CN116594431A - Hydraulic engineering robot following method, device and system and hydraulic engineering robot - Google Patents
Hydraulic engineering robot following method, device and system and hydraulic engineering robot Download PDFInfo
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Abstract
The invention discloses a hydraulic engineering robot following method, a device, a system and a hydraulic engineering robot, wherein a polar coordinate system is arranged, so that the change of the angle and the distance of a following target can be obtained according to the change of the polar coordinate of the following target, and further the hydraulic engineering robot is directly controlled to adjust angular speed data and linear speed data so as to realize the following of the target; meanwhile, the detection area of the laser radar is divided into a speed following area and a pose following area, and the speed following area is located in the middle area of the detection area, so that the linear speed data and the angular speed data are directly used in the speed following area to finish the following, and once the following target falls into the pose following area due to the accumulated error generated by the rapid movement or the control movement of the following target, the linear speed data and the angular speed data can be adjusted by utilizing the position and pose offset adjustment relation, so that the hydraulic engineering robot can quickly return to the speed following area.
Description
Technical Field
The invention relates to the field of engineering equipment, in particular to a following method, a device and a system of a hydraulic engineering robot and the hydraulic engineering robot.
Background
In construction sites, mines, roadways, tunnels and certain special operation sites, because the special operation robots are small in operation space, severe in environment and high in danger coefficient, the special operation robots are required to be small in size, large in work load and high in operation efficiency, and can be operated in a short-range or long-range remote control mode. The robot can realize the walking of a person, turning of the person, stopping of the person, accurate following, liberation of hands of operators, labor intensity reduction and operation safety improvement.
However, the self-following technology is mostly applied to the field of electrically controlled robots, and is rarely applied to hydraulic robots, particularly crawler robots driven by hydraulic motors. This is because the electronically controlled robot has a fast response speed and follows relatively easily, but has the disadvantage that the load capacity is not improved, especially in the field of engineering machinery. The hydraulic system has the greatest advantages of strong load capacity, but also has the defects of slow response, large control dead zone, long lag time and the like, and the traditional following control algorithm is out of the way in the field of hydraulic robots. The special operation robot is good in following effect, quick in response, strong in load capacity and high in stability, and the special operation robot becomes a great technical difficulty in the industry.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides a hydraulic engineering robot following method, which solves the problem of poor following effect of the hydraulic engineering robot.
The invention also provides a hydraulic engineering robot following device, a system, a computer readable storage medium and a hydraulic engineering robot.
According to the hydraulic engineering robot following method of the embodiment of the first aspect of the present invention, the hydraulic engineering robot is provided with a left walking hydraulic driving motor and a right walking hydraulic driving motor, the left walking hydraulic driving motor and the right walking hydraulic driving motor are used together for adjusting the walking state of the hydraulic engineering robot, and the hydraulic engineering robot is provided with a laser radar; constructing a following polar coordinate system according to the detection distance and the angle of the laser radar; the detection area of the laser radar is divided into a speed following area and a pose following area in advance, and the pose following area is positioned in the edge area of the detection area and forms a surrounding for the speed following area;
the following method of the hydraulic engineering robot comprises the following steps:
acquiring laser point cloud data through the laser radar;
Determining current distance data and current angle data of a following target according to the laser point cloud data and the following polar coordinate system;
determining linear velocity data and angular velocity data of the following target according to the current distance data, the current angle data, the pre-stored historical distance data and the pre-stored historical angle data;
determining the region position information of the following target in the detection region according to the current distance data and the current angle data;
when the regional position information characterizes that the hydraulic engineering robot is positioned in the pose following region, the linear speed data and the angular speed data are adjusted based on a pre-obtained position and posture offset adjustment relation, linear speed data and angular speed data are obtained again, and the position and posture offset adjustment relation is determined according to the distance from the following target to the velocity following region and the polar angle difference value between the polar angle of the following target and the polar angle of the edge of the velocity following region;
and obtaining a first control flow corresponding to the left traveling hydraulic driving motor and a second control flow corresponding to the right traveling hydraulic driving motor according to the linear speed data and the angular speed data, and adjusting the traveling gesture of the hydraulic engineering robot according to the first control flow and the second control flow.
The following method of the hydraulic engineering robot has at least the following beneficial effects:
by setting the polar coordinate system, the change of the angle and the distance of the following target can be obtained according to the change of the polar coordinate of the following target, and further the hydraulic engineering robot is directly controlled to adjust the angular speed data and the linear speed data so as to realize the following of the target; meanwhile, the detection area of the laser radar is divided into a speed following area and a pose following area, and the speed following area is positioned in the middle area of the detection area, so that the linear speed data and the angular speed data are directly used in the speed following area to finish the following, and once the following target falls into the pose following area due to the accumulated error generated by the rapid movement or the control movement of the following target, the linear speed data and the angular speed data can be adjusted by utilizing the position and pose offset adjustment relation, so that the hydraulic engineering robot can quickly return to the speed following area to avoid the following loss of the hydraulic engineering robot. The following method of the hydraulic engineering robot adopts a regional control mode and utilizes the polar coordinate system to participate in position determination, so that the method can be well adapted to the control of the hydraulic engineering robot, the problems of following hysteresis and the like of the hydraulic robot caused by the traditional electronic control robot control mode are avoided, and the method is suitable for industrialized popularization.
According to some embodiments of the invention, the determining the linear velocity data and the angular velocity data of the following target according to the current distance data, the current angle data, and the pre-stored historical distance data and historical angle data includes:
performing differential operation in time by utilizing the current distance data and the historical distance data to obtain the linear velocity data;
and performing differential operation in time by utilizing the current angle data and the historical angle data to obtain the angular velocity data.
According to some embodiments of the invention, the detection area is a first sector detection area, the speed following area is a second sector detection area, and the second sector detection area is concentric with the first sector detection area and is arranged with a symmetry axis; the central angle of the second fan-shaped detection area is smaller than that of the first fan-shaped area, and the radius of the second fan-shaped detection area is smaller than that of the first fan-shaped area; and the area outside the second fan-shaped detection area in the first fan-shaped detection area is the pose following area.
According to some embodiments of the invention, the pose tracking area comprises a first pose tracking area, a second pose tracking area and a third pose tracking area; the second pose following region is a region which is smaller than the radius of the second sector detection region in the first sector detection region and is positioned at two sides of the speed following region, the third pose following region is a region which is larger than the radius of the second sector detection region in the first sector detection region and is positioned at two sides of the speed following region, and the first pose following region is a region which is outside the second pose following region and the third pose following region in the first sector detection region.
According to some embodiments of the invention, the position and posture offset adjustment relation includes a position transition deviation correction parameter and a posture transition deviation correction parameter; in the first pose following region, the adjusting capability of the position transition deviation correcting parameter is larger than that of the pose transition deviation correcting parameter, and in the second pose following region, the adjusting capability of the position transition deviation correcting parameter is smaller than that of the pose transition deviation correcting parameter.
According to some embodiments of the invention, the positional posture offset adjustment relation includes a positional transition deviation correction parameter and a posture transition deviation correction parameter, and a constraint relation between the positional transition deviation correction parameter and the posture transition deviation correction parameter is:
wherein P is the position transition deviation correcting parameter, SK is the gesture transition deviation correcting parameter, d is the polar diameter of the following target, θ is the polar angle of the following target, r is the radius of the second sector detection area, and T is a preset correction time constant.
According to some embodiments of the invention, the correction time constant is obtained from a detection period of the lidar and a command response period of a controller in the hydraulic engineering robot.
According to a hydraulic engineering robot following device of an embodiment of a second aspect of the present invention, the hydraulic engineering robot has a left traveling hydraulic drive motor and a right traveling hydraulic drive motor, the left traveling hydraulic drive motor and the right traveling hydraulic drive motor are used together to adjust a traveling state of the hydraulic engineering robot, and a laser radar is provided on the hydraulic engineering robot; constructing a following polar coordinate system according to the detection distance and the angle of the laser radar; the detection area of the laser radar is divided into a speed following area and a pose following area in advance, and the pose following area is positioned in the edge area of the detection area and forms a surrounding for the speed following area;
the hydraulic engineering robot following device includes:
the data acquisition module is used for acquiring laser point cloud data through the laser radar;
the target parameter acquisition module is used for determining current distance data and current angle data of a following target according to the laser point cloud data and the following polar coordinate system;
the first control parameter calculation module is used for determining the linear speed data and the angular speed data of the following target according to the current distance data, the current angle data, the pre-stored historical distance data and the pre-stored historical angle data;
The position information determining module is used for determining the area position information of the following target in the detection area according to the current distance data and the current angle data;
the second control parameter calculation module is used for adjusting the linear speed data and the angular speed data based on a pre-obtained position posture offset adjustment relation when the region position information represents that the hydraulic engineering robot is located in the position posture following region, and obtaining the linear speed data and the angular speed data again, wherein the position posture offset adjustment relation is determined according to the distance between the following target and the speed following region and the polar angle difference value between the polar angle of the following target and the polar angle of the edge of the speed following region;
and the action execution control module is used for obtaining a first control flow corresponding to the left walking hydraulic driving motor and a second control flow corresponding to the right walking hydraulic driving motor according to the linear speed data and the angular speed data, and adjusting the walking gesture of the hydraulic engineering robot according to the first control flow and the second control flow.
The hydraulic engineering robot following device provided by the embodiment of the invention has at least the following beneficial effects:
By setting the polar coordinate system, the change of the angle and the distance of the following target can be obtained according to the change of the polar coordinate of the following target, and further the hydraulic engineering robot is directly controlled to adjust the angular speed data and the linear speed data so as to realize the following of the target; meanwhile, the detection area of the laser radar is divided into a speed following area and a pose following area, and the speed following area is positioned in the middle area of the detection area, so that the linear speed data and the angular speed data are directly used in the speed following area to finish the following, and once the following target falls into the pose following area due to the accumulated error generated by the rapid movement or the control movement of the following target, the linear speed data and the angular speed data can be adjusted by utilizing the position and pose offset adjustment relation, so that the hydraulic engineering robot can quickly return to the speed following area to avoid the following loss of the hydraulic engineering robot. The hydraulic engineering robot following device provided by the embodiment of the invention adopts a regional control mode, and utilizes the polar coordinate system to participate in position determination, so that the device can be well adapted to the control of a hydraulic engineering robot, the problems of the following hysteresis and the like of the hydraulic robot caused by the traditional electric control robot control mode are avoided, and the device is suitable for industrialized popularization.
According to an embodiment of the third aspect of the present invention, a hydraulic engineering robot following system includes:
a perception layer input unit comprising a lidar;
the main control algorithm unit is used for executing the following method of the hydraulic engineering robot;
the following execution unit comprises a left walking hydraulic driving motor and a right walking hydraulic driving motor, and is used for adjusting the walking state of the hydraulic engineering robot under the control of the main control algorithm unit.
The hydraulic engineering robot following system provided by the embodiment of the invention has at least the following beneficial effects:
the control unit adopts all the technical schemes of the following method of the hydraulic engineering robot in the embodiment, so that the following method at least has all the beneficial effects brought by the technical schemes of the embodiment.
A hydraulic engineering robot according to an embodiment of a fourth aspect of the invention comprises a hydraulic engineering robot following system as in the embodiment of the third aspect. The hydraulic engineering robot following system according to the embodiment of the third aspect is comprised, so that it has at least all the advantages brought by the technical solutions of the above-mentioned embodiments.
According to a fifth aspect of the embodiment of the invention, a computer-readable storage medium stores computer-executable instructions for performing the hydraulic engineering robot following method according to the first aspect of the embodiment. The computer readable storage medium adopts all the technical schemes of the following method of the hydraulic engineering robot in the above embodiment, so that the following method has at least all the beneficial effects brought by the technical schemes of the above embodiment.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a flow chart of a hydraulic engineering robot following method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of dividing a pose tracking area and a velocity tracking area according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a hydraulic engineering robot following system according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, the description of first, second, etc. is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, it should be understood that the direction or positional relationship indicated with respect to the description of the orientation, such as up, down, etc., is based on the direction or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, and does not indicate or imply that the apparatus or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be determined reasonably by a person skilled in the art in combination with the specific content of the technical solution.
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings, in which it is apparent that the embodiments described below are some, but not all embodiments of the invention.
Referring to fig. 1, fig. 1 is a flowchart of a following method of a hydraulic engineering robot provided by an embodiment of the present invention, the hydraulic engineering robot has a left traveling hydraulic driving motor and a right traveling hydraulic driving motor, the left traveling hydraulic driving motor and the right traveling hydraulic driving motor are used together to adjust a traveling state of the hydraulic engineering robot, and a laser radar is provided on the hydraulic engineering robot; constructing a following polar coordinate system according to the detection distance and the angle of the laser radar; the detection area of the laser radar is divided into a speed following area and a pose following area in advance, wherein the pose following area is positioned in the edge area of the detection area and forms a surrounding for the speed following area;
The following method of the hydraulic engineering robot comprises the following steps:
acquiring laser point cloud data through a laser radar;
determining current distance data and current angle data of a following target according to the laser point cloud data and the following polar coordinate system;
determining linear velocity data and angular velocity data of a following target according to the current distance data, the current angle data, and the prestored historical distance data and historical angle data;
determining the region position information of the following target in the detection region according to the current distance data and the current angle data;
when the regional position information characterizes that the hydraulic engineering robot is positioned in the pose following region, the linear speed data and the angular speed data are adjusted based on a pre-obtained position posture offset adjustment relation, the linear speed data and the angular speed data are obtained again, and the position posture offset adjustment relation is determined according to the distance from the following target to the speed following region and the polar angle difference value between the polar angle of the following target and the polar angle of the edge of the speed following region;
and obtaining a first control flow corresponding to the left walking hydraulic driving motor and a second control flow corresponding to the right walking hydraulic driving motor according to the linear speed data and the angular speed data, and adjusting the walking posture of the hydraulic engineering robot according to the first control flow and the second control flow.
Most of the adopted crawler-type travelling mechanisms of the hydraulic engineering robots respectively control the rotation direction and the rotation speed of the crawler-type structure through a left travelling hydraulic driving motor and a right travelling hydraulic driving motor, so that the travelling direction and the steering of the hydraulic engineering robots can be controlled.
Referring to fig. 2, the detection range of the lidar can be regarded as a sector detection area, in this embodiment, in order to better complete the control of the hydraulic engineering robot, the idea of partition control is adopted, that is, the detection area is divided into a speed following area (a area shown in fig. 2) and a pose following area (a combined area of B1, B2 and B3 shown in fig. 2), and the pose following area is located in an edge area of the detection area and forms a surrounding to the following area.
In this embodiment, in order to better complete the control of the tracked robot, a following polar coordinate system is constructed, and the offset angle and distance between the following target and the laser radar can be quickly determined by using the polar coordinate, that is, the current distance data and the current angle data can be obtained, and the linear velocity data and the angular velocity data of the following target can be obtained by differentiating the distance data and the angle data. When the hydraulic engineering robot is in the speed following area, the linear speed data and the angular speed data can be directly used for controlling the hydraulic motor to act to realize the following, namely, the respective rotating speeds of the left crawler belt and the right crawler belt of the hydraulic engineering robot are determined according to the linear speed data and the angular speed data, the corresponding control flow is determined according to the rotating speeds, and finally, the corresponding valve group is controlled to complete the flow control, so that the walking control of the hydraulic engineering robot can be controlled.
However, when the hydraulic engineering robot is in the speed following region to carry out the following action, because the hydraulic engineering robot has the characteristic of hydraulic response hysteresis, the response instantaneity of the robot cannot be met, and therefore, after long-time accumulation, the hydraulic engineering robot can be separated from the speed following region and fall into the pose following region. In the pose following region, compensation control is needed for the hydraulic engineering robot so that the hydraulic engineering robot can quickly return to the speed following region. In this embodiment, the linear velocity data and the angular velocity data are compensated and adjusted according to a pre-acquired position and posture offset adjustment relationship, and the position and posture offset adjustment relationship is determined according to the degree of deviation of the hydraulic engineering robot from the velocity following region, so that the hydraulic engineering robot can be ensured to rapidly perform compensation reaction, and the hydraulic engineering robot is prevented from being separated from the velocity following region for a long time. In terms of replacement, the position and posture offset adjustment relation can be directly set for the detection area of the whole laser radar, however, the adjustment mode can cause frequent adjustment of the posture of the hydraulic engineering robot, and after the speed following area is introduced, the frequency of adjustment can be effectively adjusted.
It should be noted that, when the hydraulic engineering robot exceeds the speed following area and the pose following area, the hydraulic engineering robot can give an alarm by sending out an audible and visual alarm so as to be capable of timely finding out the following target and the remote monitoring personnel and avoid dangerous situations.
According to the hydraulic engineering robot following method, the polar coordinate system is set, so that the angle and distance change of the following target can be obtained according to the polar coordinate change of the following target, and further the hydraulic engineering robot is directly controlled to adjust the angular speed data and the linear speed data so as to follow the target; meanwhile, the detection area of the laser radar is divided into a speed following area and a pose following area, and the speed following area is positioned in the middle area of the detection area, so that the linear speed data and the angular speed data are directly used in the speed following area to finish the following, and once the following target falls into the pose following area due to the accumulated error generated by the rapid movement or the control movement of the following target, the linear speed data and the angular speed data can be adjusted by utilizing the position and pose offset adjustment relation, so that the hydraulic engineering robot can quickly return to the speed following area to avoid the following loss of the hydraulic engineering robot. The following method of the hydraulic engineering robot adopts a regional control mode and utilizes the polar coordinate system to participate in position determination, so that the method can be well adapted to the control of the hydraulic engineering robot, the problems of following hysteresis and the like of the hydraulic robot caused by the traditional electronic control robot control mode are avoided, and the method is suitable for industrialized popularization.
In some embodiments, determining the linear velocity data, the angular velocity data of the following target from the current distance data, the current angle data, and the previously stored historical distance data and the historical angle data includes:
performing differential operation in time by utilizing the current distance data and the historical distance data to obtain linear velocity data;
and performing differential operation in time by using the current angle data and the historical angle data to obtain angular velocity data.
Continuously acquiring current distance data, differentiating the distance in time to obtain linear velocity data, and similarly, acquiring current angle data and differentiating the distance in time to obtain angular velocity data.
As shown in fig. 2, in some embodiments, the detection region is a first sector detection region, and the velocity following region is a second sector detection region concentric with the first sector detection region and disposed with respect to the axis of symmetry; the central angle of the second fan-shaped detection area is smaller than that of the first fan-shaped area, and the radius of the second fan-shaped detection area is smaller than that of the first fan-shaped area; the region outside the second sector detection region in the first sector detection region is a pose following region.
In order to better realize the control of following the hydraulic engineering robot, the speed following area is also set to be fan-shaped, and is set to be same with the circle and the symmetry axis, so that the hydraulic engineering robot can be ensured to be quickly and effectively adjusted no matter whether the hydraulic engineering robot is shifted to any direction, and the setting mode can also effectively simplify the control logic.
In some embodiments, the pose tracking region comprises a first pose tracking region, a second pose tracking region, a third pose tracking region; the second pose following region is a region which is smaller than the radius of the second fan-shaped detection region in the first fan-shaped detection region and is positioned at two sides of the speed following region, the third pose following region is a region which is larger than the radius of the second fan-shaped detection region in the first fan-shaped detection region and is positioned at two sides of the speed following region, and the first pose following region is a region outside the second pose following region and the third pose following region in the first fan-shaped detection region.
As shown in fig. 2 (the illustration B1 is a first pose following region, the illustration B2 is a second pose following region, the illustration B3 is a third pose following region, the two B2 regions are symmetrically distributed on two sides, the two B3 regions are symmetrically distributed on two sides), the pose following region can be divided into a plurality of regions according to practical situations, in this embodiment, the pose following region is divided into three regions, wherein the first pose following region mainly has larger distance deviation, at this moment, the adjustment mode is mainly to adjust the position distance, the second pose following region has larger angle deviation, at this moment, the adjustment mode is mainly to adjust the pose, when the position is in the third pose following region, the situation that the distance and the angle are both greatly deviated exists, and both the position distance and the pose need to be simultaneously considered. It will be appreciated that for ease of adjustment, different adjustment parameters may be set for different areas in practice. Furthermore, for the division of the sub-regions in the pose following region, more division can be performed, and the specific division quantity can be adjusted according to actual requirements.
In order to better describe the division of the velocity following region and the attitude following region in this embodiment, a set of defining formulas is given herein, by which a specific division boundary can be defined explicitly. The specific formula is as follows.
First, the following polar coordinates of the following target are defined as a (d, θ), and therefore, the geometric relationship of the partitions is as follows:
1. speed following zone:
2. first pose following region:
3. the second pose following region:
4. third pose following region:
in the above formula, d is the polar diameter of the following target, θ is the polar angle of the following target, r is the radius of the second sector detection area, and α is the included angle between the radius of one side of the second sector detection area and the radius of the first sector detection area on the same side.
In some embodiments, the positional attitude offset adjustment relationship includes a positional transition correction parameter, an attitude transition correction parameter; in the first pose following region, the adjusting capability of the position transition deviation correcting parameter is larger than that of the pose transition deviation correcting parameter, and in the second pose following region, the adjusting capability of the position transition deviation correcting parameter is smaller than that of the pose transition deviation correcting parameter. The position transition deviation correcting parameter and the gesture transition deviation correcting parameter are respectively used for adjusting linear speed data and angular speed data, when the distance deviation occurs, the position transition deviation correcting parameter needs to be input for compensation, and when the angle deviation occurs, the gesture transition deviation correcting parameter needs to be input for compensation.
In some embodiments, the radius of the second sector detection area is 0.75 of the radius of the first sector detection area and the central angle of the second sector detection area is 0.6 of the central angle of the first sector detection area. The ratio setting in this embodiment can guarantee that the speed following area is big enough simultaneously, also can effectually guarantee that there is sufficient region to compensate the adjustment after the hydraulic engineering robot breaks away from the speed following area. It should be noted that, in the actual engineering, the ratio of the radius to the central angle is properly adjusted to better fit the use requirements of different engineering apparatuses. For example, the radius of the second sector detection area is 0.7 to 0.8 of the radius of the first sector detection area, and the central angle of the second sector detection area is 0.5 to 0.6 of the central angle of the first sector detection area.
In some embodiments, the positional attitude offset adjustment relationship includes a positional transition correction parameter, an attitude transition correction parameter, and the constraint relationship of the positional transition correction parameter and the attitude transition correction parameter is:
wherein P is a position transition deviation correcting parameter, SK is a posture transition deviation correcting parameter, d is a polar diameter of a following target, θ is a polar angle of the following target, r is a radius of a second fan-shaped detection area, and T is a preset correction time constant.
In this embodiment, the formula gives a definite constraint to the correspondence between the position transition deviation correcting parameter, the posture transition deviation correcting parameter and the deviation state of the following target, under the application of the formula, the relative relationship between the position of the following target in the pose following region can be free from consideration of sub-region division, after the formula is used, the position transition deviation correcting parameter and the posture transition deviation correcting parameter are determined only when the following target is in the pose following region by using the formula, and then the linear velocity data and the angular velocity data are corrected, and the specific correction process can be referred to the following formula:
wherein V is 0 ’ For the adjusted linear velocity data, W 0 ’ For the adjusted angular velocity data, v is the linear velocity data before adjustment, w is the angular velocity data before adjustment, P is the position transition deviation correcting parameter, SK is the attitude transition deviation correcting parameter, d is the polar diameter of the following target, θ is the polar angle of the following target, r is the radius of the second sector detection area, and T is the preset correction time constant.
In some embodiments, the correction time constant is derived from a detection period of the lidar and a command response period of a controller in the hydraulic engineering robot. The determination of the correction time constant mainly depends on the detection period of the laser radar and the command response period of the controller, which are important factors affecting the control delay of the system, and usually the correction time constant takes the sum of the two, which is about two seconds for some controllers, so that the frequent test process can be reduced, and in most cases, two seconds can be directly taken. The instruction response period is further explained herein and is understood to be the time it takes to control a response to an instruction, e.g. the time it takes from receiving a set of position data to issuing a set of control instructions.
In some embodiments, deriving a first control flow corresponding to the left travel hydraulic drive motor and a second control flow corresponding to the right travel hydraulic motor from the linear velocity data and the angular velocity data comprises the steps of:
determining a first rotating speed of a left side traveling driving wheel and a second rotating speed of a right side traveling driving wheel in the hydraulic engineering robot traveling crawler according to the linear speed data and the angular speed data by utilizing a differential control algorithm;
determining a first flow conversion coefficient according to the reduction ratio and the displacement of the left walking hydraulic driving motor;
determining a second flow conversion coefficient according to the reduction ratio and the displacement of the right walking hydraulic drive motor;
determining a first control flow according to the first rotational speed and the first flow conversion coefficient;
and determining a second control flow according to the second rotating speed and the second flow conversion coefficient.
The crawler-type travelling mechanism can drive and control by strictly controlling the travelling driving wheels which drive the crawler to rotate at two sides, so that the corresponding rotating speeds at two sides can be determined directly according to the linear speed data and the angular speed data. The specific conversion formula is as follows:
Vl=(V - 0.5 * W * Ld)，Vr=-(V + 0.5 * W * Ld)，
wherein Vl is a first rotation speed on the left side, vr is a second rotation speed on the right side, ld is a distance between driving wheels on two sides, V is a linear speed of walking of the hydraulic engineering robot, and W is an angular speed of steering of the hydraulic engineering robot;
After the rotation speed is determined, the first flow conversion coefficient and the second flow conversion coefficient are further determined, so that the control flow corresponding to the left walking hydraulic driving motor and the right walking hydraulic driving motor is determined by using the first flow conversion coefficient and the second flow conversion coefficient, and the specific formula is as follows:
Nl=Kn* Vl，Nr=Kn*|Vr|，
and Nl is a first control flow corresponding to the left walking hydraulic driving motor, nr is a second control flow corresponding to the right walking hydraulic driving motor, and Kn is a first flow conversion coefficient and a second flow conversion coefficient because the hydraulic motors on two sides adopt the same model. It should be noted that Kn is essentially understood to be a pre-obtained parameter, which is determined by the inherent properties of the hydraulic motor itself, and that there is a certain distinction between different types of hydraulic motors.
In some embodiments, the hydraulic engineering robot walking gesture is adjusted according to the first control flow and the second control flow, including the steps of:
determining a first control current corresponding to the first control flow and a second control current corresponding to the second control flow according to a pre-acquired flow control curve relation;
and controlling the walking of the hydraulic engineering robot according to the first control current and the second control current.
The control flow of the hydraulic motor is controlled by controlling the opening of the electromagnetic valve, and the opening of the valve can be realized by controlling the magnitude of the current. The specific reference formula is: il=ky×nl+by, ir=ky×nr+by, where Ky and By are constants determined By the characteristics of the solenoid valve.
The embodiment of the invention also provides a hydraulic engineering robot following device, which comprises: the system comprises a data acquisition module, a target parameter acquisition module, a first control parameter calculation module, a position information determination module, a second control parameter calculation module and an action execution control module;
the data acquisition module is used for acquiring laser point cloud data through a laser radar;
the target parameter acquisition module is used for determining current distance data and current angle data of a following target according to the laser point cloud data and the following polar coordinate system;
the first control parameter calculation module is used for determining linear velocity data and angular velocity data of a following target according to the current distance data, the current angle data, the pre-stored historical distance data and the pre-stored historical angle data;
The position information determining module is used for determining the area position information of the following target in the detection area according to the current distance data and the current angle data;
the second control parameter calculation module is used for adjusting the linear speed data and the angular speed data based on a pre-obtained position posture offset adjustment relation when the regional position information represents that the hydraulic engineering robot is positioned in the position posture following region, and obtaining the linear speed data and the angular speed data again, wherein the position posture offset adjustment relation is determined according to the distance from the following target to the speed following region and the polar angle difference value between the polar angle of the following target and the polar angle of the edge of the speed following region;
the action execution control module is used for obtaining a first control flow corresponding to the left walking hydraulic driving motor and a second control flow corresponding to the right walking hydraulic driving motor according to the linear speed data and the angular speed data, and adjusting the walking gesture of the hydraulic engineering robot according to the first control flow and the second control flow.
Most of the adopted crawler-type travelling mechanisms of the hydraulic engineering robots respectively control the rotation direction and the rotation speed of the crawler-type structure through a left travelling hydraulic driving motor and a right travelling hydraulic driving motor, so that the travelling direction and the steering of the hydraulic engineering robots can be controlled.
Referring to fig. 2, the detection range of the lidar can be regarded as a sector detection area, in this embodiment, in order to better complete the control of the hydraulic engineering robot, the idea of partition control is adopted, that is, the detection area is divided into a speed following area and a pose following area, and the pose following area is located in an edge area of the detection area and surrounds the following area, which can also be understood that when the following target is located in the speed following area, the following effect is better, and when the following target is located in the pose following area, the current following state is illustrated to be poor, and the adjustment needs to be compensated as soon as possible.
In this embodiment, in order to better complete the control of the tracked robot, a following polar coordinate system is constructed, and the offset angle and distance between the following target and the laser radar can be quickly determined by using the polar coordinate, that is, the current distance data and the current angle data can be obtained, and the linear velocity data and the angular velocity data of the following target can be obtained by differentiating the distance data and the angle data. When the hydraulic engineering robot is in the speed following area, the linear speed data and the angular speed data can be directly used for controlling the hydraulic motor to act to realize the following, namely, the respective rotating speeds of the left crawler belt and the right crawler belt of the hydraulic engineering robot are determined according to the linear speed data and the angular speed data, the corresponding control flow is determined according to the rotating speeds, and finally, the corresponding valve group is controlled to complete the flow control, so that the walking control of the hydraulic engineering robot can be controlled.
However, when the hydraulic engineering robot is in the speed following region to carry out the following action, because the hydraulic engineering robot has the characteristic of hydraulic response hysteresis, the response instantaneity of the robot cannot be met, and therefore, after long-time accumulation, the hydraulic engineering robot can be separated from the speed following region and fall into the pose following region. In the pose following region, compensation control is needed for the hydraulic engineering robot so that the hydraulic engineering robot can quickly return to the speed following region. In this embodiment, the linear velocity data and the angular velocity data are compensated and adjusted according to a pre-acquired position and posture offset adjustment relationship, and the position and posture offset adjustment relationship is determined according to the degree of deviation of the hydraulic engineering robot from the velocity following region, so that the hydraulic engineering robot can be ensured to rapidly perform compensation reaction, and the hydraulic engineering robot is prevented from being separated from the velocity following region for a long time. In terms of replacement, the position and posture offset adjustment relation can be directly set for the detection area of the whole laser radar, however, the adjustment mode can cause frequent adjustment of the posture of the hydraulic engineering robot, and after the speed following area is introduced, the frequency of adjustment can be effectively adjusted.
It should be noted that, when the hydraulic engineering robot exceeds the speed following area and the pose following area, the hydraulic engineering robot can give an alarm by sending out an audible and visual alarm so as to be capable of timely finding out the following target and the remote monitoring personnel and avoid dangerous situations.
According to the hydraulic engineering robot following device, the polar coordinate system is arranged, so that the change of the angle and the distance of the following target can be obtained according to the change of the polar coordinate of the following target, and further the hydraulic engineering robot is directly controlled to adjust the angular speed data and the linear speed data so as to realize the following of the target; meanwhile, the detection area of the laser radar is divided into a speed following area and a pose following area, and the speed following area is positioned in the middle area of the detection area, so that the linear speed data and the angular speed data are directly used in the speed following area to finish the following, and once the following target falls into the pose following area due to the accumulated error generated by the rapid movement or the control movement of the following target, the linear speed data and the angular speed data can be adjusted by utilizing the position and pose offset adjustment relation, so that the hydraulic engineering robot can quickly return to the speed following area to avoid the following loss of the hydraulic engineering robot. The hydraulic engineering robot following device provided by the embodiment of the invention adopts a regional control mode, and utilizes the polar coordinate system to participate in position determination, so that the device can be well adapted to the control of a hydraulic engineering robot, the problems of the following hysteresis and the like of the hydraulic robot caused by the traditional electric control robot control mode are avoided, and the device is suitable for industrialized popularization.
Referring to fig. 3, the embodiment of the invention also provides a hydraulic engineering robot following system, which comprises a sensing layer input unit, a main control algorithm unit and a following execution unit; a perception layer input unit comprising a lidar; the main control algorithm unit is used for executing the following method of the hydraulic engineering robot; the following execution unit comprises a left walking hydraulic driving motor and a right walking hydraulic driving motor, and is used for adjusting the walking state of the hydraulic engineering robot under the control of the main control algorithm unit. The control unit in the hydraulic engineering robot following system of the embodiment of the invention adopts all the technical schemes of the hydraulic engineering robot following method of the embodiment, so that the hydraulic engineering robot following system at least has all the beneficial effects brought by the technical schemes of the embodiment.
The embodiment of the invention also provides a hydraulic engineering robot, which comprises the following system of the hydraulic engineering robot. The following system of the hydraulic engineering robot has at least all the beneficial effects brought by the technical scheme of the embodiment.
Furthermore, an embodiment of the present invention also provides a computer-readable storage medium storing computer-executable instructions that are executed by a processor or control unit, which may cause the processor to perform the hydraulic engineering robot following method in the above embodiment, for example, to perform the method described above.
Those of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media or non-transitory media and communication media or transitory media. The term computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk DVD or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Furthermore, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present invention.
Claims (10)
1. The following method of the hydraulic engineering robot is characterized in that the hydraulic engineering robot is provided with a left walking hydraulic driving motor and a right walking hydraulic driving motor, the left walking hydraulic driving motor and the right walking hydraulic driving motor are used for adjusting the walking state of the hydraulic engineering robot together, and a laser radar is arranged on the hydraulic engineering robot; constructing a following polar coordinate system according to the detection distance and the angle of the laser radar; the detection area of the laser radar is divided into a speed following area and a pose following area in advance, and the pose following area is positioned in the edge area of the detection area and forms a surrounding for the speed following area;
the following method of the hydraulic engineering robot comprises the following steps:
acquiring laser point cloud data through the laser radar;
determining current distance data and current angle data of a following target according to the laser point cloud data and the following polar coordinate system;
Determining linear velocity data and angular velocity data of the following target according to the current distance data, the current angle data, the pre-stored historical distance data and the pre-stored historical angle data;
determining the region position information of the following target in the detection region according to the current distance data and the current angle data;
when the regional position information characterizes that the hydraulic engineering robot is positioned in the pose following region, the linear speed data and the angular speed data are adjusted based on a pre-obtained position and posture offset adjustment relation, linear speed data and angular speed data are obtained again, and the position and posture offset adjustment relation is determined according to the distance from the following target to the velocity following region and the polar angle difference value between the polar angle of the following target and the polar angle of the edge of the velocity following region;
and obtaining a first control flow corresponding to the left traveling hydraulic driving motor and a second control flow corresponding to the right traveling hydraulic driving motor according to the linear speed data and the angular speed data, and adjusting the traveling gesture of the hydraulic engineering robot according to the first control flow and the second control flow.
2. The hydraulic engineering robot following method according to claim 1, wherein the determining the linear velocity data and the angular velocity data of the following target according to the current distance data, the current angle data, and the previously stored historical distance data and historical angle data includes:
performing differential operation in time by utilizing the current distance data and the historical distance data to obtain the linear velocity data;
and performing differential operation in time by utilizing the current angle data and the historical angle data to obtain the angular velocity data.
3. The hydraulic engineering robot following method according to claim 1, wherein the detection area is a first fan-shaped detection area, the speed following area is a second fan-shaped detection area, and the second fan-shaped detection area is concentric with the first fan-shaped detection area and is arranged with a symmetry axis; the central angle of the second fan-shaped detection area is smaller than that of the first fan-shaped area, and the radius of the second fan-shaped detection area is smaller than that of the first fan-shaped area; and the area outside the second fan-shaped detection area in the first fan-shaped detection area is the pose following area.
4. The hydraulic engineering robot following method according to claim 3, wherein the pose following region comprises a first pose following region, a second pose following region and a third pose following region; the second pose following region is a region which is smaller than the radius of the second sector detection region in the first sector detection region and is positioned at two sides of the speed following region, the third pose following region is a region which is larger than the radius of the second sector detection region in the first sector detection region and is positioned at two sides of the speed following region, and the first pose following region is a region which is outside the second pose following region and the third pose following region in the first sector detection region.
5. The hydraulic engineering robot following method according to any one of claims 3 to 4, wherein the positional posture offset adjustment relation includes a positional transition deviation correction parameter and a posture transition deviation correction parameter, and a constraint relation between the positional transition deviation correction parameter and the posture transition deviation correction parameter is:
，
wherein P is the position transition deviation correcting parameter, SK is the gesture transition deviation correcting parameter, d is the polar diameter of the following target, θ is the polar angle of the following target, r is the radius of the second sector detection area, and T is a preset correction time constant.
6. The hydraulic engineering robot following method according to claim 5, wherein the correction time constant is obtained from a detection period of the laser radar and a command response period of a controller in the hydraulic engineering robot.
7. The hydraulic engineering robot following device is characterized in that the hydraulic engineering robot is provided with a left walking hydraulic driving motor and a right walking hydraulic driving motor, the left walking hydraulic driving motor and the right walking hydraulic driving motor are used for adjusting the walking state of the hydraulic engineering robot together, and a laser radar is arranged on the hydraulic engineering robot; constructing a following polar coordinate system according to the detection distance and the angle of the laser radar; the detection area of the laser radar is divided into a speed following area and a pose following area in advance, and the pose following area is positioned in the edge area of the detection area and forms a surrounding for the speed following area;
the hydraulic engineering robot following device includes:
the data acquisition module is used for acquiring laser point cloud data through the laser radar;
the target parameter acquisition module is used for determining current distance data and current angle data of a following target according to the laser point cloud data and the following polar coordinate system;
The first control parameter calculation module is used for determining the linear speed data and the angular speed data of the following target according to the current distance data, the current angle data, the pre-stored historical distance data and the pre-stored historical angle data;
the position information determining module is used for determining the area position information of the following target in the detection area according to the current distance data and the current angle data;
the second control parameter calculation module is used for adjusting the linear speed data and the angular speed data based on a pre-obtained position posture offset adjustment relation when the region position information represents that the hydraulic engineering robot is located in the position posture following region, and obtaining the linear speed data and the angular speed data again, wherein the position posture offset adjustment relation is determined according to the distance between the following target and the speed following region and the polar angle difference value between the polar angle of the following target and the polar angle of the edge of the speed following region;
and the action execution control module is used for obtaining a first control flow corresponding to the left walking hydraulic driving motor and a second control flow corresponding to the right walking hydraulic driving motor according to the linear speed data and the angular speed data, and adjusting the walking gesture of the hydraulic engineering robot according to the first control flow and the second control flow.
8. A hydraulic engineering robot follower system, comprising:
a perception layer input unit comprising a lidar;
a main control algorithm unit for performing the hydraulic engineering robot following method according to any one of claims 1 to 6;
the following execution unit comprises a left walking hydraulic driving motor and a right walking hydraulic driving motor, and is used for adjusting the walking state of the hydraulic engineering robot under the control of the main control algorithm unit.
9. A hydraulic engineering robot comprising the hydraulic engineering robot following system according to claim 8.
10. A computer-readable storage medium storing computer-executable instructions for causing a computer to perform the hydraulic engineering robot following method according to any one of claims 1 to 6.
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