CN110377018A - A kind of method and apparatus controlling unmanned equipment spinning - Google Patents
A kind of method and apparatus controlling unmanned equipment spinning Download PDFInfo
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- CN110377018A CN110377018A CN201810929950.0A CN201810929950A CN110377018A CN 110377018 A CN110377018 A CN 110377018A CN 201810929950 A CN201810929950 A CN 201810929950A CN 110377018 A CN110377018 A CN 110377018A
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- 238000009987 spinning Methods 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000004590 computer program Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 description 13
- 230000006870 function Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 8
- 230000006854 communication Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000005291 magnetic effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of method and apparatus for controlling unmanned equipment spinning, are related to unmanned technical field.One specific embodiment of this method includes: that control unmanned equipment two sides wheel is rotated according to preset rotation angle and direction of rotation；According to the angle to be rotated of the unmanned equipment, the travel distance of the unmanned equipment two sides wheel is calculated；Based on the travel distance of the unmanned equipment two sides wheel, controls the unmanned equipment two sides wheel and rotated according to preset revolving speed.The embodiment is able to solve existing unmanned equipment due to the limitation by body structure, the technical issues of mostly can only be turned left and be turned right.
Description
Technical field
The present invention relates to unmanned technical field more particularly to a kind of method for controlling unmanned equipment spinning and
Device.
Background technique
With flourishing for wisdom logistics, various intelligent transport equipment are come into being, wherein unmanned equipment conduct
The transporting equipment of kinds of goods is dispensed on traffic route, more stringent requirements are proposed for the flexibility run to it, stability.In reality
In, the traffic direction to unmanned equipment is often needed to be scheduled.
In realizing process of the present invention, at least there are the following problems in the prior art for inventor's discovery:
Existing unmanned equipment mostly can only be turned left and be turned right due to being limited by body structure,
Therefore its flexibility is poor, and especially when needing to realize spinning, the more clumsy and used time more showed is longer.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of method and apparatus for controlling unmanned equipment spinning, with solution
Certainly existing unmanned equipment due to being limited by body structure, ask by the technology that mostly can only be turned left and be turned right
Topic.
To achieve the above object, according to an aspect of an embodiment of the present invention, a kind of unmanned equipment of control is provided
The method of spinning, comprising:
Unmanned equipment two sides wheel is controlled to be rotated according to preset rotation angle and direction of rotation；
According to the angle to be rotated of the unmanned equipment, calculate the walking of the unmanned equipment two sides wheel away from
From；
Based on the travel distance of the unmanned equipment two sides wheel, controls the unmanned equipment two sides wheel and press
It is rotated according to preset revolving speed.
Optionally, further includes:
Based on tangent function, and according to the length and width of unmanned equipment, the unmanned equipment two sides are calculated
The preset rotation angle of wheel.
Optionally, according to the angle to be rotated of the unmanned equipment, the unmanned equipment two sides wheel is calculated
Travel distance, comprising:
By the angle to be rotated of the distance of the central point of the unmanned equipment to wheel and the unmanned equipment
Product, the travel distance as the unmanned equipment two sides wheel.
Optionally, the travel distance based on the unmanned equipment two sides wheel controls the unmanned equipment two
Side wheel is rotated according to preset revolving speed, comprising:
According to the radius of the travel distance of the unmanned equipment two sides wheel and the wheel, the wheel is calculated
Turnning circle；
Based on the turnning circle of the wheel, controls the unmanned equipment two sides wheel and carried out according to preset revolving speed
Rotation.
Optionally, unmanned equipment two sides wheel is controlled to be rotated according to preset rotation angle and direction of rotation,
Include:
The wheel for controlling the unmanned equipment two sides is rotated according to identical rotation angle, and it is described nobody
The front vehicle wheel of steer side rotates counterclockwise, rear wheel rotates clockwise, and the front vehicle wheel of the other side rotates clockwise, rear car
Wheel rotation counterclockwise.
In addition, other side according to an embodiment of the present invention, provides and a kind of control unmanned equipment spinning
Device, comprising:
Rotary module is carried out for controlling unmanned equipment two sides wheel according to preset rotation angle and direction of rotation
Rotation；
Computing module calculates the unmanned equipment two for the angle to be rotated according to the unmanned equipment
The travel distance of side wheel；
Rotating module controls described unmanned for the travel distance based on the unmanned equipment two sides wheel
Equipment two sides wheel is rotated according to preset revolving speed.
Optionally, the rotary module is also used to:
Based on tangent function, and according to the length and width of unmanned equipment, the unmanned equipment two sides are calculated
The preset rotation angle of wheel.
Optionally, the computing module is used for:
By the angle to be rotated of the distance of the central point of the unmanned equipment to wheel and the unmanned equipment
Product, the travel distance as the unmanned equipment two sides wheel.
Optionally, the rotating module is used for: according to the travel distance of the unmanned equipment two sides wheel and described
The radius of wheel calculates the turnning circle of the wheel；
Based on the turnning circle of the wheel, controls the unmanned equipment two sides wheel and carried out according to preset revolving speed
Rotation.
Optionally, the rotary module is used for:
The wheel for controlling the unmanned equipment two sides is rotated according to identical rotation angle, and it is described nobody
The front vehicle wheel of steer side rotates counterclockwise, rear wheel rotates clockwise, and the front vehicle wheel of the other side rotates clockwise, rear car
Wheel rotation counterclockwise.
Other side according to an embodiment of the present invention, additionally provides a kind of electronic equipment, comprising:
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes method described in any of the above-described embodiment.
Other side according to an embodiment of the present invention additionally provides a kind of computer-readable medium, is stored thereon with meter
Calculation machine program, realizes method described in any of the above-described embodiment when described program is executed by processor.
One embodiment in foregoing invention has the following advantages that or the utility model has the advantages that because using the wheel for first controlling two sides
Rotated according to preset rotation angle and direction of rotation, then according to the walking of the angle calculation wheel to be rotated of car body away from
From so that the technological means of vehicle wheel rotation is controlled, so overcoming unmanned equipment due to the limitation by body structure, greatly
The technical issues of all can only being turned left and be turned right.The present invention first control the wheels of two sides according to preset rotation angle and
Direction of rotation is rotated, then according to the travel distance of the angle calculation wheel to be rotated of car body, so that vehicle wheel rotation is controlled,
Realize unmanned equipment quickly, flexibly, original place spinning glibly.Therefore, the embodiment of the present invention can according to actual needs,
It controls unmanned equipment and carries out original place clockwise spin turn or original place counterclockwise spin at any angle around its center point
Turn.
Further effect possessed by above-mentioned non-usual optional way adds hereinafter in conjunction with specific embodiment
With explanation.
Detailed description of the invention
Attached drawing for a better understanding of the present invention, does not constitute an undue limitation on the present invention.Wherein:
Fig. 1 is showing for the main flow of the method for the unmanned equipment spinning of control according to an embodiment of the invention
It is intended to；
Fig. 2 is the schematic diagram of a unmanned equipment spinning that can refer to embodiment according to the present invention；
Fig. 3 is the main flow of the method for the unmanned equipment spinning of control in accordance with another embodiment of the present invention
Schematic diagram；
Fig. 4 is the signal of the main modular of the device of the unmanned equipment spinning of control according to an embodiment of the present invention
Figure；
Fig. 5 is that the embodiment of the present invention can be applied to exemplary system architecture figure therein；
Fig. 6 is adapted for the structural representation of the computer system for the terminal device or server of realizing the embodiment of the present invention
Figure.
Specific embodiment
Below in conjunction with attached drawing, an exemplary embodiment of the present invention will be described, including the various of the embodiment of the present invention
Details should think them only exemplary to help understanding.Therefore, those of ordinary skill in the art should recognize
It arrives, it can be with various changes and modifications are made to the embodiments described herein, without departing from scope and spirit of the present invention.Together
Sample, for clarity and conciseness, descriptions of well-known functions and structures are omitted from the following description.
Fig. 1 is showing for the main flow of the method for the unmanned equipment spinning of control according to an embodiment of the invention
It is intended to.As an embodiment of the present invention, as shown in Figure 1, the method for the unmanned equipment spinning of control can wrap
It includes:
Step 101, unmanned equipment two sides wheel is controlled to be rotated according to preset rotation angle and direction of rotation.
Rotation angle and the direction of rotation of the wheel of unmanned equipment two sides can be preset, thus make it is described nobody
The wheel of steer two sides can be rotated according to preset rotation angle and direction of rotation.
In another embodiment of the present invention, encoder can be installed on the axle of unmanned equipment, passes through reading
Encoder values are taken to determine the rotation angle of wheel.Within each scan period, the unmanned equipment two sides of control are controlled
Wheel rotated according to certain rotation angle, after multiple scan periods, the wheel can be made to rotate to default
Rotation angle.
It should be pointed out that the side of the unmanned equipment can install a wheel, multiple vehicles can also be installed
Wheel, such as two.When the side of the unmanned equipment is equipped with multiple wheels, the unmanned equipment two sides are controlled
Multiple wheels rotated according to preset rotation angle.
Optionally, the wheel for controlling the unmanned equipment two sides is rotated according to identical rotation angle, and
The direction of rotation of the same side wheel is on the contrary, so that the unmanned equipment can be realized spinning.In another of the invention
In embodiment, as shown in Fig. 2, the front vehicle wheel for controlling unmanned equipment side rotates counterclockwise, rear wheel rotates clockwise, separately
The front vehicle wheel of side rotates clockwise, rear wheel rotates counterclockwise.
It as yet another embodiment of the present invention, needs first to calculate the preset rotation angle before step 101, has
Body: it is based on tangent function, and according to the length and width of unmanned equipment, calculates the unmanned equipment two sides wheel
Preset rotation angle.
As shown in Fig. 2, the rotation angle of wheel b is X, then
Due to unmanned equipment length L1 and width L2 it is known that
Then arc lengthAngle
1rad (radian)=180/ π is approximately equal to 57.3
The rotation angle of wheel b is
Wherein, B1 is the initial value for the encoder being mounted on wheel b, and B2 is working as the encoder being mounted on wheel b
Preceding value.
Determine whether wheel has rotated X ° by reading the encoder values being mounted on wheel, when wheel b rotates to angle
At X ° of degree, stop rotating.Similarly, control wheel a, c, d rotates X °.
Step 102, according to the angle to be rotated of the unmanned equipment, the unmanned equipment two sides wheel is calculated
Travel distance.
Optionally, by the distance of the central point of the unmanned equipment to wheel with the unmanned equipment wait revolve
The product of gyration, the travel distance as the unmanned equipment two sides wheel.
As shown in Fig. 2, after the wheel of unmanned equipment is rotated according to default rotation angle and direction of rotation, according to nothing
The angle to be rotated of people's steer car body, calculates the travel distance of unmanned equipment two sides wheel, i.e.,
Wherein, C is the travel distance of wheel, and Y is the angle to be rotated of unmanned equipment, and R is unmanned equipment
Distance of the central point P to wheel.
It should be pointed out that the rotation angle of unmanned equipment can automatically control according to actual needs, count therewith
Calculation obtains the travel distance of wheel.
Optionally, the distance R of the central point P of the unmanned equipment to wheel can also be calculated in the following manner
It arrives:
Due toIt therefore can be in the hope of
Wherein, X is the default rotation angle of wheel in step 101, and L1 is the length of unmanned equipment, and L3 is wheel
Wheelbase, that is, wheel arrive the distance between support shaft.
Step 103, the travel distance based on the unmanned equipment two sides wheel controls the unmanned equipment two
Side wheel is rotated according to preset revolving speed.
It optionally, can be first according to the travel distance of the unmanned equipment two sides wheel on the basis of step 102
With the radius of the wheel, the turnning circle of the wheel is calculated；It is then based on the turnning circle of the wheel, controls the nothing
People's steer two sides wheel is rotated according to preset revolving speed.
It, can be with according to step 102 as shown in Fig. 2, the radius of wheel a, b, c, d are R1, then the perimeter C1=2 π R1 of wheel
The distance C that wheel needs to walk is known, then the turnning circle of wheel
Therefore, according to the L value being calculated, control system can assign the instruction of wheel a, b, c, d rotation L circle, in turn
So that unmanned equipment car body rotates Y °.In another embodiment of the present invention, when wheel a, b, c, d are rotated to angle
When X, control system sending rotates clockwise or counter-clockwise instruction, and unmanned equipment carries out original place around car body centerline P
Spinning movement, radius of turn R.For example, when unmanned equipment needs counterclockwise spin to turn, then wheel is being controlled just
Turn, if unmanned equipment needs clockwise spin to turn, controls wheel reversing.
It should be pointed out that step 101 is the posture in order to adjust unmanned equipment two sides wheel, then pass through 103
Two sides vehicle wheel rotation after control adjustment posture, to realize the original place spinning of unmanned equipment.
According to various embodiments recited above, it can be seen that the present invention is using the wheel of first control two sides according to preset
Rotation angle and direction of rotation are rotated, then according to the travel distance of the angle calculation wheel to be rotated of car body, to control
The technological means of vehicle wheel rotation processed mostly can only be into solve unmanned equipment due to the limitation by body structure
The problem of row turns left and turns right.The wheel that the present invention first controls two sides is carried out according to preset rotation angle and direction of rotation
Rotation, to control vehicle wheel rotation, is realized unmanned then according to the travel distance of the angle calculation wheel to be rotated of car body
Equipment quickly, flexibly, original place spinning glibly.Therefore, the embodiment of the present invention can control unmanned according to actual needs
Equipment carries out original place clockwise spin turn at any angle around its center point or original place counterclockwise spin turns.
Fig. 3 is the main flow of the method for the unmanned equipment spinning of control in accordance with another embodiment of the present invention
Schematic diagram.The method of the unmanned equipment spinning of the control may include:
Step 301, it is based on tangent function, and according to the length and width of unmanned equipment, is calculated described unmanned
The preset rotation angle of equipment two sides wheel；
Step 302, unmanned equipment two sides wheel is controlled to be rotated according to preset rotation angle；And the nothing
The front vehicle wheel of people's steer side rotates counterclockwise, rear wheel rotates clockwise, the front vehicle wheel of the other side rotates clockwise, after
Wheel rotates counterclockwise；
Step 303, by the distance of the central point of the unmanned equipment to wheel and the unmanned equipment to
Rotate the product of angle, the travel distance as the unmanned equipment two sides wheel；
Step 304, according to the radius of the travel distance of the unmanned equipment two sides wheel and the wheel, institute is calculated
State the turnning circle of wheel；
Step 305, the turnning circle based on the wheel controls the unmanned equipment two sides wheel according to preset
Revolving speed is rotated forward or is inverted.
In addition, can refer to the specific implementation for controlling the method for unmanned equipment spinning in embodiment at the present invention one
Content has been described in detail in the method for the unmanned equipment spinning of control described above, thus this duplicate contents not
Illustrate again.
Fig. 4 is the signal of the main modular of the device of the unmanned equipment spinning of control according to an embodiment of the present invention
Figure, as shown in figure 4, the device 400 of the unmanned equipment spinning of control includes rotary module 401,402 and of computing module
Rotating module 403.Wherein, the rotary module 401 control unmanned equipment two sides wheel according to preset rotation angle and
Direction of rotation is rotated；The computing module 402 according to the angle to be rotated of the unmanned equipment, calculate it is described nobody
The travel distance of steer two sides wheel；Walking of the rotating module 403 based on the unmanned equipment two sides wheel
Distance controls the unmanned equipment two sides wheel and is rotated according to preset revolving speed.
Optionally, the rotary module 401 is based on tangent function, and according to the length and width of unmanned equipment, meter
Calculate the preset rotation angle of the unmanned equipment two sides wheel.
Optionally, the computing module 402 is by the distance of the central point of the unmanned equipment to wheel and the nothing
The product of the angle to be rotated of people's steer, the travel distance as the unmanned equipment two sides wheel.
Optionally, the rotating module 403 is according to the travel distance and the vehicle of the unmanned equipment two sides wheel
The radius of wheel calculates the turnning circle of the wheel；Based on the turnning circle of the wheel, the unmanned equipment two is controlled
Side wheel is rotated according to preset revolving speed.
Optionally, the rotary module 401 controls the wheel of the unmanned equipment two sides according to identical rotation angle
Degree is rotated, and the front vehicle wheel of the unmanned equipment side rotates counterclockwise, rear wheel rotates clockwise, the other side
Front vehicle wheel rotate clockwise, rear wheel rotates counterclockwise.
According to various embodiments recited above, it can be seen that the present invention is using the wheel of first control two sides according to preset
Rotation angle and direction of rotation are rotated, then according to the travel distance of the angle calculation wheel to be rotated of car body, to control
The technological means of vehicle wheel rotation processed mostly can only be into solve unmanned equipment due to the limitation by body structure
The problem of row turns left and turns right.The wheel that the present invention first controls two sides is carried out according to preset rotation angle and direction of rotation
Rotation, to control vehicle wheel rotation, is realized unmanned then according to the travel distance of the angle calculation wheel to be rotated of car body
Equipment quickly, flexibly, original place spinning glibly.Therefore, the embodiment of the present invention can control unmanned according to actual needs
Equipment carries out original place clockwise spin turn at any angle around its center point or original place counterclockwise spin turns.
It should be noted that the specific implementation content of the device in the unmanned equipment spinning of control of the present invention,
It has been described in detail in the method for the unmanned equipment spinning of control described above, therefore has not been said again in this duplicate contents
It is bright.
Fig. 5 shows the method for the unmanned equipment spinning of control that can apply the embodiment of the present invention or controls nobody
The exemplary system architecture 500 of the device of steer spinning.
As shown in figure 5, system architecture 500 may include terminal device 501,502,503, network 504 and server 505.
Network 504 between terminal device 501,502,503 and server 505 to provide the medium of communication link.Network 504 can be with
Including various connection types, such as wired, wireless communication link or fiber optic cables etc..
User can be used terminal device 501,502,503 and be interacted by network 504 with server 505, to receive or send out
Send message etc..Various telecommunication customer end applications, such as the application of shopping class, net can be installed on terminal device 501,502,503
(merely illustrative) such as the application of page browsing device, searching class application, instant messaging tools, mailbox client, social platform softwares.
Terminal device 501,502,503 can be the various electronic equipments with display screen and supported web page browsing, packet
Include but be not limited to smart phone, tablet computer, pocket computer on knee and desktop computer etc..
Server 505 can be to provide the server of various services, such as utilize terminal device 501,502,503 to user
The shopping class website browsed provides the back-stage management server (merely illustrative) supported.Back-stage management server can be to reception
To the data such as information query request analyze etc. processing, and by processing result (such as target push information, product letter
Breath --- merely illustrative) feed back to terminal device.
It should be noted that the method for the unmanned equipment spinning of control provided by the embodiment of the present invention is generally taking
It is executed on business device 505, correspondingly, the device of the unmanned equipment spinning of control is generally located in server 505.
It should be understood that the number of terminal device, network and server in Fig. 5 is only schematical.According to realization need
It wants, can have any number of terminal device, network and server.
Below with reference to Fig. 6, it illustrates the computer systems 600 for the terminal device for being suitable for being used to realize the embodiment of the present invention
Structural schematic diagram.Terminal device shown in Fig. 6 is only an example, function to the embodiment of the present invention and should not use model
Shroud carrys out any restrictions.
As shown in fig. 6, computer system 600 includes central processing unit (CPU) 601, it can be read-only according to being stored in
Program in memory (ROM) 602 or be loaded into the program in random access storage device (RAM) 603 from storage section 608 and
Execute various movements appropriate and processing.In RAM 603, also it is stored with system 600 and operates required various programs and data.
CPU 601, ROM 602 and RAM603 are connected with each other by bus 604.Input/output (I/O) interface 605 is also connected to always
Line 604.
I/O interface 605 is connected to lower component: the importation 606 including keyboard, mouse etc.；It is penetrated including such as cathode
The output par, c 607 of spool (CRT), liquid crystal display (LCD) etc. and loudspeaker etc.；Storage section 608 including hard disk etc.；
And the communications portion 609 of the network interface card including LAN card, modem etc..Communications portion 609 via such as because
The network of spy's net executes communication process.Driver 610 is also connected to I/O interface 605 as needed.Detachable media 611, such as
Disk, CD, magneto-optic disk, semiconductor memory etc. are mounted on as needed on driver 610, in order to read from thereon
Computer program be mounted into storage section 608 as needed.
Particularly, disclosed embodiment, the process described above with reference to flow chart may be implemented as counting according to the present invention
Calculation machine software program.For example, embodiment disclosed by the invention includes a kind of computer program product comprising be carried on computer
Computer program on readable medium, the computer program include the program code for method shown in execution flow chart.?
In such embodiment, which can be downloaded and installed from network by communications portion 609, and/or from can
Medium 611 is dismantled to be mounted.When the computer program is executed by central processing unit (CPU) 601, system of the invention is executed
The above-mentioned function of middle restriction.
It should be noted that computer-readable medium shown in the present invention can be computer-readable signal media or meter
Calculation machine readable storage medium storing program for executing either the two any combination.Computer readable storage medium for example can be --- but not
Be limited to --- electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor system, device or device, or any above combination.Meter
The more specific example of calculation machine readable storage medium storing program for executing can include but is not limited to: have the electrical connection, just of one or more conducting wires
Taking formula computer disk, hard disk, random access storage device (RAM), read-only memory (ROM), erasable type may be programmed read-only storage
Device (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), light storage device, magnetic memory device,
Or above-mentioned any appropriate combination.In the present invention, computer readable storage medium can be it is any include or storage journey
The tangible medium of sequence, the program can be commanded execution system, device or device use or in connection.And at this
In invention, computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for
By the use of instruction execution system, device or device or program in connection.Include on computer-readable medium
Program code can transmit with any suitable medium, including but not limited to: wireless, electric wire, optical cable, RF etc. are above-mentioned
Any appropriate combination.
Flow chart and block diagram in attached drawing are illustrated according to the system of various embodiments of the invention, method and computer journey
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part of one module, program segment or code of table, a part of above-mentioned module, program segment or code include one or more
Executable instruction for implementing the specified logical function.It should also be noted that in some implementations as replacements, institute in box
The function of mark can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are practical
On can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it wants
It is noted that the combination of each box in block diagram or flow chart and the box in block diagram or flow chart, can use and execute rule
The dedicated hardware based systems of fixed functions or operations is realized, or can use the group of specialized hardware and computer instruction
It closes to realize.
Being described in module involved in the embodiment of the present invention can be realized by way of software, can also be by hard
The mode of part is realized.Described module also can be set in the processor, for example, can be described as: a kind of processor packet
Include rotary module, computing module and rotating module, wherein the title of these modules is not constituted under certain conditions to the module
The restriction of itself.
As on the other hand, the present invention also provides a kind of computer-readable medium, which be can be
Included in equipment described in above-described embodiment；It is also possible to individualism, and without in the supplying equipment.Above-mentioned calculating
Machine readable medium carries one or more program, when said one or multiple programs are executed by the equipment, makes
Obtaining the equipment includes: that control unmanned equipment two sides wheel is rotated according to preset rotation angle and direction of rotation；Root
According to the angle to be rotated of the unmanned equipment, the travel distance of the unmanned equipment two sides wheel is calculated；Based on institute
State the travel distance of unmanned equipment two sides wheel, control the unmanned equipment two sides wheel according to preset revolving speed into
Row rotation.
Technical solution according to an embodiment of the present invention, because using the wheel of two sides is first controlled according to preset rotation angle
It is rotated with direction of rotation, then according to the travel distance of the angle calculation wheel to be rotated of car body, is turned to control wheel
Dynamic technological means can only mostly turn left so overcoming unmanned equipment due to the limitation by body structure
The technical issues of with turning right.The wheel that the present invention first controls two sides is revolved according to preset rotation angle and direction of rotation
Turn, then according to the travel distance of the angle calculation wheel to be rotated of car body, to control vehicle wheel rotation, realizes unmanned set
Standby quick, flexible, original place spinning glibly.Therefore, the embodiment of the present invention can control unmanned set according to actual needs
It is standby to carry out original place clockwise spin turn at any angle or original place counterclockwise spin turn around its center point.
Above-mentioned specific embodiment, does not constitute a limitation on the scope of protection of the present invention.Those skilled in the art should be bright
It is white, design requirement and other factors are depended on, various modifications, combination, sub-portfolio and substitution can occur.It is any
Made modifications, equivalent substitutions and improvements etc. within the spirit and principles in the present invention, should be included in the scope of the present invention
Within.
Claims (12)
1. a kind of method for controlling unmanned equipment spinning characterized by comprising
Unmanned equipment two sides wheel is controlled to be rotated according to preset rotation angle and direction of rotation；
According to the angle to be rotated of the unmanned equipment, the travel distance of the unmanned equipment two sides wheel is calculated；
Based on the travel distance of the unmanned equipment two sides wheel, the unmanned equipment two sides wheel is controlled according to pre-
If revolving speed rotated.
2. the method according to claim 1, wherein further include:
Based on tangent function, and according to the length and width of unmanned equipment, the unmanned equipment two sides wheel is calculated
Preset rotation angle.
3. the method according to claim 1, wherein being counted according to the angle to be rotated of the unmanned equipment
Calculate the travel distance of the unmanned equipment two sides wheel, comprising:
By multiplying for the distance of the central point of the unmanned equipment to wheel and the angle to be rotated of the unmanned equipment
Product, the travel distance as the unmanned equipment two sides wheel.
4. according to the method described in claim 3, it is characterized in that, the walking based on the unmanned equipment two sides wheel away from
From the control unmanned equipment two sides wheel is rotated according to preset revolving speed, comprising:
According to the radius of the travel distance of the unmanned equipment two sides wheel and the wheel, the rotation of the wheel is calculated
Enclose number；
Based on the turnning circle of the wheel, controls the unmanned equipment two sides wheel and turned according to preset revolving speed
It is dynamic.
5. the method according to claim 1, wherein controlling unmanned equipment two sides wheel according to preset rotation
Gyration and direction of rotation are rotated, comprising:
The wheel for controlling the unmanned equipment two sides is rotated according to identical rotation angle, and described unmanned
The front vehicle wheel of equipment side rotates counterclockwise, rear wheel rotates clockwise, and the front vehicle wheel of the other side rotates clockwise, rear wheel is inverse
Hour hands rotation.
6. a kind of device for controlling unmanned equipment spinning characterized by comprising
Rotary module is revolved for controlling unmanned equipment two sides wheel according to preset rotation angle and direction of rotation
Turn；
Computing module calculates the unmanned equipment two sides vehicle for the angle to be rotated according to the unmanned equipment
The travel distance of wheel；
Rotating module controls the unmanned equipment for the travel distance based on the unmanned equipment two sides wheel
Two sides wheel is rotated according to preset revolving speed.
7. device according to claim 6, which is characterized in that the rotary module is also used to:
Based on tangent function, and according to the length and width of unmanned equipment, the unmanned equipment two sides wheel is calculated
Preset rotation angle.
8. device according to claim 6, which is characterized in that the computing module is used for:
By multiplying for the distance of the central point of the unmanned equipment to wheel and the angle to be rotated of the unmanned equipment
Product, the travel distance as the unmanned equipment two sides wheel.
9. device according to claim 6, which is characterized in that the rotating module is used for: unmanned being set according to described
The standby travel distance of two sides wheel and the radius of the wheel, calculate the turnning circle of the wheel；
Based on the turnning circle of the wheel, controls the unmanned equipment two sides wheel and turned according to preset revolving speed
It is dynamic.
10. device according to claim 6, which is characterized in that the rotary module is used for:
The wheel for controlling the unmanned equipment two sides is rotated according to identical rotation angle, and described unmanned
The front vehicle wheel of equipment side rotates counterclockwise, rear wheel rotates clockwise, and the front vehicle wheel of the other side rotates clockwise, rear wheel is inverse
Hour hands rotation.
11. a kind of electronic equipment characterized by comprising
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
Now such as method as claimed in any one of claims 1 to 5.
12. a kind of computer-readable medium, is stored thereon with computer program, which is characterized in that described program is held by processor
Such as method as claimed in any one of claims 1 to 5 is realized when row.
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| CN201810929950.0A CN110377018A (en) | 2018-08-15 | 2018-08-15 | A kind of method and apparatus controlling unmanned equipment spinning |
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| CN201810929950.0A CN110377018A (en) | 2018-08-15 | 2018-08-15 | A kind of method and apparatus controlling unmanned equipment spinning |
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