CN110989610A - Method for preventing robot from sliding down slope and robot - Google Patents
Method for preventing robot from sliding down slope and robot Download PDFInfo
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- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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- 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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G05D1/02—Control of position or course in two dimensions
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
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Abstract
The application provides a method for preventing a robot from sliding down a slope, a method for preventing the robot from sliding down a slope, a charging control method, a device for preventing the robot from sliding down a slope and a robot, wherein the robot further comprises a motor, and the method for preventing the robot from sliding down a slope comprises the following steps: and when the robot is in an inclined position and stops, controlling the motor through a PI control algorithm so as to lock the motor. In this application, make full use of PI control's characteristic, when the robot is in the inclined position and stops, control the motor through PI control algorithm, can avoid the robot to take place the condition of swift current slope in the inclined position, improved the stability of robot.
Description
Technical Field
The present invention relates to the field of robot control technology, and more particularly, to a method for preventing a robot from slipping down a slope, a charging control method, a device for preventing a robot from slipping down a slope, and a robot.
Background
With the rapid development of the robot technology, the functions of the robot are increasing, and most of the robots can reach the designated position according to the preset route.
The robot is typically driven by a motor. When the robot stops moving (i.e. the motor is at 0 speed), the controller of the robot controls the motor through P (proportional) control. Under P control, when the robot is in a 0-speed state, the robot can be pushed, after the robot is pushed, the motor is detected to be in a non-0-speed state, the controller controls the motor to enable (namely, controls the motor to be locked), so that the motor is changed back to the 0-speed state, the controller releases the motor from being locked, and at the moment, the robot is pushed for a certain distance. Therefore, when the destination of the robot is located at an inclined position or the position where the robot stops is an inclined position, if P control is adopted, the robot slips down the slope due to the action of self gravity, at the moment, the motor is detected to be a non-0-speed, the controller controls the motor to be locked, then the robot stops slipping down the slope, the motor returns to the 0-speed, the controller releases the locking of the motor, and then the robot slips down the slope again under the action of self gravity until the robot slides to the horizontal position.
Disclosure of Invention
An object of an embodiment of the present invention is to provide a method for preventing a robot from slipping down a slope, a charging control method, a device for preventing a robot from slipping down a slope, and a robot, which solve the problem of "a robot slips down a slope at an inclined position due to control of a motor by P (proportional) control".
The invention is realized by the following steps:
in a first aspect, an embodiment of the present application provides a method for preventing a robot from rolling down a slope, which is applied to a controller in the robot, the robot further includes a motor, and the method includes: and when the robot is in an inclined position and stops, controlling the motor through a PI control algorithm so as to lock the motor.
In this application, make full use of PI control's characteristic, when the robot is in the inclined position and stops, control the motor through PI control algorithm, can avoid the robot to take place the condition of swift current slope in the inclined position, improved the stability of robot.
In a second aspect, the present application provides a method for preventing a robot from sliding down a slope when a charging pile in an inclined position is charged, the method is applied to a controller of the robot, the robot further includes a motor and a charging electrode, and the controller is electrically connected to the motor and the charging electrode respectively; the method comprises the following steps: and when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined, and the robot stops, the motor is controlled through a PI control algorithm so as to lock the motor.
In this application, accomplish to insert when the charging electrode of robot and the charging electrode who fills electric pile and close, and the robot stops, control the motor through PI control algorithm to make the motor lock, and then avoid appearing the robot and take place the swift current slope at the tip position and lead to the condition of charging failure, improved the stability of robot when tip position department charges.
With reference to the technical solution provided by the second aspect, in some possible implementation manners, when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined and the robot stops, the motor is controlled by a PI control algorithm to lock the motor, including: when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined and the robot stops, controlling the motor to lose energy once so as to enable the robot to move downwards for a preset distance; the preset distance is smaller than the moving distance of the robot when the charging electrode of the robot is separated from the charging electrode of the charging pile; and after the robot moves downwards for a preset distance, controlling the motor through a PI control algorithm so as to lock the motor.
In the embodiment of the application, after the charging electrode of the robot and the charging electrode of the charging pile are inserted, whether the charging information sent by the power panel is received or not is judged, if yes, the motor is controlled through a PI control algorithm, so that the motor is locked, and the charging state of the robot is detected.
In a third aspect, an embodiment of the present application provides a charging control method, configured to control a robot to return to a charging pile for charging, where the robot includes a controller, a motor, and a laser sensor, the controller is electrically connected to the motor and the laser sensor, respectively, and the charging control method is applied to the controller, and the method includes: acquiring an instruction for returning to the charging pile for charging; acquiring position information of the charging pile to control the motor to operate, so that the robot reaches the position of the charging pile; acquiring the position of a charging electrode of the charging pile, which is identified by the laser sensor; the motor is controlled to operate, so that a charging electrode of the robot is inserted into a charging electrode of the charging pile; and when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined, and the robot stops, the motor is controlled through a PI control algorithm so as to lock the motor.
In the method, the position information of the charging pile is acquired by acquiring an instruction of returning to the charging pile for charging so as to control the motor to operate, so that the robot reaches the position of the charging pile, and then the position of a charging electrode of the charging pile, which is identified by a laser sensor, is acquired; the robot control system is characterized in that the robot is controlled to operate by a control motor, so that a charging electrode of the robot is plugged with a charging electrode of a charging pile, when the charging electrode of the robot is plugged with the charging electrode of the charging pile, and the robot stops, the motor is controlled by a PI control algorithm, so that the motor is locked. The stability of the robot when docking and charging with charging pile has been guaranteed. When filling electric pile and being located inclination position department, can avoid appearing the robot and taking place the condition that the swift current slope leads to charging failure in inclination position.
With reference to the technical solution provided by the third aspect, in some possible implementation manners, when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined and the robot stops, the controlling the motor by using a PI control algorithm to lock the motor includes: when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined and the robot stops, controlling the motor to lose energy once so as to enable the robot to move downwards for a preset distance; the preset distance is smaller than the moving distance of the robot when the charging electrode of the robot is separated from the charging electrode of the charging pile; and after the robot moves downwards for a preset distance, controlling the motor through a PI control algorithm so as to lock the motor.
With reference to the technical solution provided by the third aspect, in some possible implementation manners, the obtaining position information of the charging pile to control the motor to operate, so that the robot reaches the position of the charging pile includes: and acquiring the position information of the target charging pile according to the prestored position information of the charging pile, and planning a path according to the position information of the target charging pile so as to control the motor to operate and enable the robot to reach the position of the charging pile.
With reference to the technical solution provided by the third aspect, in some possible implementation manners, the obtaining, according to the pre-stored location information of the charging pile, location information of a target charging pile, and performing path planning according to the location information of the target charging pile includes: according to the position information of the charging piles stored in advance, the charging pile closest to the robot is screened out from the position information of the charging pile to serve as a target charging pile, and path planning is carried out according to the position information of the target charging pile.
In this application, through above-mentioned mode, from all the positional information who fills electric pile, select to fill electric pile and carry out the path planning apart from nearest one, then charge, can avoid appearing robot self electric quantity not enough, can't reach the circumstances of filling electric pile far away.
With reference to the technical solution provided by the third aspect, in some possible implementation manners, the robot further includes a power board, the power board is electrically connected to the controller, and when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined and the robot stops, the motor is controlled by a PI control algorithm to lock the motor, including: when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined and the robot stops, judging whether charging information sent by the power panel is received or not; and if so, controlling the motor through a PI control algorithm so as to lock the motor.
In a fourth aspect, the present application provides a device for preventing a robot from sliding down a slope when charging a charging pile in an inclined position, the device is applied to a controller of the robot, the robot further includes a motor and a charging electrode, the controller is electrically connected to the motor and the charging electrode, and the device includes: and the control module is used for controlling the motor through a PI control algorithm when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined and the robot stops so as to lock the motor.
In a fifth aspect, an embodiment of the present application provides a robot, including: a controller and a memory, the controller and the memory being connected; the memory is used for storing programs; the controller is configured to run a program stored in the memory to perform the method according to the first aspect, or according to the second aspect, or according to the third aspect.
In a sixth aspect, embodiments of the present application provide a storage medium having stored thereon a computer program which, when executed by a controller, performs the method according to the first aspect, or according to the second aspect, or according to any of the third aspects.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a flowchart illustrating steps of a method for preventing a slope from slipping according to an embodiment of the present application.
Fig. 2 is a flowchart illustrating steps of a charging control method according to an embodiment of the present disclosure.
Fig. 3 is a block diagram of a robot according to an embodiment of the present disclosure.
Fig. 4 is a schematic circuit diagram of a motor board and a motor according to an embodiment of the present disclosure.
Icon: 10-a robot; 100-a controller; 200-a memory; 300-a motor board; 310-a motor; 400-a laser sensor; 500-power panel; 510-charging electrode.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
At present, when a destination of the robot is located at an inclined position, or a position where the robot stops is an inclined position, the motor is often controlled by using P control. The following problems can occur when the motor is controlled by adopting the P control: the robot slides down the slope under the action of self gravity, the motor is detected to be at a speed other than 0 at the moment, the controller controls the motor to be locked, then the robot stops sliding down the slope, at the moment, the motor returns to the speed of 0, the controller removes the locking of the motor, and then the robot slides down the slope under the action of self gravity until the robot slides to the horizontal position.
In view of the above problems, the present inventors have studied and researched to provide the following embodiments to solve the above problems.
The embodiment of the application provides a method for preventing a robot from sliding down a slope, which is applied to a controller in the robot, wherein the robot further comprises a motor, and the method comprises the following steps: and when the robot is in an inclined position and stops, controlling the motor through a PI control algorithm so as to lock the motor.
It should be noted that the inclined position refers to a position having an angle with a horizontal position, such as a slope, an inclined ground, and the like. The specific inclination angle is not limited in this application, and may be, for example, 15 degrees or 30 degrees.
The following describes a PI control algorithm, and PI control includes P (proportional) control and I (integral) control. If the robot stops moving (namely the speed of the motor is 0), the controller of the robot controls the motor through PI control, the robot pushes the robot at the moment, the robot can be pushed for a distance theoretically, the robot detects that the speed of the motor is not 0 in the process that the robot is pushed, the controller controls the motor to enable, and the robot can move in the opposite direction of the manual pushing at the moment by the reactive force and returns to the original position. The above description is only a theoretical case, but in practice, because the PI control strength is large, the process that the robot is pushed first and then returns to the original position cannot be seen. That is, when the robot is in an inclined position and stops, if the motor is controlled by the PI control algorithm, the robot will not slide down under the action of its own gravity. Of course, the PI control can be understood to be the control of adding the I control on the basis of the P control, so that the locking strength of the motor is enhanced.
Therefore, in the embodiment of the application, the characteristic of the PI control is fully utilized, when the robot is in the inclined position and stops, the motor is controlled through the PI control algorithm, the situation that the robot slips down the slope at the inclined position can be avoided, and the stability of the robot is improved.
The inventor also finds that most of robots support the function of charging the automatic recharging pile at present, the automatic recharging pile of the robot is influenced by the terrain, the flat recharging is simple, and the automatic charging is carried out on the sloping or inclined terrain, so that higher requirements are provided for the recharging technology. Since the controller of the robot controls the motor through P (proportional) control at present when the robot stops moving (i.e. the motor is at 0 speed), when the charging pile is located at an inclined position or on a slope, the robot may slide down the slope and cause charging failure.
In view of the foregoing problems, based on the same inventive concept, an embodiment of the present application further provides a method for preventing a robot from sliding down a slope when a charging pile in an inclined position is charged, the method being applied to a controller of the robot, the robot further including a motor and a charging electrode, the controller being electrically connected to the motor and the charging electrode, respectively, the method including: and when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined and the robot stops, the motor is controlled through a PI control algorithm so as to lock the motor.
In the above embodiments, the principle of the PI control has been explained, and will not be explained too much here. In this embodiment, when the robot charging electrode and the charging electrode of the charging pile are inserted and combined and the robot stops, the motor is controlled through the PI control algorithm, so that the motor is locked, the situation that the robot slips down a slope at an inclined position to cause charging failure is avoided, and the stability of the robot during charging at the inclined position is improved.
Optionally, in order to detect whether the robot is successfully charged, after the charging electrode of the robot and the charging electrode of the charging pile are inserted, the method further includes: and judging whether the charging information sent by the power panel is received.
After the charging electrode of the robot and the charging electrode of the charging pile are inserted, current flows through the charging electrode of the robot to charge the power supply on the robot power panel. At this time, the power panel feeds back the charging information to the controller to indicate that the robot is in the charging state, and when the controller does not receive the charging information fed back by the power panel, the controller indicates that the robot is not in the charging state.
And if the charging information sent by the power panel is received, controlling the motor through a PI control algorithm so as to lock the motor.
In the embodiment of the application, after the charging electrode of the robot and the charging electrode of the charging pile are inserted, whether the charging information sent by the power panel is received or not is judged, if yes, the motor is controlled through a PI control algorithm, so that the motor is locked, and the charging state of the robot is detected.
The inventor also finds that if the charging electrode of the robot and the charging electrode of the charging pile are inserted, the current is large when the motor is directly locked through the PI control algorithm, and the service life of the motor is influenced. Therefore, referring to fig. 1, in the embodiment of the present application, optionally, the above step of controlling the motor through a PI control algorithm to lock the motor when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined and the robot stops may further include: step S101-step S102.
And S101, when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined and the robot stops, controlling the motor to lose energy once so as to enable the robot to move downwards for a preset distance.
It should be explained that the disabling means that the motor is not locked at this time, and the robot moves under the action of gravity at this time because the motor is in the disabling state. The preset distance is smaller than the moving distance of the robot when the charging electrode of the robot is separated from the charging electrode of the charging pile. For example, when the charging electrode of the robot is separated from the charging electrode of the charging pile, the moving distance of the robot is 1 cm, the preset distance should be less than 1 cm, for example, the preset distance may be 0.5 cm or 0.8 cm, and the present application is not limited thereto.
In this embodiment of the present application, controlling the motor to be disabled once so that the robot moves down by the preset distance may be a time when the motor is disabled, for example, the time when the motor is disabled is 0.5 seconds. The control of the motor disabling may be performed once to move the robot down by the preset distance, or may be performed to control a moving distance of the robot when the motor is disabled, for example, the moving distance of the robot is 0.4 cm when the motor is disabled.
Step S102: and after the robot moves down for a preset distance, controlling the motor through a PI control algorithm so as to lock the motor.
And after the robot moves downwards for a preset distance, controlling the motor through a PI control algorithm so as to lock the motor. If the control motor is disabled once so that the robot moves down the preset distance in the mode of the time for controlling the motor to be disabled, after the time for controlling the motor to be disabled reaches corresponding time, for example, the time for controlling the motor to be disabled is 0.4 second, and after the time for controlling the motor to be disabled is 0.4 second, the motor is controlled through a PI control algorithm so that the motor is locked. If the control motor is disabled once, so that the robot moves down by the preset distance in the mode of controlling the moving distance of the robot when the motor is disabled, after the moving distance of the control robot reaches a corresponding distance, for example, the moving distance of the control robot is 0.4 cm, and after the moving distance of the robot is 0.4 cm, the motor is controlled through a PI control algorithm, so that the motor is locked.
In the embodiment of the application, when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined and the robot stops, the motor is controlled to lose energy once, so that the robot moves down for a preset distance, then the motor is locked through a PI control algorithm, the current when the motor is locked is reduced, the influence of a large current on the motor is further reduced, and the service life of the motor is prolonged.
Based on the same invention concept, the embodiment of the application also provides a charging control method for controlling the robot to return to the charging pile for charging, the robot comprises a controller, a motor and a laser sensor, and the controller is electrically connected with the motor and the laser sensor respectively. Referring to fig. 2, the charging control method is applied to a controller, and includes: step S201-step S204.
Step S201: and acquiring an instruction of returning to charge the charging pile for charging.
The instruction for charging the returned charging pile is obtained, and the instruction for charging the returned charging pile is obtained when the electric quantity of the robot is detected to be smaller than the minimum electric quantity value. For example, the minimum electric quantity value is 10 (the value is 100 when the robot is fully charged), and when the electric quantity value of the robot is detected to be 9, the instruction for returning to the charging pile to charge is obtained. For another example, the robot may include a communication module, and may be in communication connection with a remote terminal through the communication module, and if the worker needs to return the robot to the charging pile for charging, the worker sends a command for returning to the charging pile for charging to the robot through the terminal. Of course, there may be other ways to obtain the instruction for returning to the charging pile to perform charging, for example, when the robot executes the task for more than a preset time, the instruction for returning to the charging pile to perform charging is obtained. The present application is not limited thereto.
Step S202: and acquiring the position information of the charging pile to control the motor to operate, so that the robot reaches the position of the charging pile.
The motor is controlled to run, namely linear velocity instructions and angular velocity instructions are sent to the motor.
Optionally, acquiring the position information of the charging pile to control the motor to operate, so that the robot reaches the position of the charging pile, and the method may include: and acquiring the position information of the target charging pile according to the position information of the pre-stored charging pile, and planning a path according to the position information of the target charging pile so as to control the motor to operate and enable the robot to reach the position of the target charging pile.
The robot charging system comprises a robot, a controller, a charging pile and a charging pile, wherein the position information of the charging pile is stored in the robot in advance so that the controller can acquire the position information of the target charging pile.
As an embodiment, the position information of the target charging pile is acquired according to the position information of the pre-stored charging pile, and the path planning according to the position information of the target charging pile may be performed by screening the charging pile closest to the robot from the position information of the charging pile as the target charging pile according to the position information of the pre-stored charging pile, and performing the path planning according to the position information of the target charging pile. This mode is from all the positional information who fills electric pile, selects to fill electric pile and carry out the path planning apart from nearest, then charges, can avoid appearing robot self electric quantity not enough, can't reach the circumstances of filling electric pile far away.
In yet another embodiment, the position information of the target charging pile is acquired according to the position information of the pre-stored charging pile, and the path planning according to the position information of the target charging pile may be performed by acquiring a charging pile matched with the robot as the target charging pile according to the position information of the pre-stored charging pile, and performing the path planning according to the position information of the target charging pile. For example, the position information of the charging pile a, the charging pile B and the charging pile C is stored in advance, if the charging pile a is matched with the robot, the charging pile a is used as a target charging pile, the position information of the charging pile a is obtained, and path planning is performed according to the position information of the charging pile a.
Of course, in the implementation manners of other embodiments, the location information of the target charging pile is obtained according to the location information of the pre-stored charging piles, and the path planning according to the location information of the target charging pile may also be performed by randomly selecting one of the charging piles as the target charging pile according to the pre-stored location information of the charging pile, and then performing the path planning according to the location information of the target charging pile. The present application is not limited thereto.
It can be understood that, in other embodiments, the position information of the charging pile can be obtained through infrared signal tracking, laser radar tracking and the like, so that the robot reaches the position of the charging pile. The present application is also not limited.
Step S203: acquiring the position of a charging electrode of a charging pile identified by a laser sensor; the robot is controlled to operate by the control motor, so that the charging electrode of the robot is inserted into the charging electrode of the charging pile.
After the robot reaches the designated position, the laser sensor is used for identifying the position of the charging electrode of the charging pile, and then the controller controls the motor to operate according to the position of the charging electrode of the charging pile identified by the laser sensor, so that the charging electrode of the robot is inserted into the charging electrode of the charging pile.
Optionally, a V-shaped groove is formed in the charging pile, a charging electrode is arranged in the V-shaped groove, the laser sensor can be used for recognizing the position of the V-shaped groove, and then the controller controls the motor to operate according to the position of the V-shaped groove of the charging pile recognized by the laser sensor, so that the charging electrode of the robot is inserted into the charging electrode in the V-shaped groove of the charging pile, that is, the motor is controlled to operate, and the charging electrode of the robot is aligned to a groove hole of the V-shaped groove, so that the charging electrode of the robot is inserted into the charging electrode in the V-shaped groove of the charging pile.
Step S204: and when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined and the robot stops, the motor is controlled through a PI control algorithm so as to lock the motor.
When the robot charging electrode and the charging electrode of the charging pile are inserted, and the robot stops, the motor is controlled through a PI control algorithm, so that the motor is locked, the situation that the robot slips down a slope at an inclined position to cause charging failure is avoided, and the stability of the robot during charging at the inclined position is improved.
However, if the charging electrode of the robot and the charging electrode of the charging pile are inserted, the current is very large when the motor is directly locked through the PI control algorithm, and the service life of the motor is influenced. Therefore, in this embodiment of the application, optionally, the above step may further include, when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined and the robot stops, controlling the motor through a PI control algorithm to lock the motor, and further including: when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined and the robot stops, the motor is controlled to be disabled once, so that the robot moves down for a preset distance. And after the robot moves down for a preset distance, controlling the motor through a PI control algorithm so as to lock the motor.
It should be explained that the disabling means that the motor is not locked at this time, and since the electrode is in the disabling state, the robot moves under the action of gravity at this time. The preset distance is smaller than the moving distance of the robot when the charging electrode of the robot is separated from the charging electrode of the charging pile. For example, when the charging electrode of the robot is separated from the charging electrode of the charging pile, the moving distance of the robot is 1 cm, the preset distance should be less than 1 cm, for example, the preset distance may be 0.5 cm or 0.8 cm, and the present application is not limited thereto.
In this embodiment of the present application, controlling the motor to be disabled once so that the robot moves down by the preset distance may be a time when the motor is disabled, for example, the time when the motor is disabled is 0.5 seconds. The control of the motor disabling may be performed once to move the robot down by the preset distance, or may be performed to control a moving distance of the robot when the motor is disabled, for example, the moving distance of the robot is 0.4 cm when the motor is disabled.
And after the robot moves downwards for a preset distance, controlling the motor through a PI control algorithm so as to lock the motor. If the control motor is disabled once so that the robot moves down the preset distance in the mode of the time for controlling the motor to be disabled, after the time for controlling the motor to be disabled reaches corresponding time, for example, the time for controlling the motor to be disabled is 0.4 second, and after the time for controlling the motor to be disabled is 0.4 second, the motor is controlled through a PI control algorithm so that the motor is locked. If the control motor is disabled once, so that the robot moves down by the preset distance in the mode of controlling the moving distance of the robot when the motor is disabled, after the moving distance of the control robot reaches a corresponding distance, for example, the moving distance of the control robot is 0.4 cm, and after the moving distance of the robot is 0.4 cm, the motor is controlled through a PI control algorithm, so that the motor is locked.
Optionally, in order to detect whether the robot is successfully charged, after the charging electrode of the robot and the charging electrode of the charging pile are inserted, the method further includes: and judging whether the charging information sent by the power panel is received.
After the charging electrode of the robot and the charging electrode of the charging pile are inserted, current flows through the charging electrode of the robot to charge the power supply on the robot power panel. At this time, the power panel feeds back the charging information to the controller to indicate that the robot is in the charging state, and when the controller does not receive the charging information fed back by the power panel, the controller indicates that the robot is not in the charging state. The failure of the robot to be in a charging state may be due to a failure of the charging pile, or a failure of the insertion of the charging electrode of the robot into the charging electrode of the charging pile.
And if the charging information sent by the power panel is received, controlling the motor through a PI control algorithm so as to lock the motor.
If the charging information sent by the power panel is not received, step S203 is executed again, or a charging failure instruction is uploaded to prompt the staff.
In the embodiment of the application, after the charging electrode of the robot and the charging electrode of the charging pile are inserted, whether the charging information sent by the power panel is received or not is judged, if yes, the motor is controlled through a PI control algorithm, so that the motor is locked, and the charging state of the robot is detected.
In conclusion, the motor is controlled to operate by acquiring the instruction of returning to the charging pile for charging and then acquiring the position information of the charging pile, so that the robot reaches the position of the charging pile, and then the position of the charging electrode of the charging pile, which is identified by the laser sensor, is acquired; the robot control system is characterized in that the robot is controlled to operate by a control motor, so that a charging electrode of the robot is plugged with a charging electrode of a charging pile, when the charging electrode of the robot is plugged with the charging electrode of the charging pile, and the robot stops, the motor is controlled by a PI control algorithm, so that the motor is locked. The stability of the robot when docking and charging with charging pile has been guaranteed. When filling electric pile and being located inclination position department, can avoid appearing the robot and taking place the condition that the swift current slope leads to charging failure in inclination position.
Based on the same inventive concept, the embodiment of the present application further provides a device for preventing a robot from sliding down a slope, which is applied to a controller in the robot, the robot further includes a motor, and the device includes: and the control module is used for controlling the motor through a PI control algorithm when the robot is in an inclined position and stops so as to lock the motor.
Based on the same inventive concept, the embodiment of the present application further provides a device for preventing a robot from sliding down a slope when a charging pile in an inclined position is charged, the device is applied to a controller of the robot, the robot further includes a motor and a charging electrode, the controller is electrically connected to the motor and the charging electrode, and the device includes: and the control module is used for controlling the motor through a PI control algorithm when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined and the robot stops so as to lock the motor.
Optionally, the control module is further configured to control the motor to be disabled once when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined and the robot stops, so that the robot moves down by a preset distance; the preset distance is smaller than the moving distance of the robot when the charging electrode of the robot is separated from the charging electrode of the charging pile; and after the robot moves downwards for a preset distance, controlling the motor through a PI control algorithm so as to lock the motor.
Based on the same inventive concept, an embodiment of the present application further provides a charging control device, configured to control a robot to return to a charging pile for charging, where the robot includes a controller, a motor, and a laser sensor, the controller is electrically connected to the motor and the laser sensor, respectively, and the charging control method is applied to the controller, and the device includes:
the acquisition module is used for acquiring an instruction of returning to the charging pile for charging; the position information of the charging pile is acquired to control the motor to operate, so that the robot reaches the position of the charging pile; acquiring the position of a charging electrode of the charging pile, which is identified by the laser sensor; the motor is controlled to operate, so that the charging electrode of the robot is inserted into the charging electrode of the charging pile. And the control module is used for controlling the motor through a PI control algorithm when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined and the robot stops so as to lock the motor.
Optionally, the control module is further configured to control the motor to be disabled once when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined and the robot stops, so that the robot moves down by a preset distance; the preset distance is smaller than the moving distance of the robot when the charging electrode of the robot is separated from the charging electrode of the charging pile; and after the robot moves downwards for a preset distance, controlling the motor through a PI control algorithm so as to lock the motor.
Optionally, the obtaining module is further configured to obtain position information of the target charging pile according to the prestored position information of the charging pile, and perform path planning according to the position information of the target charging pile to control the motor to operate, so that the robot reaches the position of the charging pile.
Optionally, the obtaining module is further configured to screen out a charging pile closest to the robot from the position information of the charging pile according to the pre-stored position information of the charging pile to serve as a target charging pile, and perform path planning according to the position information of the target charging pile.
Optionally, the robot further includes a power panel, the power panel is electrically connected to the controller, and the control module is further configured to determine whether to receive charging information sent by the power panel when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined and the robot stops; and if so, controlling the motor through a PI control algorithm so as to lock the motor.
It should be noted that the above description is an embodiment of the method corresponding to the apparatus, and the apparatus and the method have the same content, and are not described herein too much for the sake of avoiding redundancy.
Next, referring to fig. 3, a specific structure of the robot is described, and the robot 10 includes: controller 100, memory 200, motor board 300, motor 310, laser sensor 400, power supply board 500, and charging electrode 510.
The controller 100 is electrically connected to the memory 200, the motor board 300, the laser sensor 400, and the power supply board 500, respectively. The motor board 300 is also electrically connected to the motor 310, and the power board 500 is also electrically connected to the charging electrode 510.
The controller 100 is configured to control the motor through a PI control algorithm to lock the motor when the robot is in the inclined position and is stopped. The controller 100 is further configured to control the motor through a PI control algorithm to lock the motor when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined and the robot stops. The controller 100 is further configured to obtain an instruction for returning to the charging pile to perform charging; acquiring position information of a charging pile to control a motor to operate, so that the robot reaches the position of the charging pile; acquiring the position of a charging electrode of a charging pile identified by a laser sensor; the motor is controlled to operate, so that the charging electrode of the robot is inserted into the charging electrode of the charging pile; and when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined and the robot stops, the motor is controlled through a PI control algorithm so as to lock the motor.
The controller 100 may be an integrated circuit chip having signal processing capabilities. The controller 100 may also be a general-purpose processor, for example, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a discrete gate or transistor logic device, or a discrete hardware component, which may implement or execute the methods, steps, and logic blocks disclosed in the embodiments of the present Application. Further, a general purpose processor may be a microprocessor or any conventional processor or the like.
The memory 200 is used for storing a program, and the controller 100 executes the program after receiving the execution instruction. The Memory 200 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), and an electrically Erasable Programmable Read-Only Memory (EEPROM).
Of course, in other embodiments, the controller 100 and the memory 200 may be replaced by an industrial personal computer.
The circuit structure of the motor board 300 is shown in fig. 4, and PI control of the motor 310 by the controller 100 is realized through the motor board 300, and linear velocity and angular velocity of the motor 310 by the controller 100 are controlled through the motor board 300.
Wherein the motor 310 is used to drive the robot 10. In the embodiment of the present application, the motor 310 is a hub motor, and the robot 10 includes two hub motors.
Wherein, laser sensor 400 is used for discernment to fill the V type groove on the electric pile or discernment fills the charging electrode on the electric pile.
Wherein, the power panel 500 is provided with a power supply, the power panel 500 is electrically connected with the controller 100 and the charging electrode 510, and the charging of the power supply is realized by inserting the charging electrode 510 of the robot 10 and the charging electrode of the charging pile. The power strip 500 is also used to send charging information to the controller 100.
Of course, in other embodiments, the robot 10 may also include other components, such as a communication module, a speaker, a display, etc., which are not limited in this application.
Based on the same inventive concept, the present application further provides a storage medium, on which a computer program is stored, and when the computer program is executed, the computer program performs the method provided in the foregoing embodiments.
The storage medium may be any available medium that can be accessed by a computer or a data storage device including one or more integrated servers, data centers, and the like. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A method of preventing a robot from rolling downhill, characterized by being applied to a controller in a robot, the robot further comprising a motor, the method comprising:
and when the robot is in an inclined position and stops, controlling the motor through a PI control algorithm so as to lock the motor.
2. A method for preventing a robot from sliding down a slope when a charging pile in an inclined position is charged is used for preventing the robot from sliding down the slope, and the method is applied to a controller of the robot, the robot further comprises a motor and a charging electrode, and the controller is respectively and electrically connected with the motor and the charging electrode; the method comprises the following steps:
and when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined, and the robot stops, the motor is controlled through a PI control algorithm so as to lock the motor.
3. The method of claim 2, wherein when the robot finishes the insertion of the charging electrode with the charging electrode of the charging pile and stops, the motor is controlled by a PI control algorithm to be locked, and the method comprises the following steps:
when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined and the robot stops, controlling the motor to lose energy once so as to enable the robot to move downwards for a preset distance; the preset distance is smaller than the moving distance of the robot when the charging electrode of the robot is separated from the charging electrode of the charging pile;
and after the robot moves downwards for a preset distance, controlling the motor through a PI control algorithm so as to lock the motor.
4. A charging control method is used for controlling a robot to return to a charging pile for charging, the robot comprises a controller, a motor and a laser sensor, the controller is respectively and electrically connected with the motor and the laser sensor, the charging control method is applied to the controller, and the method is characterized by comprising the following steps:
acquiring an instruction for returning to the charging pile for charging;
acquiring position information of the charging pile to control the motor to operate, so that the robot reaches the position of the charging pile;
acquiring the position of a charging electrode of the charging pile, which is identified by the laser sensor; the motor is controlled to operate, so that a charging electrode of the robot is inserted into a charging electrode of the charging pile;
and when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined, and the robot stops, the motor is controlled through a PI control algorithm so as to lock the motor.
5. The method of claim 4, wherein when the robot finishes the insertion of the charging electrode with the charging electrode of the charging pile and stops, the motor is controlled by a PI control algorithm to be locked, and the method comprises the following steps:
when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined and the robot stops, controlling the motor to lose energy once so as to enable the robot to move downwards for a preset distance; the preset distance is smaller than the moving distance of the robot when the charging electrode of the robot is separated from the charging electrode of the charging pile;
and after the robot moves downwards for a preset distance, controlling the motor through a PI control algorithm so as to lock the motor.
6. The method of claim 4, wherein the obtaining the position information of the charging pile to control the motor to operate so that the robot reaches the position of the charging pile comprises:
and acquiring the position information of the target charging pile according to the prestored position information of the charging pile, and planning a path according to the position information of the target charging pile so as to control the motor to operate and enable the robot to reach the position of the charging pile.
7. The method of claim 6, wherein the obtaining of the location information of the target charging pile according to the pre-stored location information of the charging pile and the planning of the path according to the location information of the target charging pile comprise:
according to the position information of the charging piles stored in advance, the charging pile closest to the robot is screened out from the position information of the charging pile to serve as a target charging pile, and path planning is carried out according to the position information of the target charging pile.
8. The method of claim 4, wherein the robot further comprises a power board electrically connected to the controller, and wherein when the charging electrode of the robot is inserted into the charging electrode of the charging post and the robot stops, the motor is controlled by a PI control algorithm to be locked, comprising:
when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined and the robot stops, judging whether charging information sent by the power panel is received or not;
and if so, controlling the motor through a PI control algorithm so as to lock the motor.
9. A device for preventing a robot from sliding down a slope when charging a charging pile in an inclined position, the device being applied to a controller of the robot, the robot further comprising a motor and a charging electrode, the controller being electrically connected to the motor and the charging electrode, the device comprising:
and the control module is used for controlling the motor through a PI control algorithm when the charging electrode of the robot and the charging electrode of the charging pile are inserted and combined and the robot stops so as to lock the motor.
10. A robot, comprising: a controller and a memory, the controller and the memory being connected;
the memory is used for storing programs;
the controller is adapted to run a program stored in the memory to perform the method of claim 1 or the method of any of claims 2-3 or the method of any of claims 4-8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911298466.3A CN110989610A (en) | 2019-12-13 | 2019-12-13 | Method for preventing robot from sliding down slope and robot |
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| CN201911298466.3A CN110989610A (en) | 2019-12-13 | 2019-12-13 | Method for preventing robot from sliding down slope and robot |
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Address after: Room 201, building 4, courtyard 8, Dongbeiwang West Road, Haidian District, Beijing Applicant after: Beijing Yunji Technology Co.,Ltd. Address before: Room 201, building 4, courtyard 8, Dongbeiwang West Road, Haidian District, Beijing Applicant before: BEIJING YUNJI TECHNOLOGY Co.,Ltd. |