CN114415618B - Method and device for evaluating movement agility of manned robot - Google Patents
Method and device for evaluating movement agility of manned robot Download PDFInfo
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Abstract
The embodiment of the application discloses a method and a device for evaluating the movement agility of a manned robot, belonging to the technical field of aviation manned robots, wherein the method for evaluating the movement agility of the manned robot comprises the following 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 analyzing smoothness constraint in the operation process of the manned robot. For better expression agility, the radius of the circle is defined as an agility factor by constructing a circular envelope so that the numerical values of the circular area and the elliptical area are equal, and 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 carrying robot, the agility factor value needs to be increased by shortening the time used for the position change of the carrying robot as much as possible under the condition of conforming to the motion constraint of the carrying robot, so that the agility of the carrying robot is improved.
Description
Technical Field
The embodiment of the application relates to the technical field of aviation manned robots, in particular to a manned robot movement agility evaluation method and an evaluation device.
Background
Civil aviation bureau issued "New technical directory guide for airport" in 2018, and will perform omnibearing optimization on each production element and business flow in the whole stages of planning, construction and production of airport. The rapid clearance system is mentioned for the 'convenient service' level, namely, the convenient carrying and clearance guiding service system can be completed from arrival to boarding and departure of a terminal building in the process of taking a passenger and an airplane.
In order to improve the passing efficiency of passengers in a terminal building, the passenger car can quickly reach all places in the terminal building, the residence time is shortened, 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 (i.e. comfort), agility and the like of the robot are required to be considered, namely, how the robot can safely, agility and smoothly pass through the terminal building in a complex environment. Ride comfort, i.e., the ability to provide a pleasant and comfortable ride environment and convenient operating conditions for the ride transport vehicle personnel; the riding safety is also clearly defined in national standards of GB7258-2017 motor vehicle operation safety technical conditions, and mainly comprises braking performance and collision avoidance requirements; the most intuitive manifestation of agility is that the manned robot is quicker and takes shorter time when completing related actions or behaviors.
And the measurement and evaluation of the agility are that the most intuitive parameters are the acceleration of the robot, and the larger the acceleration can be provided, the more agility the motion performance of the robot is. However, when the speed and acceleration of the robot are constrained, the evaluation of the agility of the robot at the acceleration level 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 those skilled in the art.
Disclosure of Invention
Therefore, the embodiment of the application provides a method and a device for evaluating the motion agility of a manned robot, so as to solve the related technical problems in the prior art.
Agility refers to the mobility that a manned robot possesses. Aiming at the problem of judging the agility, the most intuitive embodiment in the daily life of people is that the shorter the time of a motor body in completing a series of actions or processes, the stronger the agility. Many expert scholars also refer to time when researching agility, and the shorter the time required for completing maneuver, the higher the agility, which is consistent with daily feeling of 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 agility of the manned robot can be evaluated, and the agility degree of the manned robot can be more intuitively reflected.
In order to achieve the above object, the embodiment of the present application provides the following technical solutions:
according to a first aspect of an embodiment of the present application, a method for evaluating motion agility of a manned robot includes the steps of:
1) Safety constraint analysis in the operation process of the manned robot;
2) Based on the safety constraint analysis result, carrying out agility constraint analysis in the operation process of the manned robot;
3) And carrying out smoothness constraint analysis in the operation process of the robot based on the agility constraint analysis result.
The manned robot is used for carrying passengers to arrive at a destination as agility as possible on the premise of ensuring the safety, and the smoothness of the movement track is ensured in the process.
The agile manned robot agility factor is determined by evaluating the moving track of the manned robot. The track 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, in step 1), it includes:
the safety is ensured firstly in the operation process of the manned robot, and the unmanned robot does not collide with any obstacle, and can be expressed as the following formula:
dist＞Safe_dist (1)
wherein a Safe distance dist between the manned robot and any obstacle, wherein the maximum braking Safe distance of the manned robot is safe_dist.
Further, in step 2), it includes:
the position change of the manned robot along the global XY coordinate is decomposed into two directions X and Y, and the shortest time t required by the corresponding change quantity of X and Y is solved X and tY The equivalent acceleration of the manned robot along the X and Y axes is obtained as follows:
wherein Deltax and Deltay respectively correspond to the variation in x-direction and y-direction, a X and aY Acceleration in the X direction and acceleration in the Y direction are respectively and correspondingly expressed, and a and b are equivalent acceleration of the manned robot along the X axis and the Y axis respectively;
therefore, an elliptic equivalent acceleration envelope can be established by taking a and b as semi-principal axes;
for better expression agility, a circular envelope is constructed such that the circular area and elliptical area are equal in value, and the radius of the circle is defined as agility factor a g Agility factor a g When the agility is larger, the agility of the maneuvering body is higher, otherwise, the agility is lower, and the agility factor a is higher g Can be expressed as:
in order to improve the agility of the manned robot, the agility factor value is increased by shortening the time used for position change as much as possible under the condition of conforming to the motion constraint of the manned robot, so that the agility of the manned robot is improved.
Further, in step 3), it includes:
let x, y, z coordinate axis directional weighted acceleration be the following:
a iw ＝a i (t)W(f) i＝x，y，z (4)
wherein ,ai (t) represents acceleration in the x direction, and W (f) represents a band weighting coefficient;
traversing the whole acceleration process, and setting the peak value in the whole process as a iwp Obtaining the vibration coefficient u of the automobile p The method comprises the following steps:
when u is p When the weight is less than or equal to 9, a basic evaluation method is used; the basic evaluation method calculates a weighted acceleration according to the followingMean square value of degree a iw Wherein the time T takes 120 seconds,
the weighted acceleration is the acceleration in a single direction for weighted operation; the weighted acceleration root mean square value is a weighted average value of acceleration values in a plurality of directions.
When the vibration of the chair surface x, y and z in three axial directions is considered at the same time, the total weighted acceleration root mean square value a w Obtained according to the formula:
wherein ,ax Representing the weighted acceleration in the x-direction, a y Representing the weighted acceleration in the y-direction, a z A weighted acceleration representing the z direction;
when u is p When the weight acceleration is more than 9, the root value of the weighted acceleration to the power of 4 is adopted to estimate the influence of large vibration caused by excessive pulse occasionally encountered when the manned robot runs on the human body, and in the auxiliary evaluation method, the vibration dose value VDV is adopted as an evaluation index, and the following formula is shown:
therefore, in order to meet the riding comfort of the manned robot, the root mean square value of the weighted acceleration of the manned robot needs to be below 0.8, and then the corresponding start-stop acceleration is calculated.
According to a second aspect of the embodiment of the application, there is provided a manned robot movement agility evaluation device, 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 following components:
the safety is ensured in the operation process of the manned robot, and the unmanned robot does not collide with any obstacle, and can be expressed as the following formula:
dist＞Safe_dist (1)
wherein, the manned robot R and any obstacle O i A safety distance dist between, wherein the maximum braking safety distance of the manned robot is safe_dist; when an emergency dangerous state occurs, the manned robot needs to avoid danger in an emergency way, and the braking acceleration of the manned robot is increased, so that the braking distance of the manned robot is shortened, and the overall control effect meets the distance requirement of the formula (1);
2) The agility constraint analysis module is used for analyzing agility of operation of the manned robot, and comprises the following steps:
the position change of the manned robot along the global XY coordinate is decomposed into two directions X and Y, and the shortest time t required by the corresponding change quantity of X and Y is solved X and tY The equivalent acceleration of the manned robot along the X and Y axes is obtained as follows:
wherein Deltax and Deltay respectively correspond to the variation in x-direction and y-direction, a X and aY Acceleration in the X direction and acceleration in the Y direction are respectively and correspondingly expressed, and a and b are equivalent acceleration of the manned robot along the X axis and the Y axis respectively;
therefore, an elliptic equivalent acceleration envelope can be established by taking a and b as semi-principal axes;
for better expression agility, a circular envelope is constructed such that the circular area and elliptical area are equal in value, and the radius of the circle is defined as agility factor a g Agility factor a g When the agility is larger, the agility of the maneuvering body is higher, otherwise, the agility is lower, and the agility factor a is higher g Can be expressed as:
in order to improve the agility of the manned robot, the agility factor value is increased by shortening the time used for position change as much as possible under the condition of conforming to the motion constraint of the manned robot, so that the agility of the manned robot is improved;
3) The smoothness constraint analysis module is used for analyzing smoothness of operation of the manned robot, and comprises the following steps:
let x, y, z coordinate axis directional weighted acceleration be the following:
a iw ＝a i (t)W(f) i＝x，y，z (4)
wherein ,ai (t) represents acceleration in the x direction, and W (f) represents a band weighting coefficient;
traversing the whole acceleration process, and setting the peak value in the whole process as a iwp Obtaining the vibration coefficient u of the automobile p The method comprises the following steps:
when u is p When the weight 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 method iw Wherein the time T takes 120 seconds,
when the vibration of the chair surface x, y and z in three axial directions is considered at the same time, the total weighted acceleration root mean square value a w Obtained according to the formula:
wherein ,ax Representing the weighted acceleration in the x-direction, a y Representing the weighted acceleration in the y-direction, a z A weighted acceleration representing the z direction;
when u is p At > 9, the weighted acceleration 4-degree root value is used for estimating the large caused by the occasionally-encountered oversized pulse when the manned robot runsIn the auxiliary evaluation method, the vibration dose value VDV is used as an evaluation index, and the following formula is adopted:
therefore, in order to meet the riding comfort of the manned robot, the root mean square value of the weighted acceleration of the manned robot needs to be below 0.8, and then the corresponding start-stop acceleration is calculated.
According to a third aspect of embodiments of the present application, 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 of the above.
According to a fourth aspect of embodiments of the present application, there is provided one or more computer-readable non-volatile 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 claimed in any one of the above.
The embodiment of the application has the following advantages:
and obtaining the equivalent acceleration of the manned robot along the X and Y axes by obtaining the minimum time required by the corresponding variable quantity of the X and Y of the manned robot under the global XY coordinates, and establishing an elliptical equivalent acceleration envelope. Meanwhile, for better expression agility, the numerical values of the circular area and the elliptical area are equal by constructing a circular envelope, the radius of the circle is defined as an agility factor, and 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 used for position change as much as possible under the condition of conforming to 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 application 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 will be apparent to those of ordinary skill in the art that the drawings in the following description are exemplary only and that other implementations can be obtained from the extensions of the drawings provided without inventive effort.
The structures, proportions, sizes, etc. shown in the present specification are shown only for the purposes of illustration and description, and are not intended to limit the scope of the application, which is defined by the claims, so that any structural modifications, changes in proportions, or adjustments of sizes, which do not affect the efficacy or the achievement of the present application, should fall within the ambit of the technical disclosure.
FIG. 1 is an equivalent agility envelope of a manned robot;
FIG. 2 is a diagram of a human sitting vibration model;
fig. 3 is a schematic structural view of the man-machine vehicle.
Detailed Description
Other advantages and advantages of the present application will become apparent to those skilled in the art from the following detailed description, which, by way of illustration, is to be read in connection with certain specific embodiments, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
First, a manned robot kinematic model is established
The wheel type manned robot of the application researches the track planning and motion control problems of the robot on a two-dimensional plane according to a double-wheel differential form of incomplete constraint, 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 at the 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, and the rotating speed of the driving wheels can be controlled, so that the advancing speed of the manned robot is changed. Other driven wheels provide support and steering guidance for smooth operation of the man-machine. The robot is assumed to have no mechanical deformation, and slip and sideslip do not occur in the running process.
In FIG. 3, a global coordinate system XOY and a local coordinate system x are included p cy p The method comprises the steps of carrying out a first treatment on the surface of the Since the speeds of the left and right wheels of the manned robot are different, V is set l For the forward speed of the left wheel, V r For the forward speed of the right wheel,the rotation angular speed of the left wheel and the right wheel is that theta is the positive included angle between the manned robot and the X axis, the radius of the wheels is r, and the interval between the two wheels is W.
The specific expression forms of the speeds of the left wheel and the right wheel of the manned robot are respectively obtained, and the forward speed V of the manned robot is the average speed of the left wheel and the right wheel, namely:
meanwhile, the relation between the left and right wheel speeds and the forward speed and the steering angular speed can be obtained as follows:
the steering angular velocity is obtained as follows:
ω＝(V l -V r )/W (1.4)
let the geometrical center coordinates of the manned robot be the centers of the two wheels, and the equation of motion obtained from the above analysis is shown in equation (1.5):
defining the generalized pose vector of the manned robot as q= (x, y, θ) T The velocity vector is v= (v, ω) T The kinematic model of the manned robot can be expressed as:
wherein: matrix array
The formula (1.6) is developed as shown in the following formula:
from the above analysis, three variables of the kinematics of the manned robot are respectively the left wheel speed, the right wheel speed and the steering angular speed, and when the pose of the manned robot is adjusted, the three variables are considered simultaneously.
Then, a dynamics model of the manned robot is built
The kinetic model is different from the kinematic model. The dynamic model describes the dynamic deduction relation of the speed and the pose of the manned robot, and not only comprises the kinematic conversion relation of the manned robot on a mechanical structure and the basic kinematic model relation of the manned robot, but also comprises the relation between the stress of the manned robot and the pose of the manned robot. The dynamic model of the manned robot is established, and the analysis of the manned robot system is performed from the perspective of deeper and more comprehensive motion control of the manned robot.
When the dynamics analysis is carried out on the manned robot, the Lagrange equation is generally adopted for gradual deduction, and the Lagrange equation mainly forms a relational expression containing the kinetic energy and potential energy of the manned robot through comprehensive stress analysis on the manned robot, and can be expressed as the following expression:
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; the difference between kinetic energy and potential energy of the manned robot is the Lagrange function of the manned robot.
The man-machine coexisting environment of the manned robot studied herein is regarded as a hard ground with flat ground, no large gradient change and no sideslip, so the potential energy change of the manned robot, i.e., p=0, is not considered. Only the kinetic energy of the robot is considered in performing the kinetic analysis of the robot, which can be expressed as formula (1.9):
the dynamic model of the manned robot is constructed into a Lagrangian standard form, which can be expressed as a formula (1.10):
wherein: m is an inertia matrix, wherein M is an inertia matrix,v is the matrix of Golgi forces and centrifugal forces, +.>E is a conversion matrix, ">A is a non-complete constraint matrix,>τ is the input torque vector, τ= [ τ ] 1 ，τ 2 ] T The method comprises the steps of carrying out a first treatment on the surface of the Lambda is a lagrangian multiplier factor matrix corresponding to the constraint force. The matrix parameter m is the total mass of the manned robot;i is the moment of inertia of the manned robot in the steering process; d is the distance between the geometrical center and the centroid of the manned robot.
For the above lagrangian standard form of the manned robot, if the geometric center and the centroid of the manned robot are considered to coincide with each other in the structure of the manned robot as shown in fig. 3, the distance d between the geometric center and the centroid in the lagrangian standard form is negligible, and the goldheim 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 the coexisting environment of the man-machine, the ground is flat and sideslip or skidding is not generated, and then the incomplete constraint matrix A of the man-machine meets the relation shown in the formula (1.12).
And according to the kinematic model of the manned robot in the formula (1.6):
combining equation (1.11) with equation (1.12), (1.13) to obtain the Lagrangian standard form of the velocity matrix and the acceleration matrix as shown in the following equation:
both ends of the formula are multiplied by S T (q) carrying the specific content of each parameter matrix, calculating and simplifying to obtain:
simplifying to obtain S T (q)A T (q)＝0，
The formula (1.16) is obtained by finishing:
let b=s T (q)E(q)，The method comprises the following steps:
wherein ,
in order to evaluate the movement 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 analyzing smoothness constraint in the operation process of the manned robot.
Security constraint analysis
The safety is ensured firstly in the operation process of the manned robot, and the manned robot does not collide with any obstacle. Can be expressed as follows:
dist＞Safe_dist (1)
wherein, the robot R and any obstacle O in motion i A safe distance dist between them. When an emergency dangerous state occurs, the manned robot needs to avoid danger in an emergency, and the braking acceleration of the manned robot should be increased to enable the manned robot to perform emergency avoidanceThe braking distance is reduced, and the overall control effect meets the distance requirement of the formula (1).
Agility constraint analysis
Agility refers to the mobility that a manned robot possesses. In order to reflect the strength of the agility, the most intuitive parameters are the acceleration of the manned robot, and the larger the acceleration can be provided, the more agility of the manned robot is. However, when the speed and acceleration of the robot are constrained, the evaluation of the agility of the robot at the acceleration level is greatly limited.
Aiming at the problem of judging the agility, the most intuitive embodiment in the daily life of people is that the shorter the time of a motor body in completing a series of actions or processes, the stronger the agility. Many expert scholars also refer to time when researching agility, and the shorter the time required for completing maneuver, the higher the agility, which is consistent with daily feeling of 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 agility of the manned robot is evaluated, and the agility degree of the manned robot can be more intuitively reflected.
The position change of the manned robot along the global XY coordinate is decomposed into two directions X and Y, and the shortest time t required by the corresponding change quantity of X and Y is solved X and tY The equivalent acceleration of the manned robot along the X and Y axes is obtained as follows:
wherein Deltax and Deltay respectively correspond to the variation in x-direction and y-direction, a X and aY Acceleration in the X direction and acceleration in the Y direction are respectively and correspondingly expressed, and a and b are equivalent acceleration of the manned robot along the X axis and the Y axis respectively;
thus, an elliptical equivalent acceleration envelope can be established with a and b as the semi-major axes, as shown in FIG. 1.
To be more preciseGood expression agility, constructing a circular envelope so that the circular area and the elliptical area have equal values, defining the radius of the circle as agility factor a g . Agility factor a g When the motor vehicle is larger, the higher the agility of the motor vehicle is, and conversely, the lower the agility is. Agility factor a g Can be expressed as:
in order to improve the agility of the manned robot, the agility factor value is increased by shortening the time used for position change as much as possible under the condition of conforming to the motion constraint of the manned robot, so that the agility of the manned robot is improved.
Smoothness constraint analysis
Considering the problem of ride comfort, the manned robot needs to ensure smooth movement as much as possible in the starting, stopping and carrying processes, so that passengers feel comfortable subjectively, and the passengers do not feel uncomfortable due to abrupt speed changes.
Comfort as defined in the national standard GB/T4970-2009 document, wherein smoothness of movement is one of the main contents of comfort evaluation; the smoothness is to avoid the discomfort and fatigue caused by vibration and impact generated by the running of the carrier, even threaten the safety of human bodies or damage goods.
According to the human body vibration evaluation model for representing smoothness in national standard documents, as shown in fig. 2, the influence of vibration of a person in 3 directions in a sitting posture state is analyzed. The GB/T4970-2009 standard considers that the sensitivity degree of a human body to vibration with different frequencies is different, the human body is more sensitive to vibration in the horizontal direction than in the vertical direction, the vertical direction is 4-12 Hz, and the human body is most sensitive in the range of 0.5-2 Hz; and the basic evaluation method and the auxiliary evaluation method for evaluating the smoothness of the vehicle are quantitatively provided. Let x, y, z coordinate axis directional weighted acceleration be the following:
a iw ＝a i (t)W(f) i＝x，y，z (4)
wherein ,ai (t) represents acceleration in the x-direction, and W (f) represents frequencyWith weighting coefficients;
traversing the whole acceleration process, and setting the peak value in the whole process as a iwp Obtaining the vibration coefficient u of the automobile p The method comprises the following steps:
the related standard of the wheeled electric wheelchair describes the connection between the automobile and the wheeled electric wheelchair, and describes the vibration coefficient of the automobile.
When u is p When the weight is less than or equal to 9, a basic evaluation method is used; various vehicles are suitable for using the basic evaluation method under the normal driving condition. The basic evaluation method calculates the weighted acceleration mean square value a according to the following method iw Where time T is typically taken to be 120 seconds.
When the vibration of the chair surface x, y and z in three axial directions is considered at the same time, the total weighted acceleration root mean square value a w Obtained according to the formula:
wherein ,ax Representing the weighted acceleration in the x-direction, a y Representing the weighted acceleration in the y-direction, a z A weighted acceleration representing the z direction; reference is made here to paper research on acceleration and brake comfort for pure electric buses Ma Jun.
A table of subjective comfort levels can be obtained from international standard documents, as shown in table 1:
table 1 subjective feeling of comfort
When u is p At > 9The influence of large-amplitude vibration caused by excessive pulse occasionally encountered when the manned robot runs on the human body is estimated by adopting a weighted acceleration 4-time root value, and the human body is mainly in an uncomfortable state. In the auxiliary evaluation method, the vibration dose value VDV is used as an evaluation index, as shown in the following formula:
therefore, in order to meet the riding comfort of the manned robot, the root mean square value of the weighted acceleration of the manned robot needs to be below 0.8, and then the corresponding start-stop acceleration is calculated.
Here the range of numerical requirements for acceleration combined with ride comfort. When aw is more than 1.0 or aw is more than 0.8, the user can see paper research on acceleration and braking comfort of pure electric buses, ma Jun.
According to a second aspect of the embodiment of the application, there is provided a manned robot movement agility evaluation device, 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 following components:
the safety is ensured in the operation process of the manned robot, and the unmanned robot does not collide with any obstacle, and can be expressed as the following formula:
dist＞Safe_dist (1)
wherein, the manned robot R and any obstacle O i A safety distance dist between, wherein the maximum braking safety distance of the manned robot is safe_dist; when an emergency dangerous state occurs, the manned robot needs to avoid danger in an emergency way, and the braking acceleration of the manned robot is increased, so that the braking distance of the manned robot is shortened, and the overall control effect meets the distance requirement of the formula (1);
2) The agility constraint analysis module is used for analyzing agility of operation of the manned robot, and comprises the following steps:
dividing the position change of the manned robot along the global XY coordinatesSolving into two directions of X and Y, and solving the shortest time t required by corresponding variable quantity of X and Y X and tY The equivalent acceleration of the manned robot along the X and Y axes is obtained as follows:
wherein Deltax and Deltay respectively correspond to the variation in x-direction and y-direction, a X and aY Acceleration in the X direction and acceleration in the Y direction are respectively and correspondingly expressed, and a and b are equivalent acceleration of the manned robot along the X axis and the Y axis respectively;
therefore, an elliptic equivalent acceleration envelope can be established by taking a and b as semi-principal axes;
for better expression agility, a circular envelope is constructed such that the circular area and elliptical area are equal in value, and the radius of the circle is defined as agility factor a g Agility factor a g When the agility is larger, the agility of the maneuvering body is higher, otherwise, the agility is lower, and the agility factor a is higher g Can be expressed as:
in order to improve the agility of the manned robot, the agility factor value is increased by shortening the time used for position change as much as possible under the condition of conforming to the motion constraint of the manned robot, so that the agility of the manned robot is improved;
3) The smoothness constraint analysis module is used for analyzing smoothness of operation of the manned robot, and comprises the following steps:
let x, y, z coordinate axis directional weighted acceleration be the following:
a iw ＝a i (t)W(f) i＝x，y，z (4)
wherein ,ai (t) represents acceleration in the x direction, and W (f) represents a band weighting coefficient;
traversing the whole acceleration process, and setting the peak value in the whole process as a iwp Obtaining the vibration coefficient u of the automobile p The method comprises the following steps:
when u is p When the weight 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 method iw Wherein the time T takes 120 seconds,
when the vibration of the chair surface x, y and z in three axial directions is considered at the same time, the total weighted acceleration root mean square value a w Obtained according to the formula:
wherein ,ax Representing the weighted acceleration in the x-direction, a y Representing the weighted acceleration in the y-direction, a z A weighted acceleration representing the z direction;
when u is p When the weight acceleration is more than 9, the root value of the 4 th-order square is adopted to estimate the influence of large vibration caused by excessive pulse occasionally encountered when the manned robot runs on the human body, and in the auxiliary evaluation method (refer to national standard GB/T4970-2009 of the people's republic of China), the vibration dose value VDV is adopted as an evaluation index, and the following formula is shown:
therefore, in order to meet the riding comfort of the manned robot, the root mean square value of the weighted acceleration of the manned robot needs to be below 0.8, and then the corresponding start-stop acceleration is calculated.
According to a third aspect of embodiments of the present application, 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 of the above.
According to a fourth aspect of embodiments of the present application, there is provided one or more computer-readable non-volatile 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 claimed in any one of the above.
In the 90 s of the 20 th century, improvements to one technology could clearly be distinguished as improvements in hardware (e.g., improvements to circuit structures such as diodes, transistors, switches, etc.) or software (improvements to the process flow). However, with the development of technology, many improvements of the current method flows can be regarded as direct improvements of hardware circuit structures. Designers almost always obtain corresponding hardware circuit structures by programming improved method flows into hardware circuits. Therefore, an improvement of a method flow cannot be said to be realized by a hardware entity module. For example, a programmable logic device (Programmable Logic Device, PLD) (e.g., field programmable gate array (Field Programmable Gate Array, FPGA)) is an integrated circuit whose logic function is determined by the programming of the device by a user. A designer programs to "integrate" a digital system onto a PLD without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Moreover, nowadays, instead of manually manufacturing integrated circuit chips, such programming is mostly implemented by using "logic compiler" software, which is similar to the software compiler used in program development and writing, and the original code before the compiling is also written in a specific programming language, which is called hardware description language (Hardware Description Language, HDL), but not just one of the hdds, but a plurality of kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), lava, lola, myHDL, PALASM, RHDL (Ruby Hardware Description Language), etc., VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog are currently most commonly used. It will also be apparent to those skilled in the art that a hardware circuit implementing the logic method flow can be readily obtained by merely slightly programming the method flow into an integrated circuit using several of 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, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable logic controllers, and embedded microcontrollers, 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 of the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller in a pure computer readable program code, it is well possible to implement the same functionality by logically programming the method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Such a controller may thus be regarded as a kind of hardware component, and means for performing various functions included therein may also be regarded as structures within the hardware component. Or even means for achieving the various functions may be regarded as either software modules implementing the methods or structures within hardware components.
The system, apparatus, module or unit set forth in the above embodiments may be implemented in particular by a computer chip or entity, or by a product having a certain function. One typical implementation is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smart phone, 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 functionally divided into various units, respectively. Of course, the functions of each element may be implemented in one or more software and/or hardware elements when implemented in the present specification.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application 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 application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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.
The 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 volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
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 storage media for a computer 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, read only 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 or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by the computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
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 one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
The foregoing describes specific embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can 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 are also possible or may be advantageous.
The terminology used in the one or more embodiments of the specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of the specification. As used in this specification, one or more embodiments 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 or 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, these 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 of the present description. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.
While the application has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the application and are intended to be within the scope of the application as claimed.
Claims (4)
1. The method for evaluating the movement 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) Based on the safety constraint analysis result, carrying out agility constraint analysis in the operation process of the manned robot;
3) Based on the agility constraint analysis result, carrying out smoothness constraint analysis in the operation process of the robot;
the step 1) includes:
the safety is ensured in the operation process of the manned robot, and the unmanned robot does not collide with any obstacle, and can be expressed as the following formula:
(1)
wherein, the safety distance between the manned robot and any obstacleWherein the maximum braking safety distance of the manned robot is +.>；
The step 2) includes:
the position change of the manned robot along the global XY coordinate is decomposed into two directions of X and Y, and the shortest time required by solving the corresponding change quantity of X and Y is solved and />The equivalent acceleration of the manned robot along the X and Y axes is obtained as follows: />(2)
wherein , and />Corresponds to the amount of change in the x-direction and y-direction, respectively,/-> and />Acceleration in x-direction and y-direction, respectively,/-> and />Equivalent accelerations of the manned robot along the X and Y axes respectively;
thereby, it is possible to and />Establishing an elliptical equivalent acceleration envelope for the semi-principal axis;
for better expression agility, a circular envelope is constructed such that the circular area and elliptical area are equal in value, and the radius of the circle is defined as the agility factorAgile factor->The greater the agility of the motor vehicle, the higher the agility, whereas the lower the agility, the agility factor +.>Can be expressed as:
(3)
wherein , and />For the minimum time required for the manned robot to correspond to the variation in X and Y directions, < > for> and />The variation amounts respectively corresponding to the X direction and the Y direction;
the step 3) includes:
let x, y, z coordinate axis directional weighted acceleration be the following equation (4):
(4)
wherein ,indicating acceleration in x-direction +.>Representing the band weighting coefficients;
traversing the whole acceleration process, and setting the peak value in the whole process asThe vibration coefficient of the automobile is obtained>The method comprises the following steps:
(5)
when (when)When using the basic evaluation method; the basic evaluation method calculates the weighted acceleration mean square value +_according to the following equation (6)>Wherein the time->The time taken for the reaction was 120 seconds,
(6)
when simultaneously considering the seat，/>，/>For three axial oscillations, the total weighted acceleration root mean square value>Obtained according to the following formula (7):
(7)
wherein ,representation->Weighted acceleration of +.>Representation->Weighted acceleration of direction, ++>Representation->Weighted acceleration of the direction;
when (when)In the method, the weighted acceleration 4-time root value is used for estimating the influence of large-amplitude vibration caused by excessive pulse occasionally encountered during the running of the manned robot on the human body, and in the auxiliary evaluation method, the vibration dosage value is adopted>As an evaluation index, the following formula (8) shows:
(8)
when the root mean square value of the weighted acceleration of the manned robot is below 0.8, the riding comfort requirement of the manned robot is met, and the corresponding start-stop acceleration is calculated.
2. 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 following components:
the safety is ensured in the operation process of the manned robot, and the unmanned robot does not collide with any obstacle, and can be expressed as the following formula:
(1)
wherein, the safety distance between the manned robot and any obstacleWherein the maximum braking safety distance of the manned robot is +.>;
2) The agility constraint analysis module is used for analyzing agility of operation of the manned robot, and comprises the following steps:
the position change of the manned robot along the global XY coordinate is decomposed into two directions of X and Y, and the shortest time required by solving the corresponding change quantity of X and Y is solved and />The equivalent acceleration of the manned robot along the X and Y axes is obtained as follows: />(2)
Thereby, it is possible to and />Establishing an elliptical equivalent acceleration envelope for the semi-principal axis;
for better expression agility, a circular envelope is constructed such that the circular area and elliptical area are equal in value, and the radius of the circle is defined as the agility factorAgile factor->The greater the agility of the motor vehicle, the higher the agility, whereas the lower the agility, the agility factor +.>Can be expressed as:
(3)
3) The smoothness constraint analysis module is used for analyzing smoothness of operation of the manned robot, and comprises the following steps:
let x, y, z coordinate axis directional weighted acceleration be the following equation (4):
(4)
traversing the whole acceleration process, and setting the peak value in the whole process asObtaining the vibration coefficient of the automobile>The method comprises the following steps:
(5)
when (when)When using the basic evaluation method; the basic evaluation method calculates the weighted acceleration mean square value +_according to the following equation (6)>Wherein time->The time taken for the reaction was 120 seconds,
(6)
when simultaneously considering the seat，/>，/>For three axial oscillations, the total weighted acceleration root mean square value>Obtained according to the following formula (7):
(7)
when (when)Estimating the excessive pulse caused by the occasional running of the manned robot by adopting the weighted acceleration 4-time root valueThe influence of large vibration on human body is evaluated by using vibration dosage value +.>As an evaluation index, the following formula (8) shows:
(8)
when the root mean square value of the weighted acceleration of the manned robot is below 0.8, the riding comfort requirement of the manned robot is met, and the corresponding start-stop acceleration is calculated.
3. 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 of claim 1.
4. One or more computer-readable non-volatile storage media storing computer-readable instructions that, when executed by one or more processors, cause the one or more processors to perform the steps of the method recited in claim 1.
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