CN114633259B - Parallel mobile robot step optimization method and device - Google Patents
Parallel mobile robot step optimization method and device Download PDFInfo
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- CN114633259B CN114633259B CN202210450004.4A CN202210450004A CN114633259B CN 114633259 B CN114633259 B CN 114633259B CN 202210450004 A CN202210450004 A CN 202210450004A CN 114633259 B CN114633259 B CN 114633259B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention discloses a parallel mobile robot step optimization method and a device, wherein the method comprises the following steps: acquiring motion information of an electric cylinder; calculating the motion information of the electric cylinder to obtain motion characteristic information; the motion characteristic information comprises speed fluctuation characteristic information and operation stability characteristic information; the speed fluctuation characteristic information is inversely related to the fluctuation of the motion speed of the parallel mobile robot; the running stability characteristic information is positively correlated with the running stability of the parallel mobile robot; constructing an adaptability function by utilizing the motion characteristic information; carrying out optimization solving calculation on the adaptability function to obtain target step distance information; the target stride information is used to indicate the motion of the parallel mobile robot. Therefore, the invention is beneficial to balancing the speed characteristic and the stability margin, thereby improving the operation capability of the robot.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a parallel mobile robot step optimization method and device.
Background
With the development of technology, the parallel mobile robot has been paid more attention to in various industries due to the characteristics of strong load capacity, good running stability, high response speed and the like. A parallel mobile robot is a kind of carrying robot that can carry people or goods. The step size has a significant impact on the stability of the robot and the performance of the electric cylinder. For parallel mobile robots, step optimization is an important but challenging task. Therefore, it is important to provide a parallel mobile robot step optimization method and device to balance the speed characteristics and stability margin, so as to improve the operation capability of the robot.
Disclosure of Invention
The invention aims to solve the technical problem of providing a parallel mobile robot step distance optimizing method and device, which can calculate and process motion information of an electric cylinder, construct an adaptive function, and solve the adaptive function to obtain target step distance information for indicating the parallel mobile robot to move, thereby being beneficial to balancing speed characteristics and stability margin and further improving the operation capability of the robot.
In order to solve the technical problems, a first aspect of the embodiment of the invention discloses a parallel mobile robot stride optimization method, which comprises the following steps:
acquiring motion information of an electric cylinder;
calculating the motion information of the electric cylinder to obtain motion characteristic information; the motion characteristic information comprises speed fluctuation characteristic information and operation stability characteristic information; the speed fluctuation characteristic information is inversely related to the fluctuation of the motion speed of the parallel mobile robot; the running stability characteristic information is positively correlated with the running stability of the parallel mobile robot;
constructing an adaptability function by utilizing the motion characteristic information;
carrying out optimization solving calculation on the adaptive function to obtain target step distance information; the target stride information is used to indicate movement of the parallel mobile robot.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the electric cylinder motion information includes an electric cylinder speed information set and a foot contact information set; the electric cylinder speed information set characterizes the movement speed condition of a Stewart mechanism of the parallel mobile robot; the foot touch information set characterizes the ground contact area condition of a Stewart mechanism of the parallel mobile robot;
the calculation processing is performed on the motion information of the electric cylinder to obtain motion characteristic information, and the calculation processing comprises the following steps:
screening and calculating the electric cylinder speed information set to obtain the speed fluctuation characteristic information;
and dividing and calculating the touchdown information set to obtain the running stability characteristic information.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the electric cylinder speed information set includes at least 3 electric cylinder speed information;
the step of screening and calculating the electric cylinder speed information set to obtain the speed fluctuation characteristic information comprises the following steps:
dividing the speed information of any electric cylinder according to the movement period, and selecting the speed data of a complete movement period as the first speed information corresponding to the speed information of the electric cylinder;
Performing speed track selection processing on the first speed information according to the action characteristic to obtain second speed information corresponding to the speed information of the electric cylinder; the second speed information represents the movement speed conditions of the electric cylinder corresponding to the Stewart mechanism in the uplink and downlink process;
calculating the second speed information by using a preset speed fluctuation calculation rule to obtain a speed fluctuation characteristic value corresponding to the speed information of the electric cylinder;
and carrying out weighted calculation processing on all the speed fluctuation characteristic values to obtain the speed fluctuation characteristic information.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the set of foot touchdown information includes at least 2 pieces of foot touchdown information; the foot contact information represents ground contact areas corresponding to different execution units of the Stewart mechanism;
the step of dividing and calculating the touchdown information set to obtain the running stability characteristic information comprises the following steps:
performing overlapping region screening treatment on the foot touch information set to obtain first stable domain area information; the first stable domain area information represents the superposition part of the ground contact area corresponding to the foot contact information;
Carrying out symmetry region division on the stable domain area information to obtain second stable domain area information; the second stable domain area information comprises a first stable region, a second stable region and a third stable region; the first stable region and the third stable region are symmetrical regions distributed on two sides of the second stable region;
and carrying out area calculation on the second stability domain area information to obtain the operation stability characteristic information.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the constructing an adaptive function using the motion feature information includes:
normalizing the motion characteristic information to obtain normalized characteristic value information;
and processing the normalized characteristic value information by using a preset adaptive model to obtain an adaptive function.
In a first aspect of the embodiment of the present invention, the performing an optimization solution calculation on the adaptive function to obtain target stride information includes:
acquiring constraint condition information and an initial solving model;
and carrying out iterative solution calculation on the adaptive function by utilizing the initial solution model and the constraint condition information to obtain target step distance information.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the constraint condition information includes initial setting information and a termination operation condition;
the step of performing iterative solution calculation on the adaptive function by using the initial solution model and the constraint condition information to obtain target step information comprises the following steps:
setting the initial solving model by using the initial setting information to obtain a target solving model;
carrying out iterative computation on the adaptive function by utilizing the target solving model to obtain solving result information;
judging whether the solving result information meets the termination operation condition or not to obtain a first condition judgment result; the termination operating condition is related to the number of iterations of the iterative computation;
when the first condition judging result is negative, updating the target solving model by utilizing the solving result information, and triggering and executing the iterative computation on the adaptive function by utilizing the target solving model to obtain the solving result information;
and when the first condition judging result is yes, determining target step distance information according to the solving result information.
The second aspect of the embodiment of the invention discloses a parallel mobile robot step optimization device, which comprises:
The first acquisition module is used for acquiring the motion information of the electric cylinder;
the processing module is used for calculating and processing the motion information of the electric cylinder to obtain motion characteristic information; the motion characteristic information comprises speed fluctuation characteristic information and operation stability characteristic information; the speed fluctuation characteristic information is inversely related to the fluctuation of the motion speed of the parallel mobile robot; the running stability characteristic information is positively correlated with the running stability of the parallel mobile robot;
the construction module is used for constructing an adaptive function by utilizing the motion characteristic information;
the calculation module is used for carrying out optimization solving calculation on the adaptive function to obtain target step information; the target stride information is used to indicate movement of the parallel mobile robot.
As one such alternative implementation, in the second aspect of the embodiment of the present invention, the electric cylinder movement information includes an electric cylinder speed information set and a foot contact information set; the electric cylinder speed information set characterizes the movement speed condition of a Stewart mechanism of the parallel mobile robot; the foot touch information set characterizes the ground contact area condition of a Stewart mechanism of the parallel mobile robot;
The processing module comprises a first processing sub-module and a second processing sub-module, wherein:
the first processing submodule is used for screening and calculating the electric cylinder speed information set to obtain the speed fluctuation characteristic information;
the second processing sub-module is used for dividing and calculating the touchdown information set to obtain the running stability characteristic information.
As one such alternative embodiment, in the second aspect of the embodiment of the present invention, the electric cylinder speed information set includes at least 3 electric cylinder speed information;
the first processing sub-module screens and calculates the electric cylinder speed information set, and the specific mode for obtaining the speed fluctuation characteristic information is as follows:
dividing the speed information of any electric cylinder according to the movement period, and selecting the speed data of a complete movement period as the first speed information corresponding to the speed information of the electric cylinder;
performing speed track selection processing on the first speed information according to the action characteristic to obtain second speed information corresponding to the speed information of the electric cylinder; the second speed information represents the movement speed conditions of the electric cylinder corresponding to the Stewart mechanism in the uplink and downlink process;
Calculating the second speed information by using a preset speed fluctuation calculation rule to obtain a speed fluctuation characteristic value corresponding to the speed information of the electric cylinder;
and carrying out weighted calculation processing on all the speed fluctuation characteristic values to obtain the speed fluctuation characteristic information.
As one such alternative implementation, in the second aspect of the embodiment of the present invention, the set of touchdown information includes at least 2 pieces of touchdown information; the foot contact information represents ground contact areas corresponding to different execution units of the Stewart mechanism;
the second processing sub-module divides and calculates the touchdown information set, and the specific mode for obtaining the running stability characteristic information is as follows:
performing overlapping region screening treatment on the foot touch information set to obtain first stable domain area information; the first stable domain area information represents the superposition part of the ground contact area corresponding to the foot contact information;
carrying out symmetry region division on the stable domain area information to obtain second stable domain area information; the second stable domain area information comprises a first stable region, a second stable region and a third stable region; the first stable region and the third stable region are symmetrical regions distributed on two sides of the second stable region;
And carrying out area calculation on the second stability domain area information to obtain the operation stability characteristic information.
As one such alternative implementation manner, in the second aspect of the embodiment of the present invention, the specific manner of constructing the fitness function by using the motion feature information by the construction module is:
normalizing the motion characteristic information to obtain normalized characteristic value information;
and processing the normalized characteristic value information by using a preset adaptive model to obtain an adaptive function.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the calculating module performs optimization solving calculation on the adaptive function, and a specific manner of obtaining the target stride information is:
acquiring constraint condition information and an initial solving model;
and carrying out iterative solution calculation on the adaptive function by utilizing the initial solution model and the constraint condition information to obtain target step distance information.
As one such alternative implementation, in the second aspect of the embodiment of the present invention, the constraint condition information includes initial setting information and a termination operation condition;
the calculation module performs iterative solution calculation on the adaptive function by using the initial solution model and the constraint condition information, and the specific mode for obtaining the target step distance information is as follows:
Setting the initial solving model by using the initial setting information to obtain a target solving model;
carrying out iterative computation on the adaptive function by utilizing the target solving model to obtain solving result information;
judging whether the solving result information meets the termination operation condition or not to obtain a first condition judgment result; the termination operating condition is related to the number of iterations of the iterative computation;
when the first condition judging result is negative, updating the target solving model by utilizing the solving result information, and triggering and executing the iterative computation on the adaptive function by utilizing the target solving model to obtain the solving result information;
and when the first condition judging result is yes, determining target step distance information according to the solving result information.
The third aspect of the invention discloses another parallel mobile robot stride optimization apparatus, the apparatus comprising:
a memory storing executable program code;
a processor coupled to the memory;
the processor invokes the executable program codes stored in the memory to execute part or all of the steps in the parallel mobile robot stride optimization method disclosed in the first aspect of the embodiment of the present invention.
A fourth aspect of the present invention discloses a computer storage medium storing computer instructions for executing part or all of the steps in the parallel mobile robot pitch optimization method disclosed in the first aspect of the present invention when the computer instructions are called.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
in the embodiment of the invention, the motion information of the electric cylinder is obtained; calculating the motion information of the electric cylinder to obtain motion characteristic information; the motion characteristic information comprises speed fluctuation characteristic information and operation stability characteristic information; the speed fluctuation characteristic information is inversely related to the fluctuation of the motion speed of the parallel mobile robot; the running stability characteristic information is positively correlated with the running stability of the parallel mobile robot; constructing an adaptability function by utilizing the motion characteristic information; carrying out optimization solving calculation on the adaptability function to obtain target step distance information; the target stride information is used to indicate the motion of the parallel mobile robot. Therefore, the invention is beneficial to balancing the speed characteristic and the stability margin, thereby improving the operation capability of the robot.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a parallel mobile robot stride optimization method disclosed in an embodiment of the present invention;
FIG. 2 is a schematic flow chart of another parallel mobile robot stride optimization method according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a parallel mobile robot stride optimization apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of another parallel mobile robot stride optimization apparatus according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a step optimization device for a parallel mobile robot according to an embodiment of the present invention.
Detailed Description
In order to make the present invention better understood by those skilled in the art, the following description will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terms first, second and the like in the description and in the claims and in the above-described figures are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, apparatus, article, or device that comprises a list of steps or elements is not limited to the list of steps or elements but may, in the alternative, include other steps or elements not expressly listed or inherent to such process, method, article, or device.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The invention discloses a parallel mobile robot step distance optimizing method and device, which can calculate and process motion information of an electric cylinder, construct an adaptive function, and solve the adaptive function to obtain target step distance information for indicating the parallel mobile robot to move, thereby being beneficial to balancing speed characteristics and stability margin and further improving the operation capability of the robot. The following will describe in detail.
Example 1
Referring to fig. 1, fig. 1 is a schematic flow chart of a parallel mobile robot step optimization method according to an embodiment of the invention. The parallel mobile robot stride optimization method described in fig. 1 is applied to a data processing system, such as a local server or a cloud server for stride optimization management of the parallel mobile robot, which is not limited in the embodiments of the present invention. As shown in fig. 1, the parallel mobile robot stride optimization method may include the following operations:
101. And acquiring the motion information of the electric cylinder.
102. And calculating the motion information of the electric cylinder to obtain motion characteristic information.
In the embodiment of the invention, the motion characteristic information comprises speed fluctuation characteristic information and operation stability characteristic information.
In the embodiment of the invention, the speed fluctuation characteristic information is inversely related to the fluctuation of the motion speed of the parallel mobile robot.
In the embodiment of the invention, the running stability characteristic information is positively correlated with the running stability of the parallel mobile robot.
103. And constructing an adaptive function by utilizing the motion characteristic information.
104. And carrying out optimization solving calculation on the adaptive function to obtain target stride information.
In the embodiment of the invention, the target step information is used for indicating the motion of the parallel mobile robot.
Therefore, by implementing the parallel mobile robot step optimization method described by the embodiment of the invention, the motion information of the electric cylinder can be calculated, the adaptive function is constructed, and the adaptive function is solved to obtain the target step information for indicating the parallel mobile robot to move, so that the speed characteristic and the stability margin are balanced, and the running capability of the robot is improved.
In an alternative embodiment, the above-mentioned electric cylinder movement information includes an electric cylinder speed information set and a foot contact information set; the electric cylinder speed information set represents the movement speed condition of a Stewart mechanism of the parallel mobile robot; the foot touch information set represents the ground contact area condition of a Stewart mechanism of the parallel mobile robot;
calculating the motion information of the electric cylinder to obtain motion characteristic information, wherein the calculating comprises the following steps:
screening and calculating the speed information set of the electric cylinder to obtain speed fluctuation characteristic information;
and dividing and calculating the foot touch information set to obtain the running stability characteristic information.
Optionally, the speed fluctuation feature information includes 3 speed fluctuation feature values.
Therefore, the parallel mobile robot step optimization method described by the embodiment of the invention can obtain the motion characteristic information by calculating the motion information of the electric cylinder, is beneficial to balancing the speed characteristic and the stability margin, and further improves the operation capability of the robot.
In another alternative embodiment, the above-described electric cylinder speed information set includes at least 3 electric cylinder speed information;
screening and calculating the electric cylinder speed information set to obtain speed fluctuation characteristic information, wherein the method comprises the following steps:
For any one electric cylinder speed information, dividing the electric cylinder speed information according to a movement period, and selecting speed data of a complete movement period as first speed information corresponding to the electric cylinder speed information;
performing speed track selection processing on the first speed information according to the action characteristic to obtain second speed information corresponding to the speed information of the electric cylinder; the second speed information represents the upward and downward movement speed conditions of the electric cylinder corresponding to the Stewart mechanism;
calculating the second speed information by using a preset speed fluctuation calculation rule to obtain a speed fluctuation characteristic value corresponding to the speed information of the electric cylinder;
and carrying out weighted calculation processing on all the speed fluctuation characteristic values to obtain speed fluctuation characteristic information.
Optionally, the one complete movement cycle includes lifting the leg, falling the leg, and waiting for the other foot to lift the leg, falling the leg.
Optionally, the lifting leg corresponds to an upward movement of the electric cylinder.
Optionally, the falling leg corresponds to a downward motion of the electric cylinder.
In this optional embodiment, as an optional implementation manner, the specific manner of calculating the second speed information by using the preset speed fluctuation calculation rule to obtain the speed fluctuation feature value corresponding to the speed information of the electric cylinder is:
Pole selection is carried out on the second speed information, and speed extremum information is obtained; the speed extremum information comprises a speed highest value and a speed lowest value;
and calculating the speed extremum information by using a preset speed model to obtain a speed fluctuation characteristic value corresponding to the speed information of the electric cylinder.
Optionally, the specific form of the velocity model is:
wherein Ch is 4 Is a speed fluctuation characteristic value; k is the abscissa corresponding to the first partial speed valley; p (P) h Is the highest speed value; p (P) l Is the lowest speed value; p is the number of data sampling points between the highest speed value and the lowest speed value; v (V) i ，V i+1 Is P h And P l The speed of the curve sampling point in front of and behind one second; i is the speed sequence number.
Alternatively, the Stewart mechanism described above is a prior art parallel mobile robot.
Therefore, by implementing the parallel mobile robot step optimization method described by the embodiment of the invention, the speed information set of the electric cylinder can be screened and calculated to obtain the speed fluctuation characteristic information, which is beneficial to balancing the speed characteristic and the stability margin, and further improving the operation capability of the robot.
In yet another optional embodiment, the set of touchdown information includes at least 2 touchdown information; the foot contact information represents ground contact areas corresponding to different execution units of the Stewart mechanism;
Dividing and calculating the touchdown information set to obtain running stability characteristic information, wherein the method comprises the following steps:
performing overlapping region screening treatment on the foot touch information set to obtain first stable domain area information; the first stable domain area information represents the superposition part of the ground contact area corresponding to the foot contact information;
carrying out symmetrical region division on the stable region area information to obtain second stable region area information; the second stable domain area information comprises a first stable region, a second stable region and a third stable region; the first stable region and the third stable region are symmetrical regions distributed on two sides of the second stable region;
and carrying out area calculation on the second stability area information to obtain operation stability characteristic information.
Optionally, the first stable region is congruent triangle.
Optionally, the third stable region is congruent triangle.
Optionally, the second stabilizing area is rectangular.
Optionally, the operation stability characteristic information includes an operation stability characteristic value.
Therefore, by implementing the parallel mobile robot step optimization method described by the embodiment of the invention, the foot contact information set can be divided and calculated to obtain the running stability characteristic information, which is more beneficial to balancing the speed characteristic and the stability margin, thereby improving the running capability of the robot.
In yet another alternative embodiment, the constructing an adaptive function using motion feature information includes:
normalizing the motion characteristic information to obtain normalized characteristic value information;
and processing the normalized characteristic value information by using a preset adaptive model to obtain an adaptive function.
Optionally, the normalization processing is performed on the motion characteristic information, so that the speed fluctuation characteristic information and the operation stability characteristic information are unified into the same order of magnitude, and the situation that one of the two sets of characteristic values has too large or too small influence on the adaptability function due to different orders of magnitude is avoided.
Optionally, the normalized eigenvalue information includes speed normalized eigenvalue information and area normalized eigenvalue information.
In this optional embodiment, as an optional implementation manner, the normalization processing is performed on the motion feature information, and a specific manner of obtaining the normalized feature value information is as follows:
normalizing the speed fluctuation characteristic information by using a first normalization model to obtain speed normalization characteristic value information;
and carrying out normalization processing on the operation stability characteristic information by using the second normalization model to obtain area normalization characteristic value information.
Optionally, the specific form of the first normalization model is:
optionally, the specific form of the second normalization model is:
wherein s is nor (x) The running stability characteristic value is the running stability characteristic value when the step distance is x; ch is a kind of tol(nor) (x) The characteristic value of speed fluctuation when the step distance x is; s (1200) is an operation stability characteristic value when the step distance is 1200; s (100) is an operation stability characteristic value when the step distance is 100; ch is a kind of tol (1200) Is the characteristic value of speed fluctuation at the step distance 1200; ch is a kind of tol (100) Is the characteristic value of speed fluctuation at the step distance 100.
In this optional embodiment, as another optional implementation manner, the specific manner of processing the normalized feature value information by using the preset adaptive model to obtain the adaptive function is as follows:
screening the speed normalization feature value information in the normalization feature value information to obtain target speed normalization feature value information;
screening the area normalization feature value information in the normalization feature value information to obtain target area normalization feature value information;
acquiring influence factor information; the influence factor information comprises a stability domain parameter influence factor and a speed fluctuation parameter influence factor;
and processing the influence factor information, the target speed normalization characteristic value information and the target area normalization characteristic value information to obtain an adaptive function.
Optionally, the specific form of the adaptive function is:
f fitness (x)＝a*S nor (x)+b*(1-Ch tol(nor) (x))；
wherein a and b are respectively a stability domain parameter influence factor and a speed fluctuation parameter influence factor; f (f) fitnes (x) Is the fitness value at stride x.
Optionally, the range of the target speed normalization feature value corresponding to the target speed normalization feature value information is [0.45,1].
Optionally, the target speed normalization feature value information in the range is selected to be beneficial to reducing speed fluctuation of the parallel mobile robot.
Optionally, the range of the target area normalization feature value corresponding to the target area normalization feature value information is [0,0.3].
Optionally, the target area normalization feature value information in the range is selected to be beneficial to improving the motion stability of the parallel mobile robot.
Therefore, by implementing the parallel mobile robot step optimization method described by the embodiment of the invention, the motion characteristic information can be utilized to construct an adaptive function, which is more beneficial to balancing the speed characteristic and the stability margin, and further improving the operation capability of the robot.
Example two
Referring to fig. 2, fig. 2 is a flow chart of another parallel mobile robot step optimization method according to an embodiment of the invention. The parallel mobile robot stride optimization method described in fig. 2 is applied to a data processing system, such as a local server or a cloud server for stride optimization management of the parallel mobile robot, which is not limited in the embodiments of the present invention. As shown in fig. 2, the parallel mobile robot stride optimization method may include the operations of:
201. And acquiring the motion information of the electric cylinder.
202. And calculating the motion information of the electric cylinder to obtain motion characteristic information.
203. And constructing an adaptive function by utilizing the motion characteristic information.
204. Constraint condition information and an initial solution model are obtained.
205. And carrying out iterative solution calculation on the adaptive function by using the initial solution model and constraint condition information to obtain target step distance information.
In the embodiment of the present invention, for specific technical details and technical term explanations of the step 201 to the step 203, reference may be made to the detailed description of the step 101 to the step 103 in the first embodiment, and the detailed description of the embodiment of the present invention is omitted.
Optionally, the motion of the parallel mobile robot is controlled by utilizing target step distance information obtained by carrying out iterative solution calculation on the adaptive function by utilizing the initial solution model and constraint condition information, so that the requirements of the electric cylinder speed operation performance of the parallel mobile robot and the stability performance of the robot can be effectively met.
Therefore, by implementing the parallel mobile robot step optimization method described by the embodiment of the invention, the motion information of the electric cylinder can be calculated, the adaptive function is constructed, and the adaptive function is solved to obtain the target step information for indicating the parallel mobile robot to move, so that the speed characteristic and the stability margin are balanced, and the running capability of the robot is improved.
In an alternative embodiment, the constraint condition information includes initial setting information and a termination operation condition;
performing iterative solution calculation on the adaptive function by using the initial solution model and constraint condition information to obtain target stride information, wherein the method comprises the following steps:
setting an initial solving model by using initial setting information to obtain a target solving model;
carrying out iterative computation on the adaptive function by using a target solving model to obtain solving result information;
judging whether the solving result information meets the termination operation condition or not to obtain a first condition judgment result; the termination operation condition is related to the iteration times of the iterative computation;
when the first condition judging result is negative, updating the target solving model by utilizing solving result information, and triggering execution to perform iterative computation on the adaptive function by utilizing the target solving model to obtain solving result information;
and when the first condition judging result is yes, determining target step distance information according to the solving result information.
Optionally, the initial setting information includes the number of parent individuals, and/or the boundary of the iterative individuals, and/or the iteration number threshold, and/or the convergence threshold, which are not limited in the embodiment of the present invention.
Alternatively, the iterative individuals include parent individuals and offspring individuals.
Alternatively, the boundaries of the iterative unit are [100mm,1200mm ].
Further, the boundaries of the iterative individuals are used to constrain the sizes of the iterative individuals generated by the selection, crossover and mutation, so as to accelerate the convergence of iterative computation.
Optionally, the initial solution model is a genetic algorithm-based model.
Optionally, when the number of iterations is equal to the threshold number of iterations, the result of the first condition determination is yes.
Preferably, the number of parent individuals is 10.
Preferably, the iteration number threshold is 50, so as to reduce the calculation redundancy in the calculation step optimization calculation process on the premise of ensuring convergence of iterative calculation.
Optionally, the solution result information includes a solution step distance, and/or the iteration number.
Optionally, the target stride information includes a target stride.
In this optional embodiment, as an optional implementation manner, the specific manner of determining the target step distance information according to the solution result information is:
carrying out positive number correction on the solving step pitch in the solving result information at the millimeter level to obtain a target step pitch;
And determining target step distance information according to the target step distance.
Therefore, by implementing the parallel mobile robot step optimization method described by the embodiment of the invention, the initial solution model and constraint condition information can be utilized to carry out iterative solution calculation on the adaptive function, so that the target step information is obtained, the balance of the speed characteristic and the stability margin is facilitated, and the running capacity of the robot is improved.
Example III
Referring to fig. 3, fig. 3 is a schematic structural diagram of a parallel mobile robot step optimization device according to an embodiment of the present invention. The device described in fig. 3 can be applied to a data processing system, such as a local server or a cloud server for step optimization management of parallel mobile robots, which is not limited in the embodiments of the present invention. As shown in fig. 3, the apparatus may include:
a first acquisition module 301, configured to acquire electric cylinder motion information;
the processing module 302 is used for calculating and processing the motion information of the electric cylinder to obtain motion characteristic information; the motion characteristic information comprises speed fluctuation characteristic information and operation stability characteristic information; the speed fluctuation characteristic information is inversely related to the fluctuation of the motion speed of the parallel mobile robot; the running stability characteristic information is positively correlated with the running stability of the parallel mobile robot;
A construction module 303, configured to construct an adaptive function using motion feature information;
the calculation module 304 is configured to perform optimization solution calculation on the adaptive function to obtain target stride information; the target stride information is used to indicate the motion of the parallel mobile robot.
Therefore, the parallel mobile robot step distance optimizing device described in fig. 3 can be implemented by performing calculation processing on the motion information of the electric cylinder, constructing an adaptive function, and solving the adaptive function to obtain the target step distance information for indicating the parallel mobile robot to perform motion, which is beneficial to balancing the speed characteristic and the stability margin, and further improving the operation capability of the robot.
In another alternative embodiment, as shown in FIG. 4, the electric cylinder movement information includes an electric cylinder speed information set and a foot contact information set; the electric cylinder speed information set represents the movement speed condition of a Stewart mechanism of the parallel mobile robot; the foot touch information set represents the ground contact area condition of a Stewart mechanism of the parallel mobile robot;
the processing module 302 comprises a first processing sub-module 3021 and a second processing sub-module 3022, wherein:
the first processing submodule 3021 is used for screening and calculating the electric cylinder speed information set to obtain speed fluctuation characteristic information;
The second processing sub-module 3022 is configured to divide and calculate the set of touchdown information to obtain the operation stability feature information.
Therefore, by implementing the parallel mobile robot step optimization device described in fig. 4, motion characteristic information can be obtained by performing calculation processing on motion information of the electric cylinder, which is beneficial to balancing speed characteristics and stability margin, and further improving the operation capability of the robot.
In yet another alternative embodiment, as shown in FIG. 4, the set of electric cylinder speed information includes at least 3 electric cylinder speed information;
the first processing submodule 3021 performs screening and calculation processing on the electric cylinder speed information set, and the specific mode of obtaining the speed fluctuation characteristic information is as follows:
for any one electric cylinder speed information, dividing the electric cylinder speed information according to a movement period, and selecting speed data of a complete movement period as first speed information corresponding to the electric cylinder speed information;
performing speed track selection processing on the first speed information according to the action characteristic to obtain second speed information corresponding to the speed information of the electric cylinder; the second speed information represents the upward and downward movement speed conditions of the electric cylinder corresponding to the Stewart mechanism;
Calculating the second speed information by using a preset speed fluctuation calculation rule to obtain a speed fluctuation characteristic value corresponding to the speed information of the electric cylinder;
and carrying out weighted calculation processing on all the speed fluctuation characteristic values to obtain speed fluctuation characteristic information.
Therefore, the parallel mobile robot step optimization device described in fig. 4 can be implemented to screen and calculate the speed information set of the electric cylinder to obtain the speed fluctuation characteristic information, which is favorable for balancing the speed characteristic and the stability margin, and further improves the operation capability of the robot.
In yet another alternative embodiment, as shown in FIG. 4, the set of touchdown information comprises at least 2 touchdown information; the foot contact information represents ground contact areas corresponding to different execution units of the Stewart mechanism;
the second processing sub-module 3022 divides and calculates the touchdown information set, and the specific manner of obtaining the operation stability feature information is as follows:
performing overlapping region screening treatment on the foot touch information set to obtain first stable domain area information; the first stable domain area information represents the superposition part of the ground contact area corresponding to the foot contact information;
carrying out symmetrical region division on the stable region area information to obtain second stable region area information; the second stable domain area information comprises a first stable region, a second stable region and a third stable region; the first stable region and the third stable region are symmetrical regions distributed on two sides of the second stable region;
And carrying out area calculation on the second stability area information to obtain operation stability characteristic information.
Therefore, the parallel mobile robot step optimization device described in fig. 4 can divide and calculate the foot contact information set to obtain the running stability characteristic information, which is more beneficial to balancing the speed characteristic and the stability margin, thereby improving the running capability of the robot.
In yet another alternative embodiment, as shown in fig. 4, the specific manner in which the construction module 303 constructs the fitness function using the motion feature information is:
normalizing the motion characteristic information to obtain normalized characteristic value information;
and processing the normalized characteristic value information by using a preset adaptive model to obtain an adaptive function.
Therefore, by implementing the parallel mobile robot step optimization device described in fig. 4, an adaptability function can be constructed by utilizing motion characteristic information, which is more beneficial to balancing speed characteristics and stability margin, and further improving the operation capability of the robot.
In yet another alternative embodiment, as shown in fig. 4, the calculating module 304 performs an optimization solution calculation on the adaptive function, and the specific manner of obtaining the target stride information is:
acquiring constraint condition information and an initial solving model;
And carrying out iterative solution calculation on the adaptive function by using the initial solution model and constraint condition information to obtain target step distance information.
Therefore, the parallel mobile robot step distance optimizing device described in fig. 4 can be implemented by performing calculation processing on the motion information of the electric cylinder, constructing an adaptive function, and solving the adaptive function to obtain the target step distance information for indicating the parallel mobile robot to perform motion, which is beneficial to balancing the speed characteristic and the stability margin, and further improving the operation capability of the robot.
In yet another alternative embodiment, as shown in FIG. 4, constraint condition information includes initial setup information and termination operating conditions;
the calculation module 304 performs iterative solution calculation on the adaptive function by using the initial solution model and constraint condition information, and the specific manner of obtaining the target stride information is as follows:
setting an initial solving model by using initial setting information to obtain a target solving model;
carrying out iterative computation on the adaptive function by using a target solving model to obtain solving result information;
judging whether the solving result information meets the termination operation condition or not to obtain a first condition judgment result; the termination operation condition is related to the iteration times of the iterative computation;
When the first condition judging result is negative, updating the target solving model by utilizing solving result information, and triggering execution to perform iterative computation on the adaptive function by utilizing the target solving model to obtain solving result information;
and when the first condition judging result is yes, determining target step distance information according to the solving result information.
Therefore, by implementing the parallel mobile robot step optimization device described in fig. 4, the initial solution model and constraint condition information can be utilized to perform iterative solution calculation on the adaptive function, so as to obtain target step information, which is more beneficial to balancing speed characteristics and stability margin, and further improving the operation capability of the robot.
Example IV
Referring to fig. 5, fig. 5 is a schematic structural diagram of a step optimization apparatus for parallel mobile robots according to an embodiment of the present invention. The device described in fig. 5 can be applied to a data processing system, such as a local server or a cloud server for step optimization management of parallel mobile robots, which is not limited by the embodiment of the present invention. As shown in fig. 5, the apparatus may include:
a memory 401 storing executable program codes;
a processor 402 coupled with the memory 401;
The processor 402 invokes executable program code stored in the memory 401 for performing the steps in the parallel mobile robot stride optimization method described in embodiment one or embodiment two.
Example five
The embodiment of the invention discloses a computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to execute the steps in the parallel mobile robot step optimization method described in the first or second embodiment.
Example six
Embodiments of the present invention disclose a computer program product comprising a non-transitory computer readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform the steps of the parallel mobile robot stride optimization method described in embodiment one or embodiment two.
The apparatus embodiments described above are merely illustrative, in which the modules illustrated as separate components may or may not be physically separate, and the components shown as modules may or may not be physical, i.e., may be located in one place, or may be distributed over multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above detailed description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course by means of hardware. Based on such understanding, the foregoing technical solutions may be embodied essentially or in part in the form of a software product that may be stored in a computer-readable storage medium including Read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disc Memory, magnetic disc Memory, tape Memory, or any other medium that can be used for computer-readable carrying or storing data.
Finally, it should be noted that: the embodiment of the invention discloses a parallel mobile robot step optimization method and device, which are disclosed as preferred embodiments of the invention, and are only used for illustrating the technical scheme of the invention, but not limiting the technical scheme; although the invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that; the technical scheme recorded in the various embodiments can be modified or part of technical features in the technical scheme can be replaced equivalently; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (7)
1. A method for optimizing a parallel mobile robot stride, the method comprising:
acquiring motion information of an electric cylinder; the electric cylinder movement information comprises an electric cylinder speed information set and a foot touch information set; the electric cylinder speed information set characterizes the movement speed condition of a Stewart mechanism of the parallel mobile robot; the foot touch information set characterizes the ground contact area condition of a Stewart mechanism of the parallel mobile robot; the electric cylinder speed information set includes at least 3 electric cylinder speed information; the touchdown information set comprises at least 2 pieces of touchdown information; the foot contact information represents ground contact areas corresponding to different execution units of the Stewart mechanism;
Calculating the motion information of the electric cylinder to obtain motion characteristic information; the motion characteristic information comprises speed fluctuation characteristic information and operation stability characteristic information; the speed fluctuation characteristic information is inversely related to the fluctuation of the motion speed of the parallel mobile robot; the running stability characteristic information is positively correlated with the running stability of the parallel mobile robot;
the calculation processing is performed on the motion information of the electric cylinder to obtain motion characteristic information, and the method comprises the following steps:
screening and calculating the electric cylinder speed information set to obtain the speed fluctuation characteristic information;
the step of screening and calculating the electric cylinder speed information set to obtain the speed fluctuation characteristic information comprises the following steps:
dividing the speed information of any electric cylinder according to the movement period, and selecting the speed data of a complete movement period as the first speed information corresponding to the speed information of the electric cylinder;
performing speed track selection processing on the first speed information according to the action characteristic to obtain second speed information corresponding to the speed information of the electric cylinder; the second speed information represents the movement speed conditions of the electric cylinder corresponding to the Stewart mechanism in the uplink and downlink process;
Calculating the second speed information by using a preset speed fluctuation calculation rule to obtain a speed fluctuation characteristic value corresponding to the speed information of the electric cylinder;
performing weighted calculation processing on all the speed fluctuation characteristic values to obtain the speed fluctuation characteristic information;
dividing and calculating the touchdown information set to obtain the running stability characteristic information;
the step of dividing and calculating the touchdown information set to obtain the running stability characteristic information comprises the following steps:
performing overlapping region screening treatment on the foot touch information set to obtain first stable domain area information; the first stable domain area information represents the superposition part of the ground contact area corresponding to the foot contact information;
carrying out symmetry region division on the stable domain area information to obtain second stable domain area information; the second stable domain area information comprises a first stable region, a second stable region and a third stable region; the first stable region and the third stable region are symmetrical regions distributed on two sides of the second stable region;
performing area calculation on the second stability domain area information to obtain the operation stability characteristic information;
Constructing an adaptability function by utilizing the motion characteristic information;
carrying out optimization solving calculation on the adaptive function to obtain target step distance information; the target stride information is used to indicate movement of the parallel mobile robot.
2. The parallel mobile robot stride optimization method of claim 1, wherein the constructing an adaptive function using the motion feature information includes:
normalizing the motion characteristic information to obtain normalized characteristic value information;
and processing the normalized characteristic value information by using a preset adaptive model to obtain an adaptive function.
3. The parallel mobile robot stride optimization method according to claim 1, wherein the performing optimization solution calculation on the adaptive function to obtain target stride information includes:
acquiring constraint condition information and an initial solving model;
and carrying out iterative solution calculation on the adaptive function by utilizing the initial solution model and the constraint condition information to obtain target step distance information.
4. The parallel mobile robot stride optimization method of claim 3, wherein the constraint condition information includes initial setup information and a termination operation condition;
The step of performing iterative solution calculation on the adaptive function by using the initial solution model and the constraint condition information to obtain target step information comprises the following steps:
setting the initial solving model by using the initial setting information to obtain a target solving model;
carrying out iterative computation on the adaptive function by utilizing the target solving model to obtain solving result information;
judging whether the solving result information meets the termination operation condition or not to obtain a first condition judgment result; the termination operating condition is related to the number of iterations of the iterative computation;
when the first condition judging result is negative, updating the target solving model by utilizing the solving result information, and triggering and executing the iterative computation on the adaptive function by utilizing the target solving model to obtain the solving result information;
and when the first condition judging result is yes, determining target step distance information according to the solving result information.
5. A parallel mobile robot stride optimizing apparatus, the apparatus comprising:
the first acquisition module is used for acquiring the motion information of the electric cylinder; the electric cylinder movement information comprises an electric cylinder speed information set and a foot touch information set; the electric cylinder speed information set characterizes the movement speed condition of a Stewart mechanism of the parallel mobile robot; the foot touch information set characterizes the ground contact area condition of a Stewart mechanism of the parallel mobile robot; the electric cylinder speed information set includes at least 3 electric cylinder speed information; the touchdown information set comprises at least 2 pieces of touchdown information; the foot contact information represents ground contact areas corresponding to different execution units of the Stewart mechanism;
The processing module is used for calculating and processing the motion information of the electric cylinder to obtain motion characteristic information; the motion characteristic information comprises speed fluctuation characteristic information and operation stability characteristic information; the speed fluctuation characteristic information is inversely related to the fluctuation of the motion speed of the parallel mobile robot; the running stability characteristic information is positively correlated with the running stability of the parallel mobile robot;
the calculation processing is performed on the motion information of the electric cylinder to obtain motion characteristic information, and the method comprises the following steps:
screening and calculating the electric cylinder speed information set to obtain the speed fluctuation characteristic information;
the step of screening and calculating the electric cylinder speed information set to obtain the speed fluctuation characteristic information comprises the following steps:
dividing the speed information of any electric cylinder according to the movement period, and selecting the speed data of a complete movement period as the first speed information corresponding to the speed information of the electric cylinder;
performing speed track selection processing on the first speed information according to the action characteristic to obtain second speed information corresponding to the speed information of the electric cylinder; the second speed information represents the movement speed conditions of the electric cylinder corresponding to the Stewart mechanism in the uplink and downlink process;
Calculating the second speed information by using a preset speed fluctuation calculation rule to obtain a speed fluctuation characteristic value corresponding to the speed information of the electric cylinder;
performing weighted calculation processing on all the speed fluctuation characteristic values to obtain the speed fluctuation characteristic information;
dividing and calculating the touchdown information set to obtain the running stability characteristic information;
the step of dividing and calculating the touchdown information set to obtain the running stability characteristic information comprises the following steps:
performing overlapping region screening treatment on the foot touch information set to obtain first stable domain area information; the first stable domain area information represents the superposition part of the ground contact area corresponding to the foot contact information;
carrying out symmetry region division on the stable domain area information to obtain second stable domain area information; the second stable domain area information comprises a first stable region, a second stable region and a third stable region; the first stable region and the third stable region are symmetrical regions distributed on two sides of the second stable region;
performing area calculation on the second stability domain area information to obtain the operation stability characteristic information;
The construction module is used for constructing an adaptive function by utilizing the motion characteristic information;
the calculation module is used for carrying out optimization solving calculation on the adaptive function to obtain target step information; the target stride information is used to indicate movement of the parallel mobile robot.
6. A parallel mobile robot stride optimizing apparatus, the apparatus comprising:
a memory storing executable program code;
a processor coupled to the memory;
the processor invokes the executable program code stored in the memory to perform the parallel mobile robot stride optimization method of any of claims 1-4.
7. A computer storage medium storing computer instructions which, when invoked, are adapted to perform the parallel mobile robot pitch optimization method of any one of claims 1-4.
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