CN110419014A - Control method, system and the mobile robot of mobile robot - Google Patents
Control method, system and the mobile robot of mobile robot Download PDFInfo
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
Abstract
The embodiment of the invention discloses a kind of control methods of mobile robot, this method comprises: obtaining the control instruction (S201) that remote control end is sent；Determine the current execution state (S202) of the control instruction；At least one of robot current environment, the current control performance state of robot current maneuver performance state or robot (S203) is determined according to the current execution state of the control instruction and the control instruction；According at least one of the robot current environment, the current control performance state of the robot current maneuver performance state or the robot, the control instruction is adjusted, so that movement (S204) of the actuating station according to the control instruction adjustment robot after adjusting.The embodiment of the invention also discloses a kind of control system of mobile robot and mobile robots.
Description
Technical field
The present embodiments relate to control field more particularly to a kind of control methods of mobile robot, system and movement
Robot.
Background technique
When mobile robot enters different environment with same control instruction, different mobility can be shown.
By taking wheeled robot as an example, when it moves to smooth road, if maintaining former larger speed, it is easy to happen skidding or rollover,
The control efficiency of robot is low, and safety is poor.
In the prior art, the method for manually adjusting control instruction is generallyd use, to keep mobile robot entering difference
Stable mobility is shown when environment.However when environment is complicated or long-distance remote control, operator can not perceive ring in time
The variation in border, and control instruction is adjusted to current environment is adapted to, it is easy to cause equipment damage, safety accident occurs.
Summary of the invention
In view of the foregoing, it is necessary to the control method, system and mobile robot of a kind of mobile robot are provided, it can be with
Make mobile robot when entering different environment, show stable mobility, improves the control effect of mobile robot
Rate and safety.
The first aspect of the embodiment of the present invention is to provide a kind of control method of mobile robot, which comprises
Obtain the control instruction that remote control end is sent；
Determine the current execution state of the control instruction；
Robot current environment, machine are determined according to the current execution state of the control instruction and the control instruction
At least one of current control performance state of device people's current maneuver performance state or robot；
Worked as according to the robot current environment, the robot current maneuver performance state or the robot
At least one of preceding control performance state, adjusts the control instruction, so that actuating station is according to the control instruction tune after adjusting
The movement of whole robot.
The second aspect of the embodiment of the present invention is to provide a kind of mobile robot, the mobile robot include: main control end,
Actuating station；
The main control end determines the current execution state of the control instruction, according to the control for obtaining control instruction
The current execution state of system instruction and the control instruction determines robot current environment, robot current maneuver performance shape
At least one of current control performance state of state or robot, works as according to the robot current environment, the robot
At least one of current control performance state of preceding mobility state or the robot, adjusts the control instruction；
The actuating station, for the movement according to the control instruction adjustment robot after adjusting.
The third aspect of the embodiment of the present invention is to provide a kind of Mobile Robot Control System, and the control system includes distant
End and mobile robot are controlled, the remote control end is for generating control instruction and being sent to mobile robot.
The mobile robot includes: main control end, actuating station；
The main control end determines the current execution state of the control instruction, according to the control for obtaining control instruction
The current execution state of system instruction and the control instruction determines robot current environment, robot current maneuver performance shape
At least one of current control performance state of state or robot, works as according to the robot current environment, the robot
At least one of current control performance state of preceding mobility state or the robot, adjusts the control instruction；
The actuating station, for the movement according to the control instruction adjustment robot after adjusting.
Control method, control system and the mobile robot of mobile robot provided in an embodiment of the present invention, are by true
The current execution state for determining control instruction judges robot current environment, robot current maneuver performance state or machine
At least one of current control performance state of people, to adjust the control instruction, to adjust the movement of robot in real time.Thus
As it can be seen that the control method of mobile robot provided in an embodiment of the present invention, control system and mobile robot, make mobile robot
When entering varying environment, it can be adaptively adjusted the movement of itself, show stable mobility, to improve shifting
The control efficiency and safety of mobile robot.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, one will be made to required attached drawing below
Simply introduce, it should be apparent that, for those of ordinary skill in the art, in the premise of not making the creative labor property
Under, it is also possible to obtain other drawings based on these drawings.
Wheeled mobile robot moves schematic diagram on a kind of different road surfaces that Fig. 1 provides for the prior art.
Fig. 2 is a kind of mobile robot control method flow diagram provided in an embodiment of the present invention.
Fig. 3 is a kind of Mobile Robot Control System schematic diagram provided in an embodiment of the present invention.
Fig. 4 is a kind of main control end schematic diagram provided in an embodiment of the present invention.
Fig. 5 is a kind of remote control end schematic diagram provided in an embodiment of the present invention.
Specific embodiment
Below in conjunction with attached drawing, technical solution in the embodiment of the present invention is explicitly described, it is clear that described
Embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field
Those of ordinary skill's every other embodiment obtained without making creative work, belongs to protection of the present invention
Range.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
The control method and control system of mobile robot provided in an embodiment of the present invention are in mobile robot.Example
, it can be used for wheeled mobile robot, referring to Figure 1, wheel type mobile machine on a kind of different road surfaces that Fig. 1 provides for the prior art
Device people moves schematic diagram, including remote control end 101 and mobile robot end 102.In the motion process of robot, it is remotely controlled end 101
Control instruction is sent to mobile robot end 102, mobile robot end 102 controls wheeled mobile robot according to control instruction
It is mobile.When robot moves to non-standard environmental from standard environment, operator needs to manually adjust control instruction.However work as ring
When border complexity or long-distance remote control, operator can not perceive the variation of environment in time, and kinematic parameter is adjusted to adaptation currently
Environment is easy to cause equipment damage, safety accident occurs.It can be seen that under complex environment or long-distance remote control, mobile robot
Mobility is adaptively particularly important.
Control method, control system and the mobile robot of mobile robot provided in an embodiment of the present invention, make moving machine
Device people can be adaptively adjusted the movement of itself when entering varying environment, show stable mobility, to mention
The control efficiency and safety of high mobile robot.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
Fig. 2 is the flow chart of the control method of mobile robot provided in an embodiment of the present invention, shifting described in the present embodiment
Mobile robot specifically can be wheeled mobile robot, unmanned vehicle, unmanned boat etc..
Method in the present embodiment may include:
Step S201 obtains the control instruction that remote control end is sent.
Optionally, control instruction described in the present embodiment includes speed command, acceleration instruction, position command, attitude command
One of or it is a variety of.
Step S202 determines the current execution state of the control instruction.
Optionally, the current execution state of the determination control instruction includes: acquisition current kinetic parameters, wherein
The kinematic parameter includes robot present speed, acceleration, position, one of posture or a variety of.
Optionally, the current execution state of the determination control instruction includes: to obtain current maneuver performance parameter,
In, the mobility parameter includes motor current rotating speed, one of torque or a variety of.
Optionally, the current execution state of the determination control instruction includes: to obtain current control performance parameter,
In, the control performance parameter includes regulating time, one of error range or a variety of.The regulating time is that robot is real
Border output is stablized the time within a preset range, and error range is that the reality output of robot is exported relative to control instruction target
Error.Exemplary, if control instruction is speed command 5m/s, preset range is 5m/s ± 10%, then regulating time is practical
Speed is stabilized to the time of 4.5m/s-5.5m/s from raw velocity.
Step S203 determines current institute, robot according to the current execution state of the control instruction and the control instruction
Locate at least one of environment, the current control performance state of robot current maneuver performance state or robot.
Optionally, the current kinetic parameters and first threshold are compared to obtain robot current environment, wherein institute
Stating first threshold is the control instruction corresponding kinematic parameter under standard environment.
Optionally, it compares the current maneuver performance parameter and second threshold to obtain robot current maneuver performance shape
State, wherein the second threshold is the control instruction corresponding mobility parameter under standard environment.
Optionally, the current control performance parameter and third threshold comparison are obtained into the current control performance shape of robot
State, wherein the third threshold value is the control instruction corresponding control performance parameter under standard environment.
Optionally, the control instruction corresponding kinematic parameter under standard environment, mobility parameter, control performance ginseng
Number is obtained by rating test or simulation calculation.Specifically, emulation can lead to if mobile robot is wheeled mobile robot
It crosses and dynamics and Kinematic Model is carried out to it, different ambient conditions is described with parameters such as surface friction coefficients, to derive
Control instruction and kinematic parameter under varying environment, mobility parameter, the mapping relations of control performance parameter out.
Step S204, according to the robot current environment, the robot current maneuver performance state or described
At least one of current control performance state of robot, adjusts the control instruction, so that actuating station is according to the control after adjusting
The movement of system instruction adjustment robot.
Optionally, if the robot current environment is standard environment, the robot current maneuver performance state
Well, the current control performance of the robot is in good condition, then, described according to robot current environment, the robot
At least one of current control performance state of current maneuver performance state or the robot, adjusts the control instruction, packet
It includes: maintaining the control instruction constant.
Optionally, if the robot current environment is non-standard environmental, the robot current maneuver performance shape
State is bad, and the current control performance state of robot is bad, then, described according to robot current environment, the machine
At least one of current control performance state of people's current maneuver performance state or the robot, adjusts the control instruction, packet
It includes: reducing current acceleration and/or speed.
Optionally, the non-standard environmental includes bumpy road, smooth road, muddy road surface.
Optionally, by taking wheeled mobile robot as an example, when robot motor's revolving speed height, torque is small, i.e. motor speed and torsion
Moment ratio is bigger than normal, and the attitude regulation time is partially long, and high-amplitude concussion occurs in Z axis acceleration, when wheel is frequently hanging, can determine whether robot
Current environment is bumpy road；When motor speed height, torque is small, i.e. motor speed and torque ratio is bigger than normal, when speed is adjusted
Between and the attitude regulation time it is partially long, and Z axis acceleration change is gentle, and robot, can when frequently skidding in the stage of starting to walk and brake
Judge robot current environment for smooth road；When motor speed is low and torque is big, i.e. motor speed and torque ratio is less than normal,
Speed regulating time and attitude regulation time are long, when wheel is by biggish resistance, can determine whether that robot current environment is
Muddy road surface.
Optionally, if the non-standard environmental is bumpy road, the reduction current acceleration and/or speed, comprising: drop
Low current acceleration and speed, to alleviate robot in the vibration of bumpy road.If the non-standard environmental is smooth road, institute
Stating reduces current acceleration and/or speed, comprising: current acceleration is reduced, so that robot speed matches with vehicle wheel rotational speed.If
The non-standard environmental is muddy road surface, the reduction current acceleration and/or speed, comprising: reduces current acceleration and speed
Degree, so that robot can slow stable traveling.
In the embodiment of the present invention, robot current environment is divided into standard environment and non-standard environmental, it is non-standard
Environment includes bumpy road, smooth road, muddy road surface.It is appreciated that can according to the type and actual needs of mobile robot
Robot current environment is extended to more scenes, and divides different brackets according to different scenes, and be not limited to text
Form can be configured according to actual needs, for example, it is also possible to be indicated by number or other forms.It is exemplary,
When passing through digital representation, this scene of just jolting can divide 1 to 10 grades of different brackets, and number is bigger, indicate degree of jolting
It is more serious.It similarly, can also be more multi-grade by other scene partitionings such as smooth, muddy, more description robot is current in detail
Locating environment.
In the embodiment of the present invention, only mobility state, control performance state are illustrated for bad, machine
The current control performance state of people's current maneuver performance state and robot can also extend more multi-grade as needed.It is understood that
, the particular content of the control instruction after adjusting is not limited to reduction acceleration as described in the examples and/or speed, can basis
The type of mobile robot, the content and practical application scene of control instruction are extended to more polymorphic type.
In other embodiments, the mobile robot control method further include:
Feedback quantity is obtained, the feedback quantity includes motor speed, Motor torque, robot speed, robot acceleration, machine
One of device people position, robot pose are a variety of；
The movement of robot is further adjusted according to the control instruction after the feedback quantity and the adjusting.
In other embodiments, the mobile robot control method further includes, by the robot current environment,
At least one of current control performance state of robot current maneuver performance state or robot is sent to remote control end.By machine
At least one of people's current environment, the current control performance state of robot current maneuver performance state or robot are sent
Remote control end is given, remote control end can be made to understand robot current state in time.The same of displacement is adaptively adjusted in robot
When, remote control end can be adjusted the movement of robot according to the information of transmission.
The control method of mobile robot provided in an embodiment of the present invention is the current execution shape by determining control instruction
State, judge robot current environment, in the current control performance state of robot current maneuver performance state or robot extremely
One item missing, to adjust the control instruction, to adjust the movement of robot in real time.It can be seen that the embodiment of the present invention provides
Mobile robot control method, make mobile robot when entering varying environment, itself can be adaptively adjusted
Movement, shows stable mobility, to improve the control efficiency and safety of mobile robot.
Fig. 3 is a kind of Mobile Robot Control System schematic diagram provided in an embodiment of the present invention.Optionally, the present embodiment institute
The mobile robot stated specifically can be wheeled mobile robot, unmanned vehicle, unmanned boat etc..Refer to Fig. 3, the control
System includes mobile robot 30 and remote control end 31, and mobile robot 30 includes main control end 301, actuating station 302, sensor 303.
Remote control end 31 is for generating control instruction and being sent to mobile robot 30.
Optionally, the control instruction includes one of speed command, acceleration instruction, position command, attitude command
Or it is a variety of.
Main control end 301, the control instruction sent for obtaining remote control end 31, determines the current execution shape of the control instruction
State determines robot current environment, robot according to the current execution state of the control instruction and the control instruction
At least one of current control performance state of current maneuver performance state or robot, is presently in ring according to the robot
At least one of border, the current control performance state of the robot current maneuver performance state or the robot, described in adjusting
Control instruction.
In other examples, the control instruction can also be set in advance in robot interior, however it is not limited to from distant
End 31 is controlled to obtain.
Optionally, main control end 301 obtains current kinetic parameters from sensor 303, wherein the kinematic parameter includes machine
People's present speed, acceleration, position, one of posture or a variety of.
Optionally, main control end 301, which compares the current kinetic parameters and the first threshold to obtain robot, is presently in ring
Border, wherein the first threshold is the control instruction corresponding kinematic parameter under standard environment.
Optionally, main control end 301 obtains current maneuver performance parameter, wherein the mobility parameter includes that motor is worked as
Preceding revolving speed, one of torque or a variety of.
Optionally, main control end 301 compares the current maneuver performance parameter and second threshold to obtain the current machine of robot
Dynamic performance state, wherein the second threshold is the control instruction corresponding mobility parameter under standard environment.
Optionally, main control end 301 obtains current control performance parameter, wherein the control performance parameter includes when adjusting
Between, one of error range or a variety of.
Optionally, the current control performance parameter is obtained robot with third threshold comparison and currently controls by main control end 301
Performance state processed, wherein the third threshold value is the control instruction corresponding mobility parameter under standard environment.
Optionally, if the robot current environment is standard environment, the robot current maneuver performance state
Well, the current control performance of the robot is in good condition, then, described according to robot current environment, the robot
At least one of current control performance state of current maneuver performance state or the robot, adjusts the control instruction, packet
It includes: maintaining the control instruction constant.
Optionally, if the robot current environment is non-standard environmental, the robot current maneuver performance shape
State is bad, and the current control performance state of robot is bad, then, described according to robot current environment, the machine
At least one of current control performance state of people's current maneuver performance state or the robot, adjusts the control instruction, packet
It includes: reducing current acceleration and/or speed.
Optionally, if the non-standard environmental is bumpy road, the reduction current acceleration and/or speed, comprising: drop
Low current acceleration and speed, to alleviate robot in the vibration of bumpy road.If the non-standard environmental is smooth road, institute
Stating reduces current acceleration and/or speed, comprising: current acceleration is reduced, so that robot speed matches with vehicle wheel rotational speed.If
The non-standard environmental is muddy road surface, the reduction current acceleration and/or speed, comprising: reduces current acceleration and speed
Degree, so that robot can slow stable traveling.
Actuating station 302, for the movement according to the control instruction adjustment robot after adjusting.
Optionally, actuating station 302 is also used to for mobility parameter being sent to main control end 301, the mobility parameter
Including motor current rotating speed, one of torque or a variety of.
Sensor 303, for kinematic parameter to be sent to main control end 301, the kinematic parameter includes that robot is currently fast
Degree, acceleration, position, one of posture or a variety of.
It should be understood that the sensor 303 may include accelerometer, speedometer, code-disc, visual sensor, laser
One of radar, ultrasonic sensor are a variety of.Sensor 303, which may be mounted at robot interior, also may be mounted at machine
Outside people.It is exemplary, for being applied to the mobile robot of warehouse transport, sensor 303 can be mounted in warehouse, be sensed
Device 303 is sent to main control end 301 by way of wireless transmission, by the kinematic parameter of robot.It should be understood that high-precision passes
Sensor can provide more accurate kinematic parameter for mobile robot, however, such as this kind of sensor of high-precision vision sensor,
Its weight is higher, volume is larger, and sensor 303 is mounted on to the weight for being conducive to mitigate mobile robot itself outside robot
Amount, improves the portability of mobile robot.
Incorporated by reference to Fig. 3 and Fig. 4, in other embodiments, the main control end 301 includes mobility adjuster 401 and control
Device 402 processed.
Mobility adjuster 401 is specifically used for obtaining control instruction, determines the current execution shape of the control instruction
State determines robot current environment, robot according to the current execution state of the control instruction and the control instruction
At least one of current control performance state of current maneuver performance state or robot, is presently in ring according to the robot
At least one of border, the current control performance state of the robot current maneuver performance state or the robot, described in adjusting
Control instruction.
Controller 402, specifically for obtaining control instruction and feedback quantity after adjusting, the motor that the feedback quantity includes turns
One of speed, Motor torque, robot speed, robot acceleration, robot location, robot pose are a variety of；
Controller 402, be also used to according to after the adjusting control instruction and the feedback quantity determine the defeated of actuating station 302
Enter, so that actuating station 302 further adjusts the movement of robot.
In other embodiments, main control end 301 is also used to robot current environment, robot current maneuver performance
At least one of current control performance state of state or robot is sent to remote control end 31.Optionally, remote control end 31 further includes wind
Show area, in conjunction with Fig. 5, the viewing area 501 for show robot current environment, robot current maneuver performance state,
Or at least one of current control performance state of robot.It should be noted that the other modes such as voice can be used as needed,
It is not limited to the display by viewing area 501.
It should be understood that main control end 301 is by robot current environment, robot current maneuver performance state or machine
At least one of current control performance state of device people be sent to remote control end 31 be conducive to be remotely controlled end understand the current shape of robot in time
State.While mobile robot 30 is adaptively adjusted displacement, remote control end 31 can be according to the information of transmission to machine
The movement of people is adjusted.
The control system and mobile robot of mobile robot provided in an embodiment of the present invention are by determining control instruction
Current execution state, judge that robot current environment, robot current maneuver performance state or robot currently control
At least one of performance state, to adjust the control instruction, to adjust the movement of robot in real time.It can be seen that this hair
The control system and mobile robot that bright embodiment provides, make mobile robot when entering varying environment, can be adaptive
Ground adjusts the movement of itself, shows stable mobility, to improve the control efficiency and safety of mobile robot.
Next moving to the scene of smooth road with wheeled mobile robot, the present invention will be described in detail that a kind of embodiment mentions
Mobile robot control method, control system and the mobile robot of confession.
It is remotely controlled end and sends control instruction, the control instruction is speed 1m/s, acceleration 1m/s2；
Main control end obtains control instruction；
Main control end obtains the collected kinematic parameter of sensor, i.e. actual motion speed is 0.8m/s, acceleration 0.5m/
s2；
Main control end obtains mobility parameter from actuating station, obtains specifically, being adjusted by the electricity being mounted on each wheel
The actual speed and torque of each wheel, i.e. motor speed mean value are 250rpm (rev/min), and torque peak is 150mNm (milli
Ox rice)；
Main control end obtains control performance parameter, i.e. regulating time is 1.2s, and error range is 0.2m/s；
Main control end is by kinematic parameter, kinematic parameter in mobility parameter and control performance parameter and standard road surface, machine
Dynamic performance parameter and control performance parameter comparison obtain robot current environment as smooth road, and the current machine of robot
Dynamic performance, the current control performance of robot are bad；
Main control end adjusts the control instruction, and the control instruction after adjusting is acceleration 0.5m/s2；
Actuating station adjusts the movement of robot according to the control instruction after adjusting.
Next scene another embodiment that the present invention will be described in detail of smooth road is moved to wheeled mobile robot
Mobile robot control method, control system and the mobile robot of offer.
Remote control end generates control instruction and is sent to mobile robot, and the control instruction is speed 3m/s, acceleration 2m/
s2；
Mobility adjuster in main control end obtains control instruction；
Mobility adjuster obtains the collected kinematic parameter of sensor, i.e. actual motion speed is 2.5m/s, accelerates
Degree is 0.5m/s2；
Mobility adjuster obtains mobility parameter from actuating station, i.e. motor speed mean value is 1000rpm, torque peak
Value is 350mNm；
Mobility adjuster obtains control performance parameter, i.e. regulating time is 2.5s, and error range is 0.5m/s；
Movement of the mobility adjuster by kinematic parameter, in mobility parameter and control performance parameter and standard road surface
Parameter, mobility parameter and control performance parameter comparison obtain current robot current environment as smooth road, and machine
Device people's current maneuver performance, the current control performance of robot are bad；
Mobility adjuster adjusts the control instruction, and the control instruction after adjusting is acceleration 1m/s2；
Control instruction after adjusting is sent to controller by mobility adjuster；
Controller obtains the control instruction after adjusting；
Controller obtains feedback quantity, i.e. motor speed mean value is 1200rpm, torque peak 400mNm, robot speed
For 3m/s, acceleration 0.8m/s2；
Controller according to after adjusting control instruction and feedback quantity determine the input of actuating station so that actuating station is further
Adjust the movement of robot.
It should be noted that design parameter involved in above-mentioned steps and word content are merely to illustrate offer of the present invention
Embodiment, should not be construed as limiting the invention.
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or logical of device or unit
Letter connection can be electrical property, mechanical 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, the functional units in various embodiments of the present invention may be integrated into 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 realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention
The part steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. it is various
It can store the medium of program code.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each functional module
Division progress for example, in practical application, can according to need and above-mentioned function distribution is complete by different functional modules
At the internal structure of device being divided into different functional modules, to complete all or part of the functions described above.On
The specific work process for stating the device of description, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (32)
1. a kind of mobile robot control method, which is characterized in that this method comprises:
Obtain the control instruction that remote control end is sent；
Determine the current execution state of the control instruction；
Robot current environment, robot are determined according to the current execution state of the control instruction and the control instruction
At least one of current control performance state of current maneuver performance state or robot；
It is currently controlled according to the robot current environment, the robot current maneuver performance state or the robot
At least one of performance state processed adjusts the control instruction, so that actuating station adjusts machine according to the control instruction after adjusting
The movement of device people.
2. the method according to claim 1, wherein the current execution state packet of the determination control instruction
It includes: obtaining current kinetic parameters, wherein the kinematic parameter includes robot present speed, acceleration, position, in posture
It is one or more.
3. according to the method described in claim 2, it is characterized in that, described according to the control instruction and the control instruction
Current execution state determines robot current environment, the current controlling of robot current maneuver performance state or robot
At least one of energy state, comprising:
The current kinetic parameters and first threshold are compared to obtain robot current environment, wherein the first threshold
For the control instruction under standard environment corresponding kinematic parameter.
4. the method according to claim 1, wherein the current execution state packet of the determination control instruction
Include: obtaining current maneuver performance parameter, wherein the mobility parameter includes motor current rotating speed, one of torque or
It is a variety of.
5. according to the method described in claim 4, it is characterized in that, described according to the control instruction and the control instruction
Current execution state determines robot current environment, the current controlling of robot current maneuver performance state or robot
At least one of energy state, comprising:
It compares the current maneuver performance parameter and second threshold to obtain robot current maneuver performance state, wherein described
Second threshold is the control instruction corresponding mobility parameter under standard environment.
6. the method according to claim 1, wherein the current execution state packet of the determination control instruction
Include: obtaining current control performance parameter, wherein the control performance parameter includes regulating time, one of error range or
It is a variety of.
7. according to the method described in claim 6, it is characterized in that, described according to the control instruction and the control instruction
Current execution state determines robot current environment, the current controlling of robot current maneuver performance state or robot
At least one of energy state, comprising:
The current control performance parameter and third threshold comparison are obtained into the current control performance state of robot, wherein described
Third threshold value is the control instruction corresponding control performance parameter under standard environment.
8. the method according to claim 1, wherein the control instruction include speed command, acceleration instruction,
One of position command, attitude command are a variety of.
9. the method according to claim 1, wherein if the robot current environment be standard environment,
The robot current maneuver performance state is good, and the current control performance of robot is in good condition, then, described according to machine
In people's current environment, the current control performance state of the robot current maneuver performance state or the robot at least
One, adjust the control instruction, comprising: maintain the control instruction constant.
10. the method according to claim 1, wherein if the robot current environment is nonstandard lead ring
Border, the robot current maneuver performance state is bad, and the current control performance state of robot is bad, then, and the basis
In robot current environment, the current control performance state of the robot current maneuver performance state or the robot
At least one of, adjust the control instruction, comprising: reduce current acceleration and/or speed.
11. according to the method described in claim 10, it is characterized in that, if the non-standard environmental is bumpy road, the drop
Low current acceleration and/or speed, comprising: current acceleration and speed are reduced, to alleviate robot in the vibration of bumpy road.
12. according to the method described in claim 10, it is characterized in that, if the non-standard environmental is smooth road, the drop
Low current acceleration and/or speed, comprising: current acceleration is reduced, so that robot speed matches with vehicle wheel rotational speed.
13. according to the method described in claim 10, it is characterized in that, if the non-standard environmental is muddy road surface, the drop
Low current acceleration and/or speed, comprising: current acceleration and speed are reduced, so that robot can slow stable traveling.
14. the method according to claim 1, wherein the mobile robot control method further include:
Feedback quantity is obtained, the feedback quantity includes motor speed, Motor torque, robot speed, robot acceleration, robot
One of position, robot pose are a variety of；
The movement of robot is further adjusted according to the control instruction after the feedback quantity and the adjusting.
15., will be described the method according to claim 1, wherein the mobile robot control method further includes
At least one of robot current environment, the current control performance state of robot current maneuver performance state or robot
It is sent to remote control end.
16. a kind of mobile robot, which is characterized in that the mobile robot includes: main control end, actuating station；
The main control end determines the current execution state of the control instruction, is referred to according to the control for obtaining control instruction
Enable and the control instruction current execution state determine robot current environment, robot current maneuver performance state,
Or at least one of current control performance state of robot, it is current according to the robot current environment, the robot
At least one of current control performance state of mobility state or the robot, adjusts the control instruction；
The actuating station, for the movement according to the control instruction adjustment robot after adjusting.
17. mobile robot according to claim 16, which is characterized in that the mobile robot further includes sensor,
The current execution state of the determination control instruction includes:
Current kinetic parameters are obtained from sensor, wherein the kinematic parameter includes robot present speed, acceleration, position,
One of posture is a variety of.
18. mobile robot according to claim 17, which is characterized in that described according to the control instruction and the control
The current execution state of system instruction determines that robot current environment, robot current maneuver performance state or robot work as
At least one of preceding control performance state, comprising:
The current kinetic parameters and first threshold are compared to obtain robot current environment, wherein the first threshold
For the control instruction under standard environment corresponding kinematic parameter.
19. mobile robot according to claim 16, which is characterized in that the determination control instruction is currently held
Row state includes: to obtain current maneuver performance parameter, wherein the mobility parameter includes motor current rotating speed, in torque
It is one or more.
20. mobile robot according to claim 19, which is characterized in that described according to the control instruction and the control
The current execution state of system instruction determines that robot current environment, robot current maneuver performance state or robot work as
At least one of preceding control performance state, comprising:
It compares the current maneuver performance parameter and second threshold to obtain robot current maneuver performance state, wherein described
Second threshold is the control instruction corresponding mobility parameter under standard environment.
21. mobile robot according to claim 16, which is characterized in that the current execution shape of the determining control instruction
State includes: to obtain current control performance parameter, wherein and the control performance parameter includes regulating time, and one in error range
Kind is a variety of.
22. mobile robot according to claim 21, which is characterized in that described according to the control instruction and the control
The current execution state of system instruction determines that robot current environment, robot current maneuver performance state or robot work as
At least one of preceding control performance state, comprising:
The current control performance parameter and third threshold comparison are obtained into the current control performance state of robot, wherein described
Third threshold value is the control instruction corresponding control performance parameter under standard environment.
23. mobile robot according to claim 16, which is characterized in that the control instruction includes speed command, adds
One of speed command, position command, attitude command are a variety of.
24. mobile robot according to claim 16, which is characterized in that if the robot current environment is mark
Quasi, the robot current maneuver performance state is good, and the current control performance of robot is in good condition, then, described
According to robot current environment, the current control performance shape of the robot current maneuver performance state or the robot
At least one of state adjusts the control instruction, comprising: maintains the control instruction constant.
25. mobile robot according to claim 16, which is characterized in that if the robot current environment is non-
Standard environment, the robot current maneuver performance state is bad, and the current control performance state of robot is bad, then, and institute
It states according to robot current environment, the current control performance of the robot current maneuver performance state or the robot
At least one of state adjusts the control instruction, comprising: reduces current acceleration and/or speed.
26. mobile robot according to claim 25, which is characterized in that if the non-standard environmental is bumpy road,
The reduction current acceleration and/or speed, comprising: current acceleration and speed are reduced, to alleviate robot in bumpy road
Vibration.
27. mobile robot according to claim 25, which is characterized in that if the non-standard environmental is smooth road,
The reduction current acceleration and/or speed, comprising: current acceleration is reduced, so that robot speed matches with vehicle wheel rotational speed.
28. mobile robot according to claim 25, which is characterized in that if the non-standard environmental is muddy road surface,
The reduction current acceleration and/or speed, comprising: current acceleration and speed are reduced, so that robot can slowly stablize
Traveling.
29. mobile robot according to claim 16, which is characterized in that the main control end includes mobility adjuster
And controller；
The mobility adjuster is specifically used for obtaining control instruction, determines the current execution state of the control instruction, root
The current machine of robot current environment, robot is determined according to the current execution state of the control instruction and the control instruction
Dynamic at least one of performance state or the current control performance state of robot, according to the robot current environment, described
At least one of current control performance state of robot current maneuver performance state or the robot adjusts the control and refers to
It enables；
The controller, control instruction and feedback quantity, the feedback quantity after adjusting specifically for acquisition include motor speed, electricity
One of machine torque, robot speed, robot acceleration, robot location, robot pose are a variety of；
The controller, be also used to according to after the adjusting control instruction and the feedback quantity determine the defeated of the actuating station
Enter, so that actuating station further adjusts the movement of robot.
30. mobile robot according to claim 16, which is characterized in that the main control end is also used to the robot
At least one of current environment, the current control performance state of robot current maneuver performance state or robot are sent to
It is remotely controlled end, so that the viewing area in remote control end shows the robot current environment, robot current maneuver performance shape
At least one of current control performance state of state or robot.
31. a kind of Mobile Robot Control System, which is characterized in that the control system include remote control end and claim 16 to
30 any mobile robots, the remote control end is for generating control instruction and being sent to mobile robot.
32. Mobile Robot Control System according to claim 31, which is characterized in that
The main control end is also used to robot current environment, robot current maneuver performance state or robot is current
At least one of control performance state is sent to remote control end；
The remote control end further includes viewing area, and the viewing area is for showing the current machine of robot current environment, robot
Dynamic at least one of performance state or the current control performance state of robot.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/103979 WO2020047746A1 (en) | 2018-09-04 | 2018-09-04 | Mobile robot control method and system, and mobile robot |
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| Publication Number | Publication Date |
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| CN110419014A true CN110419014A (en) | 2019-11-05 |
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| CN201880017015.5A Pending CN110419014A (en) | 2018-09-04 | 2018-09-04 | Control method, system and the mobile robot of mobile robot |
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| WO (1) | WO2020047746A1 (en) |
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| CN113791609A (en) * | 2021-02-02 | 2021-12-14 | 北京京东乾石科技有限公司 | Control method, control device, storage medium, and electronic apparatus |
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