CN114415618A - Method and device for evaluating motion agility of manned robot - Google Patents
Method and device for evaluating motion agility of manned robot Download PDFInfo
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Abstract
The embodiment of the invention discloses a manned robot motion agility evaluation method and an evaluation device, belonging to the technical field of aviation manned robots, wherein the manned robot motion agility evaluation method comprises the steps of 1) analyzing safety constraint in the operation process of the manned robot; 2) agility constraint analysis in the operation process of the manned robot; 3) and carrying out smoothness constraint analysis in the operation process of the manned robot. For better agility, the circular envelope is constructed such that the circular area and the elliptical area are equal in value, the radius of the circle being defined as the agility factor, the agility of the body being higher when the agility factor is larger and lower in reverse. Therefore, in order to improve the agility of the carrier robot, it is necessary to increase the value of the agility factor by shortening the time for changing the position of the carrier robot as much as possible in accordance with the motion constraint of the carrier robot, thereby improving the agility of the carrier robot.
Description
Technical Field
The embodiment of the invention relates to the technical field of aerial manned robots, in particular to a method and a device for evaluating the motion agility of a manned robot.
Background
The civil aviation administration publishes a 'directory of new airport technology titles' in 2018, and carries out all-round optimization on various production elements and business processes in the whole stages of planning, construction and production of airports. In the aspect of 'convenient service', a rapid clearance system is provided, namely, the service system for convenient carrying and clearance guidance from arrival at an airport terminal to boarding and taking off can be completed in the process of taking a passenger by an airplane.
In order to improve the passing efficiency of passengers in the terminal building, enable the passengers to quickly arrive at each place in the terminal building and shorten the detention time, the terminal building manned service robot is a feasible scheme, and in order to improve the riding experience of the passengers, the riding safety, smoothness (namely comfort), agility and the like of the robot need to be considered, namely how the robot can safely, swiftly and smoothly pass in the complex environment of the terminal building. Ride comfort, i.e., the ability to provide a pleasant and comfortable ride environment and convenient operating conditions for the people riding the transport vehicle; the riding safety is also clearly defined in national standard GB7258-2017 motor vehicle operation safety technical condition, and mainly comprises the requirements of braking performance and collision avoidance; the most intuitive embodiment of the agility is that the manned robot completes related actions or behaviors more quickly and takes shorter time.
And the measurement and evaluation of the agility, the most intuitive parameter is the acceleration of the robot, and the more the acceleration can be provided, the more agile the motion performance of the robot is. However, when the speed and acceleration of the manned robot are relatively constrained, the evaluation of the agility of the manned robot in terms of the magnitude of the acceleration is greatly limited.
Therefore, how to provide an effective and feasible method for evaluating the motion agility of the manned robot is a technical problem to be solved urgently by the technical personnel in the field.
Disclosure of Invention
Therefore, the embodiment of the invention provides a method and a device for evaluating the motion agility of a manned robot, and aims to solve the related technical problems in the prior art.
Agility refers to the mobility of a manned robot. Aiming at the judgment problem of agility, the most intuitive embodiment in the daily life of people is that the shorter the time for a motor body to complete a series of actions or processes, the stronger the agility is. Many experts and scholars also refer to the time when researching the agility, and the embodied characteristics are that the shorter the time required for completing the maneuver, the higher the agility is, which is consistent with the daily feeling of the agility. Therefore, the time required by the manned robot to reach the designated pose can be used as a parameter variable to construct equivalent acceleration, so that the maneuvering agility of the manned robot is evaluated, and the agility degree of the manned robot can be reflected more intuitively.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
according to a first aspect of embodiments of the present invention, a method for evaluating the motion agility of a manned robot includes the steps of:
1) safety constraint analysis in the operation process of the manned robot;
2) carrying out agility constraint analysis in the operation process of the manned robot based on the safety constraint analysis result;
3) and carrying out smoothness constraint analysis in the operation process of the manned robot based on the agility constraint analysis result.
The manned robot is to ensure the safety, the passenger arrives at the destination as agility as possible, and the smoothness of the motion track is ensured in the process.
The determination of the agility factor of the manned robot is obtained by evaluating the running track of the manned robot. The trajectory planning is to improve the bearing comfort as much as possible on the premise of ensuring the safety, and is embodied in that the starting acceleration of the manned robot always keeps a comfortable range, and the braking acceleration is dynamically modified on line according to the environmental obstacle factors.
Further, step 1) comprises:
the safety of the manned robot is firstly ensured in the operation process, and the manned robot does not collide with any obstacle, and can be expressed as the following formula:
dist＞Safe_dist (1)
wherein the safety distance dist between the manned robot and any obstacle, wherein the maximum braking safety distance of the manned robot is Safe _ dist.
Further, step 2) comprises:
decomposing the position change of the manned robot along the global XY coordinate into X and Y directions, and solving the shortest time t required by the corresponding change quantity of X and YX and tYObtaining the equivalent acceleration of the manned robot along the X axis and the Y axis as follows:
wherein, Δ x and Δ y respectively correspond to the variation in x and y directions, aX and aYRespectively and correspondingly representing the acceleration in the X direction and the acceleration in the Y direction, wherein a and b are respectively equivalent acceleration of the manned robot along the X axis and the Y axis;
therefore, an elliptical equivalent acceleration envelope can be established by taking a and b as semi-major axes;
for better agility, the circular envelope is constructed such that the circular area and the elliptical area are equal in value, the radius of the circle being defined as the agility factor agAgility factor agThe greater the agility of the mobile body, the lower the agility, the agility factor agCan be expressed as:
in order to improve the agility of the manned robot, the agility factor value needs to be increased by shortening the time for changing the position of the manned robot as much as possible under the condition of meeting the motion constraint of the manned robot, so that the agility of the manned robot is improved.
Further, step 3) comprises:
let the weighted acceleration in the x, y, z coordinate axis directions be as follows:
aiw＝ai(t)W(f) i＝x，y，z (4)
wherein ,ai(t) represents the acceleration in the x direction, and w (f) represents a band weighting coefficient;
traversing the whole process of the acceleration, and setting the peak value in the whole process as aiwpThen obtaining the vibration coefficient u of the automobilepComprises the following steps:
when u ispWhen the value is less than or equal to 9, a basic evaluation method is used; the basic evaluation method calculates the weighted acceleration mean square value a according to the following formulaiwWherein the time T is 120 seconds,
wherein, the weighted acceleration is the acceleration in a single direction to carry out weighted operation; the weighted acceleration root mean square value is a weighted average value obtained by acceleration values in a plurality of directions.
When the vibration of the chair surface in the x, y and z axial directions is considered simultaneously, the root mean square value a of the total weighted accelerationwObtained according to the following formula:
wherein ,axRepresents the weighted acceleration in the x-direction, ayRepresenting weighted acceleration in the y-direction, azRepresents a weighted acceleration in the z direction;
when u ispWhen the frequency is more than 9, estimating the influence of large-amplitude vibration caused by an overlarge pulse occasionally encountered when the manned robot runs on a human body by adopting a weighted acceleration 4-time power root value, wherein in an auxiliary evaluation method, a vibration dose value VDV is used as an evaluation index, and the evaluation index is shown as the following formula:
therefore, in order to meet the ride comfort of the manned robot, the root mean square value of the weighted acceleration of the manned robot needs to be less than 0.8, and then the corresponding start-stop acceleration is calculated.
According to a second aspect of the embodiments of the present invention, there is provided a manned robot motion agility evaluation apparatus, comprising a security constraint analysis module, an agility constraint analysis module, and a smoothness constraint analysis module, wherein,
1) the safety constraint analysis module is used for analyzing the running safety of the manned robot and comprises:
the safety is ensured in the operation process of the manned robot, the manned robot does not collide with any obstacle, and the unmanned aerial vehicle can be expressed as the following formula:
dist＞Safe_dist (1)
wherein, manned robot R and any obstacle OiA Safe distance dist therebetween, wherein the maximum braking Safe distance of the manned robot is Safe _ dist; when an emergency danger state occurs, if the manned robot needs emergency danger avoidance, the braking acceleration of the manned robot is increased, so that the braking distance of the manned robot is reduced, and the overall control effect meets the distance requirement of a formula (1);
2) the agility constraint analysis module is used for analyzing the agility of the operation of the manned robot, and comprises:
decomposing the position change of the manned robot along the global XY coordinate into X and Y directions, and solving the shortest time t required by the corresponding change quantity of X and YX and tYObtaining the equivalent acceleration of the manned robot along the X axis and the Y axis as follows:
wherein, Δ x and Δ y respectively correspond to the variation in x and y directions, aX and aYRespectively and correspondingly representing the acceleration in the X direction and the acceleration in the Y direction, wherein a and b are respectively equivalent acceleration of the manned robot along the X axis and the Y axis;
therefore, an elliptical equivalent acceleration envelope can be established by taking a and b as semi-major axes;
for better presentation agility, the circular envelope is constructed such thatThe circular area and the elliptical area are equal in value, and the radius of the circle is defined as an agility factor agAgility factor agThe greater the agility of the mobile body, the lower the agility, the agility factor agCan be expressed as:
in order to improve the agility of the manned robot, the agility factor value is increased by shortening the time for changing the position of the manned robot as much as possible under the condition of meeting the motion constraint of the manned robot, so that the agility of the manned robot is improved;
3) the ride comfort constraint analysis module is used for analyzing the ride comfort of the operation of the manned robot and comprises the following components:
let the weighted acceleration in the x, y, z coordinate axis directions be as follows:
aiw＝ai(t)W(f) i＝x，y，z (4)
wherein ,ai(t) represents the acceleration in the x direction, and w (f) represents a band weighting coefficient;
traversing the whole process of the acceleration, and setting the peak value in the whole process as aiwpThen obtaining the vibration coefficient u of the automobilepComprises the following steps:
when u ispWhen the value is less than or equal to 9, a basic evaluation method is used; the basic evaluation method calculates the weighted acceleration mean square value a according to the following formulaiwWherein the time T is 120 seconds,
when the vibration of the chair surface in the x, y and z axial directions is considered simultaneously, the root mean square value a of the total weighted accelerationwObtained according to the following formula:
wherein ,axRepresents the weighted acceleration in the x-direction, ayRepresenting weighted acceleration in the y-direction, azRepresents a weighted acceleration in the z direction;
when u ispWhen the frequency is more than 9, estimating the influence of large-amplitude vibration caused by an overlarge pulse occasionally encountered when the manned robot runs on a human body by adopting a weighted acceleration 4-time power root value, wherein in an auxiliary evaluation method, a vibration dose value VDV is used as an evaluation index, and the evaluation index is shown as the following formula:
therefore, in order to meet the ride comfort of the manned robot, the root mean square value of the weighted acceleration of the manned robot needs to be less than 0.8, and then the corresponding start-stop acceleration is calculated.
According to a third aspect of embodiments of the present invention, there is provided a server, comprising a memory and a processor, the memory having stored therein computer-readable instructions, which, when executed by the processor, cause the processor to perform the steps of the method as described in any one of the above.
According to a fourth aspect of embodiments of the present invention, there is provided one or more computer-readable non-transitory storage media storing computer-readable instructions which, when executed by one or more processors, cause the one or more processors to perform the steps of the method as recited in any one of the above.
The embodiment of the invention has the following advantages:
obtaining the equivalent acceleration of the manned robot along the X axis and the Y axis by obtaining the shortest time required by the X and Y corresponding variable quantities of the manned robot under the global XY coordinate, and establishing an elliptical equivalent acceleration envelope. Meanwhile, for better expressing agility, the circular area and the elliptical area are equal in value by constructing a circular envelope, the radius of the circle is defined as an agility factor, when the agility factor is larger, the agility of the mobile body is higher, and conversely, the agility is lower. Therefore, in order to improve the agility of the manned robot, the agility factor value needs to be increased by shortening the time for changing the position of the manned robot as much as possible under the condition of meeting the motion constraint of the manned robot, so that the agility of the manned robot is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
FIG. 1 is an envelope diagram of equivalent agility of a manned robot;
FIG. 2 is a diagram of a human body sitting posture vibration model;
fig. 3 is a schematic structural view of the manned robot.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Firstly, a manned robot kinematic model is established
According to the application, the wheel type manned robot researches the track planning and motion control problems of the wheel type manned robot on a two-dimensional plane according to a non-integral constrained double-wheel differential form, and the specific structure is shown in figure 3. The manned robot system comprises a left driving wheel, a right driving wheel and other 4 driven universal wheels on two sides of the middle part. The advancing direction of the manned robot is controlled by the rotating speed difference of the driving wheels at the left side and the right side, the rotating speed of the driving wheels can be controlled, and the advancing speed of the manned robot is changed. Other driven wheels provide support and guide steering functions for smooth running of the manned robot. The manned robot is supposed not to generate mechanical deformation, and the sliding and sideslip cannot occur in the operation process.
The global coordinate system XOY and the local coordinate system x are included in FIG. 3pcyp(ii) a V is set because the speeds of the left and right wheels of the manned robot are differentlFor left-wheel forward speed, VrThe forward speed of the right wheel is the speed,
the rotating angular speed of the left wheel and the right wheel is theta, the included angle between the manned robot and the X axis in the positive direction is theta, the radius of the wheels is r, and the distance between the two wheels is W.
meanwhile, the relationship between the speed of the left wheel and the speed of the right wheel and the forward speed and the steering angle speed can be obtained as follows:
the steering angular velocity is obtained as follows:
ω＝(Vl-Vr)/W (1.4)
the geometric center coordinates of the manned robot are taken as the two-wheel center, and the motion equation obtained according to the analysis is shown as the formula (1.5):
defining the generalized pose vector of the manned robot as q ═ (x, y, theta)TVelocity vector v ═ (v, ω)TThen, the kinematics model of the manned robot can be expressed as:
wherein: matrix array
Equation (1.6) is developed as shown below:
from the above analysis, there are three kinematic variables of the manned robot, namely, the left wheel speed, the right wheel speed and the steering angular speed, and the three variables are considered simultaneously when adjusting the pose of the manned robot.
Then, a manned robot dynamic model is established
The kinetic model is different from the kinematic model. The dynamic model describes a dynamic derivation relation of the speed and the pose of the manned robot, and comprises a kinematic conversion relation of the manned robot on a mechanical structure and a basic kinematic model relation of the manned robot, and further comprises a relation between the stress of the manned robot and the pose of the manned robot. The establishment of the dynamic model of the manned robot is to perform the system analysis of the manned robot from the deeper and more comprehensive angle of the motion control of the manned robot.
When the manned robot is subjected to dynamic analysis, Lagrange's equation is generally adopted for gradual derivation, and the Lagrange's equation is mainly used for performing comprehensive stress analysis on the manned robot to form a relational expression containing kinetic energy and potential energy of the manned robot, and can be expressed as the following formula:
L＝T-P (1.8)
wherein: t is the sum of kinetic energy of the manned robot, and P is the sum of potential energy of the manned robot; and (4) making a difference between the kinetic energy and the potential energy of the manned robot, namely obtaining the Lagrangian function of the manned robot.
The manned robot studied in this document is considered to be a hard ground with a flat ground surface, no large gradient change and no sideslip, in a human-machine coexistence environment, so that the potential energy change of the manned robot is not considered, namely, P is 0. When the kinetic analysis of the manned robot is carried out, only the kinetic energy of the manned robot is considered, and the kinetic analysis can be expressed as a formula (1.9):
a Lagrange standard form is constructed by a dynamic model of the manned robot, and can be expressed as a formula (1.10):
wherein: m is a matrix of the inertia,
v is a matrix of coriolis forces and centrifugal forces,
e is a conversion matrix, and E is a conversion matrix,
a is an incomplete constraint matrix and A is an incomplete constraint matrix,
τ is the input torque vector, τ ═ τ1，τ2]T(ii) a λ is the lagrange multiplier factor matrix corresponding to the constraining force. The matrix parameter m is the total mass of the manned robot; i is the rotational inertia of the manned robot in the steering process; d is the distance between the geometric center and the mass center of the manned robot.
For the lagrangian standard form of the manned robot, if the geometric center and the centroid of the manned robot in the structure shown in fig. 3 are considered to coincide with each other, the distance d between the geometric center and the centroid in the lagrangian standard form can be ignored, and the coriolis force and centrifugal force matrix V will not exist. Therefore, the Lagrangian standard form of the dynamic model can be simplified to obtain:
and in addition, the manned robot is in a man-machine coexistence environment, the ground is flat and does not sideslip or slip, and the incomplete constraint matrix A of the manned robot meets the relation shown in the formula (1.12).
And according to the kinematic model of the manned robot in the formula (1.6):
the lagrangian standard forms of the velocity matrix and the acceleration matrix are obtained by combining equation (1.11) with equations (1.12) and (1.13) as shown in the following formulas:
multiplying both ends of the formula by ST(q), the specific content of each parameter matrix is substituted, calculated and simplified to obtain:
after simplification, S can be obtainedT(q)AT(q)＝0，
The formula (1.16) is obtained:
let B be ST(q)E(q)，
Namely, the method comprises the following steps:
wherein ,
in order to evaluate the motion agility of the manned robot, the following steps are required to be completed:
1) safety constraint analysis in the operation process of the manned robot;
2) agility constraint analysis in the operation process of the manned robot;
3) and carrying out smoothness constraint analysis in the operation process of the manned robot.
Security constraint analysis
The safety of the manned robot is ensured firstly in the operation process, and the manned robot does not collide with any obstacle. Can be expressed as follows:
dist＞Safe_dist (1)
wherein, the manned robot R and any obstacle O in motioniA safe distance dist therebetween. When an emergency dangerous state occurs and the manned robot needs emergency danger avoidance, the braking acceleration of the manned robot is increased, so that the braking distance of the manned robot is reduced, and the overall control effect meets the distance requirement of the formula (1).
Agility constraint analysis
Agility refers to the mobility of a manned robot. In order to reflect the agility, the most intuitive parameter is the acceleration of the manned robot, and the more acceleration can be provided, the more agile the motion performance of the manned robot is. However, when the speed and acceleration of the robot are constrained, the evaluation of the agility of the robot with respect to the magnitude of the acceleration is greatly limited.
Aiming at the judgment problem of agility, the most intuitive embodiment in the daily life of people is that the shorter the time for a motor body to complete a series of actions or processes, the stronger the agility is. Many experts and scholars also refer to the time when researching the agility, and the embodied characteristics are that the shorter the time required for completing the maneuver, the higher the agility is, which is consistent with the daily feeling of the agility.
In conclusion, the time required by the manned robot to reach the designated pose can be used as a parameter variable to construct equivalent acceleration, so that the maneuvering agility of the manned robot is evaluated, and the agility degree of the manned robot can be reflected more intuitively.
Decomposing the position change of the manned robot along the global XY coordinate into X and Y directions, and solving the shortest time t required by the corresponding change quantity of X and YX and tYObtaining the equivalent acceleration of the manned robot along the X axis and the Y axis as follows:
wherein, Δ x and Δ y respectively correspond to the variation in x and y directions, aX and aYRespectively and correspondingly representing the acceleration in the X direction and the acceleration in the Y direction, wherein a and b are respectively equivalent acceleration of the manned robot along the X axis and the Y axis;
thus, an elliptical equivalent acceleration envelope can be established with a and b as the semi-major axes, as shown in fig. 1.
For better agility, the circular envelope is constructed such that the circular area and the elliptical area are equal in value, the radius of the circle being defined as the agility factor ag. Agility factor agLarger, the agility of the mobile body is higher, whereas the agility is lower. Agility factor agCan be expressed as:
in order to improve the agility of the manned robot, the agility factor value needs to be increased by shortening the time for changing the position of the manned robot as much as possible under the condition of meeting the motion constraint of the manned robot, so that the agility of the manned robot is improved.
Ride comfort constraint analysis
Considering the problem of ride comfort, the manned robot needs to be started, stopped and carried in the process to ensure smooth movement as much as possible, so that the passengers can feel comfortable subjectively and not feel uncomfortable due to sudden speed change.
According to the comfort defined in the international GB/T4970-2009 document, the smoothness of motion is one of the main contents of the comfort evaluation; the smoothness is to prevent the vibration and impact generated by the running of the vehicle from causing discomfort and fatigue, and even threatening the safety of human bodies or damaging goods.
According to a human body vibration evaluation model for representing smoothness in a national standard document, as shown in fig. 2, the influence of vibration of a human body in 3 directions in a sitting posture state is analyzed. The GB/T4970-2009 standard considers that the sensitivity of the human body to vibration with different frequencies is different, the human body is more sensitive to vibration in the horizontal direction than to vibration in the vertical direction, and the human body is most sensitive in the ranges of 4-12 Hz in the vertical direction and 0.5-2 Hz in the horizontal direction; and a basic evaluation method and an auxiliary evaluation method for evaluating the smoothness of the vehicle are quantitatively given. Let the weighted acceleration in the x, y, z coordinate axis directions be as follows:
aiw＝ai(t)W(f) i＝x，y，z (4)
wherein ,ai(t) represents the acceleration in the x direction, and w (f) represents a band weighting coefficient;
traversing the whole process of the acceleration, and setting the peak value in the whole process as aiwpThen obtaining the vibration coefficient u of the automobilepComprises the following steps:
the relevant standard of the wheel type electric wheelchair records the connection between the automobile and the wheel type electric wheelchair and records the vibration coefficient of the automobile.
When u ispWhen the value is less than or equal to 9, a basic evaluation method is used; various vehicles are suitable for using the basic evaluation method under normal driving conditions. The basic evaluation method calculates the weighted acceleration mean square value a according to the following formulaiwWhere time T is typically taken to be 120 seconds.
When the vibration of the chair surface in the x, y and z axial directions is considered simultaneously, the root mean square value a of the total weighted accelerationwObtained according to the following formula:
wherein ,axRepresents the weighted acceleration in the x-direction, ayRepresenting weighted acceleration in the y-direction, azRepresents a weighted acceleration in the z direction; reference is made here to the paper "research on acceleration and braking comfort in pure electric buses" horse.
A table of subjective comfort levels can be obtained from international standard documents, as shown in table 1:
TABLE 1 subjective perception of comfort
When u ispAnd when the acceleration is more than 9, estimating the influence of large-amplitude vibration caused by the excessive pulse occasionally encountered when the manned robot runs on the human body by adopting the weighted acceleration 4-time power root value, wherein the influence is mainly expressed as a human body uncomfortable state. In the auxiliary evaluation method, the vibration dose value VDV is used as an evaluation index, and is represented by the following formula:
therefore, in order to meet the ride comfort of the manned robot, the root mean square value of the weighted acceleration of the manned robot needs to be less than 0.8, and then the corresponding start-stop acceleration is calculated.
Here, the range of the numerical requirement of the acceleration in combination with the smoothness is used. When aw is more than 1.0 or aw is more than 0.8, the patient is uncomfortable, and the patient can refer to horse and horse in the paper research on accelerating and braking comfort of pure electric buses.
According to a second aspect of the embodiments of the present invention, there is provided a manned robot motion agility evaluation apparatus, comprising a security constraint analysis module, an agility constraint analysis module, and a smoothness constraint analysis module, wherein,
1) the safety constraint analysis module is used for analyzing the running safety of the manned robot and comprises:
the safety is ensured in the operation process of the manned robot, the manned robot does not collide with any obstacle, and the unmanned aerial vehicle can be expressed as the following formula:
dist＞Safe_dist (1)
wherein, manned robot R and any obstacle OiA Safe distance dist therebetween, wherein the maximum braking Safe distance of the manned robot is Safe _ dist; when an emergency danger state occurs, if the manned robot needs emergency danger avoidance, the braking acceleration of the manned robot is increased, so that the braking distance of the manned robot is reduced, and the overall control effect meets the distance requirement of a formula (1);
2) the agility constraint analysis module is used for analyzing the agility of the operation of the manned robot, and comprises:
decomposing the position change of the manned robot along the global XY coordinate into X and Y directions, and solving the shortest time t required by the corresponding change quantity of X and YX and tYObtaining the equivalent acceleration of the manned robot along the X axis and the Y axis as follows:
wherein, Δ x and Δ y respectively correspond to the variation in x and y directions, aX and aYRespectively and correspondingly representing the acceleration in the X direction and the acceleration in the Y direction, wherein a and b are respectively equivalent acceleration of the manned robot along the X axis and the Y axis;
therefore, an elliptical equivalent acceleration envelope can be established by taking a and b as semi-major axes;
for better agility, the circular envelope is constructed such that the circular area and the elliptical area are equal in value, the radius of the circle being defined as the agility factor agAgility factor agThe greater the agility of the mobile body, the lower the agility, the agility factor agCan be expressed as:
in order to improve the agility of the manned robot, the agility factor value is increased by shortening the time for changing the position of the manned robot as much as possible under the condition of meeting the motion constraint of the manned robot, so that the agility of the manned robot is improved;
3) the ride comfort constraint analysis module is used for analyzing the ride comfort of the operation of the manned robot and comprises the following components:
let the weighted acceleration in the x, y, z coordinate axis directions be as follows:
aiw＝ai(t)W(f) i＝x，y，z (4)
wherein ,ai(t) represents the acceleration in the x direction, and w (f) represents a band weighting coefficient;
traversing the whole process of the acceleration, and setting the peak value in the whole process as aiwpThen obtaining the vibration coefficient u of the automobilepComprises the following steps:
when u ispWhen the value is less than or equal to 9, a basic evaluation method is used; the basic evaluation method calculates the weighted acceleration mean square value a according to the following formulaiwWherein the time T is 120 seconds,
when the vibration of the chair surface in the x, y and z axial directions is considered simultaneously, the root mean square value a of the total weighted accelerationwObtained according to the following formula:
wherein ,axRepresents the weighted acceleration in the x-direction, ayRepresenting weighted acceleration in the y-direction, azRepresents a weighted acceleration in the z direction;
when u ispWhen the frequency is more than 9, the weighted acceleration 4-time power root value is adopted to estimate the influence of large-amplitude vibration caused by overlarge pulse occasionally encountered when the manned robot runs on a human body, in an auxiliary evaluation method (refer to national standard GB/T4970-2009) of the people's republic of China, a vibration dose value VDV is adopted as an evaluation index,as shown in the following formula:
therefore, in order to meet the ride comfort of the manned robot, the root mean square value of the weighted acceleration of the manned robot needs to be less than 0.8, and then the corresponding start-stop acceleration is calculated.
According to a third aspect of embodiments of the present invention, there is provided a server, comprising a memory and a processor, the memory having stored therein computer-readable instructions, which, when executed by the processor, cause the processor to perform the steps of the method as described in any one of the above.
According to a fourth aspect of embodiments of the present invention, there is provided one or more computer-readable non-transitory storage media storing computer-readable instructions which, when executed by one or more processors, cause the one or more processors to perform the steps of the method as recited in any one of the above.
In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually making an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Hardware Description Language), traffic, pl (core universal Programming Language), HDCal (jhdware Description Language), lang, Lola, HDL, laspam, hardward Description Language (vhr Description Language), vhal (Hardware Description Language), and vhigh-Language, which are currently used in most common. It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more software and/or hardware implementations of the present description.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks. In a typical configuration, a computer includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic disk storage, quantum memory, graphene-based storage media or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The terminology used in the description of the one or more embodiments is for the purpose of describing the particular embodiments only and is not intended to be limiting of the description of the one or more embodiments. As used in one or more embodiments of the present specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used in one or more embodiments of the present description to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of one or more embodiments herein. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (7)
1. The method for evaluating the motion agility of the manned robot is characterized by comprising the following steps of:
1) safety constraint analysis in the operation process of the manned robot;
2) carrying out agility constraint analysis in the operation process of the manned robot based on the safety constraint analysis result;
3) and carrying out smoothness constraint analysis in the operation process of the manned robot based on the agility constraint analysis result.
2. The method for evaluating the motion agility of the manned robot according to claim 1, wherein step 1) comprises:
the safety is ensured in the operation process of the manned robot, and the manned robot does not collide with any obstacle and can be expressed as the following formula:
dist＞Safe_dist (1)
wherein the safety distance dist between the manned robot and any obstacle, wherein the maximum braking safety distance of the manned robot is Safe _ dist.
3. The method for evaluating the motion agility of the manned robot according to claim 1, wherein step 2) comprises:
decomposing the position change of the manned robot along the global XY coordinate into X and Y directions, and solving the shortest time t required by the corresponding change quantity of X and YX and tYObtaining the equivalent acceleration of the manned robot along the X axis and the Y axis as follows:
wherein, Δ x and Δ y respectively correspond to the variation in x and y directions, aX and aYRespectively and correspondingly representing the acceleration in the X direction and the acceleration in the Y direction, wherein a and b are respectively equivalent acceleration of the manned robot along the X axis and the Y axis;
therefore, an elliptical equivalent acceleration envelope can be established by taking a and b as semi-major axes;
for better agility, the circular envelope is constructed such that the circular area and the elliptical area are equal in value, the radius of the circle being defined as the agility factor agAgility factor agThe larger the agility of the mobile body, the lower the agility, the agility factor agCan be expressed as:
wherein ,tX and tYIn order to ensure that the manned robot needs the shortest time for corresponding variation in the X direction and the Y direction, the delta X and the delta Y respectively correspond to the variation in the X direction and the Y direction.
4. The method for evaluating the motion agility of the manned robot according to claim 1, wherein step 3) comprises:
let the weighted acceleration in the x, y, z coordinate axis directions be as follows (4):
aiw＝ai(t)W(f) i＝x，y，z (4)
wherein ,ai(t) represents the acceleration in the x direction, and w (f) represents a band weighting coefficient;
traversing the whole process of the acceleration, and setting the peak value in the whole process as aiwpThen obtaining the vibration coefficient u of the automobilepComprises the following steps:
when u ispWhen the value is less than or equal to 9, a basic evaluation method is used; the basic evaluation method calculates a weighted acceleration mean square value a according to the following formula (6)iwWherein the time T is 120 seconds,
when the vibration of the chair surface in the x, y and z axial directions is considered simultaneously, the root mean square value a of the total weighted accelerationwObtained according to the following formula (7):
wherein ,axRepresents the weighted acceleration in the x-direction, ayRepresenting weighted acceleration in the y-direction, azRepresents a weighted acceleration in the z direction;
when u ispWhen the pressure is higher than 9 percent of the pressure,the weighted acceleration 4-order root value is adopted to estimate the influence of large-amplitude vibration caused by excessive pulse occasionally encountered when the manned robot runs on a human body, and in an auxiliary evaluation method, a vibration dose value VDV is adopted as an evaluation index, as shown in the following formula (8):
when the root mean square value of the weighted acceleration of the manned robot is below 0.8, the riding smoothness requirement of the manned robot is met, and then the corresponding start-stop acceleration is calculated.
5. The manned robot motion agility evaluation device is characterized by comprising a safety constraint analysis module, an agility constraint analysis module and a smoothness constraint analysis module, wherein,
1) the safety constraint analysis module is used for analyzing the running safety of the manned robot and comprises:
the safety is ensured in the operation process of the manned robot, the manned robot does not collide with any obstacle, and the unmanned aerial vehicle can be expressed as the following formula:
dist＞Safe_dist (1)
wherein, the safety distance dist between the manned robot and any obstacle, wherein the maximum braking safety distance of the manned robot is Safe _ dist;
2) the agility constraint analysis module is used for analyzing the agility of the operation of the manned robot, and comprises:
decomposing the position change of the manned robot along the global XY coordinate into X and Y directions, and solving the shortest time t required by the corresponding change quantity of X and YX and tYObtaining the equivalent acceleration of the manned robot along the X axis and the Y axis as follows:
therefore, an elliptical equivalent acceleration envelope can be established by taking a and b as semi-major axes;
for better agility, the circular envelope is constructed such that the circular area and the elliptical area are equal in value, the radius of the circle being defined as the agility factor agAgility factor agThe larger the agility of the mobile body, the lower the agility, the agility factor agCan be expressed as:
3) the ride comfort constraint analysis module is used for analyzing the ride comfort of the operation of the manned robot and comprises the following components:
let the weighted acceleration in the x, y, z coordinate axis directions be as follows (4):
aiw＝ai(t)W(f) i＝x，y，z (4)
traversing the whole process of the acceleration, and setting the peak value in the whole process as aiwpThen obtaining the vibration coefficient u of the automobilepComprises the following steps:
when u ispWhen the value is less than or equal to 9, a basic evaluation method is used; the basic evaluation method calculates a weighted acceleration mean square value a according to the following formula (6)iwWherein the time T is 120 seconds,
when the vibration of the chair surface in the x, y and z axial directions is considered simultaneously, the root mean square value a of the total weighted accelerationwObtained according to the following formula (7):
when u ispWhen the weighted acceleration is more than 9, estimating the influence of large-amplitude vibration caused by an overlarge pulse occasionally encountered when the manned robot runs on a human body by adopting a weighted acceleration 4-time power root value, and in an auxiliary evaluation method, adopting a vibration dose value VDV as an evaluation index, wherein the evaluation index is shown in the following formula (8):
when the root mean square value of the weighted acceleration of the manned robot is below 0.8, the riding smoothness requirement of the manned robot is met, and then the corresponding start-stop acceleration is calculated.
6. A server comprising a memory and a processor, the memory having stored therein computer-readable instructions that, when executed by the processor, cause the processor to perform the steps of the method of any one of claims 1-4.
7. One or more computer-readable non-transitory storage media storing computer-readable instructions which, when executed by one or more processors, cause the one or more processors to perform the steps of the method of any one of claims 1-4.
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