device, then can carry out by the following method promotion safety:
Before carrying out data transmission, secured communication channel is established, is carried out data transmission by secured communication channel, Yi Zhongke
The method for establishing secured communication channel of energy is related to robot, robot controller and agent equipment, and agent equipment is believable
Third party device specifically comprises the following steps:
S1, initialization: initial phase mainly completes the registration of robot, robot controller in agent equipment, theme
Subscription and system parameter generation.Robot, robot controller are registered to agent equipment, only pass through registration
Robot and robot controller could participate in the publication and subscription of theme, and robot controller is subscribed to related main to agent equipment
Topic.Agent equipment generates system public parameter (PK) and master key (MSK), and PK is sent to registered robot and robot
Controller.
S2, encryption, publication: encryption, launch phase are mainly that robot adds the corresponding load of the theme to be issued
It is close, and it is sent to agent equipment.Robot uses symmetric encipherment algorithm encrypted payload first, generates ciphertext (CT), then formulates
Access structureAccording to robot generate PK andEncrypted symmetric key, finally by the load of encrypted key and encryption
Lotus is sent to agent equipment.Agent equipment is filtered and is transmitted to after the encrypted key and CT for receiving robot transmission
The robot controller.
Optionally, access structureIt is a kind of access tree construction.Each non-leaf nodes of access tree is a thresholding,
Use KxIt indicates, 0≤Kx≤ num (x), num (x) indicate its son node number.Work as KxWhen=num (x), non-leaf nodes represent with
Door；Work as KxWhen=1, non-leaf nodes represents or door；Each leaf node of access tree represents an attribute.Attribute set is full
One access tree construction of foot can be with is defined as: setting T is the access tree using r as root node, TxIt is using x as the subtree of the T of root node.
If Tx(S)=1, then declared attribute set S meets access structure Tx.If node x is leaf node, and if only if leaf section
When the associated attribute att (x) of point x is the element of attribute set S, Tx(S)=1.If node x is non-leaf nodes, at least KxIt is a
Child node z meets Tz(S)=1 when, Tx(S)=1.
S3, private key generate: private key generation phase is mainly that agent equipment is that robot controller generates corresponding key, is used
In the CT that decryption receives thereafter.Robot controller provides attribute set A to agent equipmenti(attribute can be the spy of subscription end
Sign, the information such as role), agent equipment is according to PK, attribute set AiAnd master key MSK generates private key SK, then by generation
Private key is sent to the robot controller.
Optionally, attribute set AiFor global set U={ A1, A2..., AnA subset.Attribute set AiExpression machine
The attribute information of device people's controller i (i-th of robot controller), can be feature, role of robot controller etc., be machine
The default property of device people's controller, global set U indicate the set of all robot controller attribute informations.
S4, decryption: decryption phase is mainly that robot controller encrypted payload is decrypted the process for extracting civilization.Machine
Device people controller is encrypted close according to PK and SK decryption after the encrypted key and CT for receiving agent equipment transmission
Key obtains symmetric key.If its attribute set AiMeet the access structure of ciphertextThen can successful decryption ciphertext, ensured with this
The safety of communication process.
By constructing secured communication channel, can be communicated between hoisting machine people controller and robot to a certain extent
Safety reduces a possibility that illegal user steals the data transmitted between legal robot controller and robot,
It decreases illegal user simultaneously to pass through intrusion system, distort system, so that the case where significant data in system is by stealing
Generation.
B2, correction target control is obtained to target control parameter progress parameter correction according to the parameter correction information
Parameter processed；
Optionally, a kind of method of possible determining correction target control parameter includes step B21-B24, specific as follows:
If B21, the target pressure value are in preset pressure value threshold interval, according to the target control parameter,
Determine first direction of motion of the mechanical arm, and according to the target pressure value determine the movement of the mechanical arm away from
From；
Wherein, preset pressure value threshold interval can based on experience value or historical data setting.Since target control is joined
Number is control manipulator motion, then can directly determine out first direction of motion of the mechanical arm.
Optionally, the method for the move distance of mechanical arm is determined according to target pressure value are as follows: according to preset pressure value
Mapping relations between move distance determine the move distance of mechanical arm.Wherein, reflecting between pressure value and move distance
The relationship of penetrating can be set by empirical value or historical data.
B22, according to first direction of motion, determine second direction of motion of the mechanical arm；
It optionally, can be rectangular as the second movement using the opposite direction of first direction of motion.
B23, according to second direction of motion, the move distance, generate the sub-goal control parameter of the mechanical arm
Correction value；
Optionally, a kind of method of the possible correction value for generating sub-goal control parameter are as follows: according to second direction of motion
And move distance, determine the rotational angle of mechanical arm rotation axis；According to the rotational angle as correction value.Wherein, according to
Two directions of motion and move distance, the method for determining the rotational angle of mechanical arm rotation axis are referred to through mechanical arm turn
Rotational angle determines the reverse method of discharge control method, then can determine that rotational angle.Rotational angle includes yaw angle, pitch angle
And roll angle.
B24, the sub-goal control parameter is modified according to the correction value, obtains the correction target control ginseng
Number.
Wherein, sub-goal control parameter is subtracted into rotational angle, obtains correction target control parameter.
B3, the correction target control parameter is sent to the robot.
203, the target control parameter is sent to the robot.
In one possible embodiment, after robot receives target control parameter, can according to the target control parameter into
Row movement.When controlling robot motion by target control parameter, it can control robot and moved, control robot moves
Direction etc. when dynamic.
Referring to Fig. 3, Fig. 3 provides the flow diagram of another robot control method for the embodiment of the present application.Such as
Shown in Fig. 3, control method includes step 301-307, specific as follows:
301, the target component set in preset time period of robot controller is obtained；
Wherein, the target component set includes target angular velocity, target acceleration of gravity and magnetic field of the goal intensity.
If 302, the robot is static in the horizontal direction, yaw angle is determined according to the magnetic field of the goal intensity
Deviant；
303, it is filtered, is obtained using preset filtering method according to the target angular velocity and target acceleration of gravity
Angular speed change curve of the robot controller in the preset time period；
304, the angular speed change curve is integrated, obtains the robot controller in the preset time period
Interior rotation angle；
305, it is determined according to the rotation angle with reference to control parameter；
306, it is modified to described with reference to control parameter according to the deviant, obtains the target control parameter；
307, the target control parameter is sent to the robot.
In this example, the deviant of yaw angle is determined by magnetic field strength, and according to target angular velocity and target gravity
Acceleration determines angular velocity change curve, and is modified using deviant, finally determines target control parameter, therefore,
Relative in existing scheme, robot is controlled only with fixed target control parameter, can be promoted to a certain extent
Accuracy when robot controls.
Referring to Fig. 4, Fig. 4 provides the flow diagram of another robot control method for the embodiment of the present application.Such as
Shown in Fig. 4, control method includes step 401-409, specific as follows:
401, the target component set in preset time period of robot controller is obtained；
402, according to the target component set, method is determined using preset target control parameter, determines robot
Target control parameter；
403, the target control parameter is sent to the robot；
404, the parameter correction information that the robot is sent is received；
Wherein, the parameter correction information includes target pressure value, and the robot includes mechanical arm, the target control
Parameter includes the sub-goal control parameter of mechanical arm.
If 405, the target pressure value is in preset pressure value threshold interval, according to the target control parameter,
Determine first direction of motion of the mechanical arm, and according to the target pressure value determine the movement of the mechanical arm away from
From；
406, according to first direction of motion, second direction of motion of the mechanical arm is determined；
407, according to second direction of motion, the move distance, the sub-goal control parameter of the mechanical arm is generated
Correction value；
408, the sub-goal control parameter is modified according to the correction value, obtains the correction target control ginseng
Number；
409, the correction target control parameter is sent to the robot.
In this example, the parameter correction information of robot transmission can receive, and mechanical arm is obtained according to control information
Sub-goal control parameter correction value, and the sub-goal control parameter of mechanical arm is modified, correction target control parameter is obtained,
Robot is controlled only with fixed target control parameter relative in existing scheme with this, it can be to a certain extent
Accuracy when hoisting machine people controls.
It is consistent with above-described embodiment, referring to Fig. 5, Fig. 5 is that a kind of structure of terminal provided by the embodiments of the present application is shown
It is intended to, as shown, including processor, input equipment, output equipment and memory, the processor, input equipment, output are set
Standby and memory is connected with each other, wherein for the memory for storing computer program, the computer program includes that program refers to
It enables, the processor is configured for calling described program instruction, and above procedure includes the instruction for executing following steps；
Obtain the target component set in preset time period of robot controller；
According to the target component set, method is determined using preset target control parameter, determines the mesh of robot
Mark control parameter；
The target control parameter is sent to the robot.
It is above-mentioned that mainly the scheme of the embodiment of the present application is described from the angle of method side implementation procedure.It is understood that
, in order to realize the above functions, it comprises execute the corresponding hardware configuration of each function and/or software module for terminal.This
Field technical staff should be readily appreciated that, in conjunction with each exemplary unit and algorithm of embodiment description presented herein
Step, the application can be realized with the combining form of hardware or hardware and computer software.Some function actually with hardware also
It is the mode of computer software driving hardware to execute, the specific application and design constraint depending on technical solution.Profession
Technical staff can specifically realize described function to each using distinct methods, but this realization should not be recognized
For beyond scope of the present application.
The embodiment of the present application can carry out the division of functional unit according to above method example to terminal, for example, can be right
The each functional unit of each function division is answered, two or more functions can also be integrated in a processing unit.
Above-mentioned integrated unit both can take the form of hardware realization, can also realize in the form of software functional units.It needs
Illustrate, is schematical, only a kind of logical function partition to the division of unit in the embodiment of the present application, it is practical to realize
When there may be another division manner.
Consistent with the above, referring to Fig. 6, Fig. 6 provides a kind of knot of robot controller for the embodiment of the present application
Structure schematic diagram.Robot controller includes acquiring unit 601, determination unit 602 and transmission unit 603, wherein
The acquiring unit 601, for obtaining the target component set in preset time period of robot controller；
The determination unit 602 is used for according to the target component set, using preset target control parameter determination side
Method determines the target control parameter of robot；
The transmission unit 603, for the target control parameter to be sent to the robot.
Optionally, the target component set includes target angular velocity, target acceleration of gravity and magnetic field of the goal intensity,
It is described that method is determined using preset target control parameter according to the target component set, determine the target control of robot
In terms of parameter processed, the determination unit 602 is specifically used for:
According to the target angular velocity, target acceleration of gravity and magnetic field of the goal intensity, joined using preset target control
Number determines algorithm, determines the target control parameter.
Optionally, described according to the target angular velocity, target acceleration of gravity and magnetic field of the goal intensity, using default
Target control parameter determine algorithm, in terms of determining the target control parameter, the determination unit 602 is specifically used for:
If the robot is static in the horizontal direction, the yaw angle is determined according to the magnetic field of the goal intensity
Deviant；
It is filtered, is obtained described using preset filtering method according to the target angular velocity and target acceleration of gravity
Angular speed change curve of the robot controller in the preset time period；
The angular speed change curve is integrated, obtains the robot controller in the preset time period
Rotation angle；
It is determined according to the rotation angle with reference to control parameter；
It is modified to described with reference to control parameter according to the deviant, obtains the target control parameter.
Optionally, described device also particularly useful for:
Receive the parameter correction information that the robot is sent；
According to the parameter correction information, parameter correction is carried out to the target control parameter, obtains correction target control
Parameter；
The correction target control parameter is sent to the robot.
Optionally, the parameter correction information includes target pressure value, and the robot includes mechanical arm, the target control
Parameter processed includes the sub-goal control parameter of mechanical arm, described according to the parameter correction information, is joined to the target control
Number carry out parameter corrections, obtain correction target control parameter in terms of, described device also particularly useful for:
If the target pressure value is in preset pressure value threshold interval, according to the target control parameter, determine
First direction of motion of the mechanical arm out, and determine according to the target pressure value move distance of the mechanical arm；
According to first direction of motion, second direction of motion of the mechanical arm is determined；
According to second direction of motion, the move distance, repairing for the sub-goal control parameter of the mechanical arm is generated
Positive value；
The sub-goal control parameter is modified according to the correction value, obtains the correction target control parameter.
The embodiment of the present application also provides a kind of computer storage medium, wherein computer storage medium storage is for electricity
The computer program of subdata exchange, it is as any in recorded in above method embodiment which execute computer
A kind of some or all of robot control method step.
The embodiment of the present application also provides a kind of computer program product, and the computer program product includes storing calculating
The non-transient computer readable storage medium of machine program, the computer program make computer execute such as above method embodiment
Some or all of any robot control method of middle record step.
It should be noted that for the various method embodiments described above, for simple description, therefore, it is stated as a series of
Combination of actions, but those skilled in the art should understand that, the application is not limited by the described action sequence because
According to the application, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art should also know
It knows, the embodiments described in the specification are all preferred embodiments, related actions and modules not necessarily the application
It is necessary.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed device, it can be by another way
It realizes.For example, the apparatus embodiments described above are merely exemplary, such as the division of the unit, it is only a kind of
Logical function partition, there may be another division manner in actual implementation, such as multiple units or components can combine or can
To be integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Coupling, direct-coupling or communication connection can be through some interfaces, the indirect coupling or communication connection of device or unit,
It can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, applying for that each functional unit in bright each embodiment can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also be realized in the form of software program module.
If the integrated unit is realized in the form of software program module and sells or use as independent product
When, it can store in a computer-readable access to memory.Based on this understanding, the technical solution of the application substantially or
Person says that all or part of the part that contributes to existing technology or the technical solution can body in the form of software products
Reveal and, which is stored in a memory, including some instructions are used so that a computer equipment
(can be personal computer, server or network equipment etc.) executes all or part of each embodiment the method for the application
Step.And memory above-mentioned includes: USB flash disk, read-only memory (read-only memory, ROM), random access memory
The various media that can store program code such as (random access memory, RAM), mobile hard disk, magnetic or disk.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can store in a computer-readable memory, memory
It may include: flash disk, read-only memory, random access device, disk or CD etc..
The embodiment of the present application is described in detail above, specific case used herein to the principle of the application and
Embodiment is expounded, the description of the example is only used to help understand the method for the present application and its core ideas；
At the same time, for those skilled in the art can in specific embodiments and applications according to the thought of the application
There is change place, in conclusion the contents of this specification should not be construed as limiting the present application.
Claims (10)
1. a kind of robot control method, which is characterized in that the described method includes:
Obtain the target component set in preset time period of robot controller；
According to the target component set, method is determined using preset target control parameter, determines the target control of robot
Parameter processed；
The target control parameter is sent to the robot.
2. the method according to claim 1, wherein the target component set includes target angular velocity, target
Acceleration of gravity and magnetic field of the goal intensity, it is described according to the target component set, it is determined using preset target control parameter
Method determines the target control parameter of robot, comprising:
It is true using preset target control parameter according to the target angular velocity, target acceleration of gravity and magnetic field of the goal intensity
Determine algorithm, determines the target control parameter.
3. according to the method described in claim 2, it is characterized in that, described accelerate according to the target angular velocity, target gravity
Degree and magnetic field of the goal intensity, determine algorithm using preset target control parameter, determine the target control parameter, comprising:
If the robot is static in the horizontal direction, the deviant of yaw angle is determined according to the magnetic field of the goal intensity；
It is filtered according to the target angular velocity and target acceleration of gravity using preset filtering method, obtains the machine
Angular speed change curve of people's controller in the preset time period；
The angular speed change curve is integrated, rotation of the robot controller in the preset time period is obtained
Angle；
It is determined according to the rotation angle with reference to control parameter；
It is modified to described with reference to control parameter according to the deviant, obtains the target control parameter.
4. method according to any one of claims 1 to 3, which is characterized in that the method also includes:
Receive the parameter correction information that the robot is sent；
According to the parameter correction information, parameter correction is carried out to the target control parameter, obtains correction target control parameter；
The correction target control parameter is sent to the robot.
5. described according to the method described in claim 4, it is characterized in that, the parameter correction information includes target pressure value
Robot includes mechanical arm, and the target control parameter includes the sub-goal control parameter of mechanical arm, described according to the parameter
Control information carries out parameter correction to the target control parameter, obtains correction target control parameter, comprising:
If the target pressure value, which is in preset pressure value threshold interval, determines institute according to the target control parameter
First direction of motion of mechanical arm is stated, and determines the move distance of the mechanical arm according to the target pressure value；
According to first direction of motion, second direction of motion of the mechanical arm is determined；
According to second direction of motion, the move distance, the correction value of the sub-goal control parameter of the mechanical arm is generated；
The sub-goal control parameter is modified according to the correction value, obtains the correction target control parameter.
6. a kind of robot controller, which is characterized in that described device includes acquiring unit, determination unit and transmission unit,
Wherein,
The acquiring unit, for obtaining the target component set in preset time period of robot controller；
The determination unit is determined for determining method using preset target control parameter according to the target component set
The target control parameter of robot out；
The transmission unit, for the target control parameter to be sent to the robot.
7. device according to claim 6, which is characterized in that the target component set includes target angular velocity, target
Acceleration of gravity and magnetic field of the goal intensity, it is true using preset target control parameter described according to the target component set
Determine method, in terms of the target control parameter for determining robot, the determination unit is specifically used for:
It is true using preset target control parameter according to the target angular velocity, target acceleration of gravity and magnetic field of the goal intensity
Determine algorithm, determines the target control parameter.
8. device according to claim 7, which is characterized in that added described according to the target angular velocity, target gravity
Speed and magnetic field of the goal intensity determine algorithm using preset target control parameter, in terms of determining the target control parameter,
The determination unit is specifically used for:
If the robot is static in the horizontal direction, the deviant of yaw angle is determined according to the magnetic field of the goal intensity；
It is filtered according to the target angular velocity and target acceleration of gravity using preset filtering method, obtains the machine
Angular speed change curve of people's controller in the preset time period；
The angular speed change curve is integrated, rotation of the robot controller in the preset time period is obtained
Angle；
It is determined according to the rotation angle with reference to control parameter；
It is modified to described with reference to control parameter according to the deviant, obtains the target control parameter.
9. a kind of terminal, which is characterized in that the processor, defeated including processor, input equipment, output equipment and memory
Enter equipment, output equipment and memory to be connected with each other, wherein the memory is for storing computer program, the computer
Program includes program instruction, and the processor is configured for calling described program instruction, is executed such as any one of claim 1-5
The method.
10. a kind of computer readable storage medium, which is characterized in that the computer storage medium is stored with computer program,
The computer program includes program instruction, and described program instruction makes the processor execute such as right when being executed by a processor
It is required that the described in any item methods of 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/099639 WO2020224076A1 (en) | 2019-04-25 | 2019-08-07 | Robot control method and related product |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2019103407101 | 2019-04-25 | ||
| CN201910340710 | 2019-04-25 |
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Also Published As
| Publication number | Publication date |
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| CN110103216B (en) | 2021-07-30 |
| WO2020224076A1 (en) | 2020-11-12 |
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