CN116702377A - Simulation method, device and equipment of automatic mobile machinery and storage medium - Google Patents
Simulation method, device and equipment of automatic mobile machinery and storage medium Download PDFInfo
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Abstract
The application provides a simulation method, a device, equipment and a storage medium of an automatic mobile machine, which relate to the field of simulation. The method realizes advanced verification of various algorithms of the intelligent mobile machine, can simulate an ideal working environment in a short time, and improves the research and development efficiency. A certain foundation is laid for the research and development of the following intelligent mobile machinery related technology.
Description
Technical Field
The present application relates to the field of simulation, and in particular, to a method, apparatus, device, and storage medium for simulating an automated mobile machine.
Background
Mobile machines have been playing an important role in the agricultural field, and the development of mobile machines has become a necessary trend toward intellectualization and unmanned. The intelligent mobile machine is provided with a sensor, an intelligent processor controller and other important devices. Normally, the development of an intelligent mobile machine is to perform structural design, then install important equipment, and finally perform algorithm deployment and real vehicle test. However, the method is difficult to avoid a plurality of problems of high test cost, large deployment risk of various intelligent algorithms, difficulty in finding an ideal working environment in a short time and the like.
In view of this, the present application has been proposed.
Disclosure of Invention
The application discloses a simulation method, a simulation device, simulation equipment and a storage medium of an automatic mobile machine, which aim to reduce the algorithm deployment cost, simulate an ideal working environment in a short time and improve the research and development efficiency.
The first embodiment of the application provides a simulation method of an automatic mobile machine, which comprises the following steps:
acquiring a mobile mechanical three-dimensional model configured with joint transmission relations of all parts, and generating a URDF parameterized model file according to the mobile mechanical three-dimensional model;
constructing a Gazebo simulation environment, and importing the URDF parameterized model file into the Gazebo simulation environment for debugging;
calling Movet to configure an executing mechanism of the mobile machinery three-dimensional model and adding a control plug-in to establish a connection between Gazebo and Movet;
and acquiring a script for realizing the task, and performing joint simulation test based on Gazebo and Movet.
Preferably, before the Gazebo simulation environment is constructed and the URDF parameterized model file is imported into the Gazebo simulation environment for debugging, the method further comprises:
and adjusting parameters of the URDF parameterized model file, configuring a joint control file, and running a demo file for preliminary debugging.
Preferably, the joint transmission relation of each part comprises: rotate, slide, float and fix.
Preferably, the URDF parameterized model file is in an xml grammar format;
the URDF parameterized model file comprises a robot tag, a link tag, a joint tag and a gazebo tag.
Preferably, after the establishing of the connection between Gazebo and movet, the method further comprises:
and changing the gesture of the mobile mechanical model at the Rviz visual interface, and performing forward and reverse kinematics planning.
Preferably, the script for implementing the task includes: and controlling the movement of the three-dimensional model of the mobile machinery according to the target position, controlling the movement of a control chain of an executing mechanism of the three-dimensional model of the mobile machinery, and planning the action of the executing mechanism when the three-dimensional model of the mobile machinery reaches the designated position.
Preferably, the three-dimensional model of the mobile machine adopts a crawler-type chassis differential drive, wherein the crawler-type chassis differential drive meets the following state matrix:
in the method, in the process of the application,for course angle->For the linear speed of the right crawler wheel of the mobile machine, < + >>For the linear speed of the left crawler wheel of the mobile machine, < >>For the linear distance between the track wheel intermediate shaft and the reference point, < > j->For moving the included angle between the middle of the mechanical chassis and the reference point, B is the distance between the inner edges of the two tracks, B is the width of the tracks, and k is the ratio of the speeds of the left track to the right track.
A second embodiment of the present application provides an emulation apparatus of an automated mobile machine, including:
the URDF file generation unit is used for acquiring a mobile mechanical three-dimensional model configured with the joint transmission relation of each part and generating a URDF parameterized model file according to the mobile mechanical three-dimensional model;
the debugging unit is used for constructing a Gazebo simulation environment and importing the URDF parameterized model file into the Gazebo simulation environment for debugging;
the association unit is used for calling movet to configure an execution mechanism of the mobile machinery three-dimensional model and adding a control plug-in to establish the association between Gazebo and movet;
and the simulation test unit is used for acquiring a script for realizing the task and carrying out joint simulation test based on Gazebo and Movet.
A third embodiment of the present application provides an automated mobile machinery simulation device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer program is executable by the processor to implement an automated mobile machinery simulation method according to any one of the above.
A fourth embodiment of the present application provides a computer readable storage medium, storing a computer program, where the computer program is capable of being executed by a processor of a device in which the computer readable storage medium is located, to implement a simulation method of an automated mobile machine according to any one of the above.
The application provides an automatic mobile machine simulation method, device, equipment and storage medium. The method realizes advanced verification of various algorithms of the intelligent mobile machine, can simulate an ideal working environment in a short time, and improves the research and development efficiency. A certain foundation is laid for the research and development of the following intelligent mobile machinery related technology.
Drawings
FIG. 1 is a flow chart of a simulation method of an automated mobile machine according to a first embodiment of the present application;
FIG. 2 is a diagram of a track type motion analysis provided by the present application;
FIG. 3 is a schematic diagram of an embodiment of an automated mobile machinery modeling and simulation method based on ROS and Gazebo provided by the present application;
fig. 4 is a block diagram of an emulation device of an automated mobile machine according to a second embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
For a better understanding of the technical solution of the present application, the following detailed description of the embodiments of the present application refers to the accompanying drawings.
It should be understood that the described embodiments are merely some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The terminology used in the embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that the term "and/or" as used herein is merely one relationship describing the association of the associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
Depending on the context, the word "if" as used herein may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to detection". Similarly, the phrase "if determined" or "if detected (stated condition or event)" may be interpreted as "when determined" or "in response to determination" or "when detected (stated condition or event)" or "in response to detection (stated condition or event), depending on the context.
References to "first\second" in the embodiments are merely to distinguish similar objects and do not represent a particular ordering for the objects, it being understood that "first\second" may interchange a particular order or precedence where allowed. It is to be understood that the "first\second" distinguishing objects may be interchanged where appropriate to enable the embodiments described herein to be implemented in sequences other than those illustrated or described herein.
Specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.
The application discloses a simulation method, a simulation device, simulation equipment and a storage medium of an automatic mobile machine, which aim to reduce the algorithm deployment cost, simulate an ideal working environment in a short time and improve the research and development efficiency.
Referring to fig. 1, a first embodiment of the present application provides a simulation method of an automated mobile machine, which may be executed by a simulation device of the automated mobile machine (hereinafter referred to as a simulation device), and in particular, by one or more processors in the simulation device, so as to implement at least the following steps:
s101, acquiring a mobile mechanical three-dimensional model configured with joint transmission relations of all parts, and generating a URDF parameterized model file according to the mobile mechanical three-dimensional model;
it should be noted that the simulation device may be a terminal with data processing and analysis capabilities, such as a desktop computer, a notebook computer, a server, a workstation, etc., where a corresponding operating system and application software may be installed in the simulation device, and the functions required in the embodiment are implemented by combining the operating system and the application software.
In this embodiment, the mobile machine three-dimensional model may be built based on SolidWorks software, specifically: drawing a three-dimensional model of the mobile machine through instructions such as stretching and rotating of SolidWorks, adding a rotation reference shaft and a translation reference shaft to a rotating joint and a hydraulic cylinder part of an executing mechanism of the three-dimensional model of the mobile machine, and adding a reference coordinate system to each part of the model of the mobile machine. And adding link connection to the mobile mechanical model execution mechanism part through an 'Export as URDF' plug-in the 'tool' option, limiting parameters such as rotation angle, speed, force and the like of each rotary joint, and exporting configured files to generate a parameterized model file in an xml format.
Wherein, each part joint transmission relation includes: rotate, slide, float and fix.
Specifically: the rotational relationship may include two, one being wirelessly rotatable about a single axis and one having an angular limit of rotation;
the sliding relationship may be along an axis with a positional limit;
the floating relationship may be to allow translational and rotational movement;
the fixed relationship may be a special relationship that does not allow movement.
In this embodiment, the URDF parameterized model file is in an xml syntax format, and it should be noted that the xml syntax format is a very important robot model description format in ROS, and is displayed on an Rviz visual interface;
the URDF parameterized model file may include a robot tag, a link tag, a join tag, and a gazebo tag.
The robot label is the topmost label of the complete robot model, and both link labels and joint labels must be contained in the robot label;
the link label is used for describing the appearance and physical properties of a certain rigid body part of the robot, and the physical properties comprise size, color, shape, inertia matrix, collision parameters and the like.
The joint labels are used to describe kinematic and dynamic properties of the robotic joints, including the position and speed limits of joint motion;
the gazebo tag is used for integrating tags which are needed to be used by gazebo, parameters needed for configuring simulation environment, robot material properties, gazebo plug-ins and the like.
In one possible embodiment of the present application, it may further include: and adjusting parameters of the URDF parameterized model file, configuring a joint control file, and running a demo file for preliminary debugging.
It should be noted that, the demo file may be started to run through the launch file, and the real-time state of the mobile mechanical three-dimensional model is displayed and debugged through the Rviz visual interface. Further, parameters such as joint rotation speed, rotation angle, rotation force and the like of the three-dimensional model executing mechanism of the mobile machinery can be modified and primarily debugged according to the requirements, and colors of all parts can be modified, so that the three-dimensional model executing mechanism is more attractive.
S102, constructing a Gazebo simulation environment, and importing the URDF parameterized model file into the Gazebo simulation environment for debugging;
it should be noted that the Gazebo simulation environment is used for simulating a real environment, air, light, gravity and the like in the real environment can be reflected in the environment, and a user of the Gazebo plug-in unit can add farmlands, rivers, trees, stones and the like into the environment according to requirements, so that the simulation environment can restore the real field environment more truly.
The simulation range can be defined in Gazebo, a wall is built at the edge of the range, and the simulation of the subsequent mobile mechanical model is completed in the range.
S103, calling a movet to configure an executing mechanism of the mobile machinery three-dimensional model and adding a control plug-in to establish a connection between Gazebo and movet;
it should be noted that, the movetit is an integrated development platform, including a functional package such as motion planning, operation control, 3D perception, kinematics, control and navigation algorithms, and the development platform user may use Moveit Setup Assistant tools to generate a configuration file to control the robot to move, so as to perform algorithm simulation and physical simulation.
In one possible embodiment of the present application, it may further include: and changing the gesture of the mobile mechanical model at the Rviz visual interface, and performing forward and reverse kinematics planning.
Specifically, a connection between Gazebo and Movet can be established through the control plug-in controller, wherein the control plug-in requires that the Gazebo end joint controller and the Movet end controller are named the same, and after the connection establishment is successful, the gesture of the mobile mechanical model is changed at the Rviz visual interface to perform forward and reverse kinematics planning, so that joint simulation is realized.
More specifically, a parameterized model file in an xml format configured by SolidWorks is selected in a configuration interface, a successfully loaded model can be displayed in a movit interface, a collision detection sampling point is set for a mobile mechanical three-dimensional model, and a maximum sampling point 10000 is selected; selecting a Planning group in a taskbar to plan an executing mechanism; the initial gesture and the tail end gesture of the executing mechanism are set, so that the operation simulation of the follow-up mobile machinery is facilitated; finally, the author information is filled in, so that a configuration file can be generated.
S104, acquiring a script for realizing the task, and carrying out joint simulation test based on Gazebo and Movet.
It should be noted that, the joint simulation of Gazebo and movet is started by a file in the format of launch.
In this embodiment, the script for implementing the task may include: and controlling the movement of the three-dimensional model of the mobile machinery according to the target position, controlling the movement of a control chain of an executing mechanism of the three-dimensional model of the mobile machinery, and planning the action of the executing mechanism when the three-dimensional model of the mobile machinery reaches the designated position.
In this embodiment, the three-dimensional model of the mobile machine adopts a differential drive of the crawler-type chassis, where the differential drive of the crawler-type chassis meets the following state matrix, and specifically reference may be made to the crawler-type motion analysis chart of fig. 2:
in the method, in the process of the application,for course angle->For the linear speed of the right crawler wheel of the mobile machine, < + >>For the linear speed of the left crawler wheel of the mobile machine, < >>For the linear distance between the track wheel intermediate shaft and the reference point, < > j->For moving the included angle between the middle of the mechanical chassis and the reference point, B is the distance between the inner edges of the two tracks, B is the width of the tracks, and k is the ratio of the speeds of the left track to the right track.
To better illustrate the workflow of the automated mobile machine modeling and simulation method mobile machine model in the simulation environment of the present embodiment based on ROS and Gazebo, further details are provided below, as shown in fig. 3.
The mobile machinery model is provided with a camera S202 at the front, and the camera S202 recognizes the surrounding environment to obtain picture information and transmits the picture information to a target detection module S203; in the aspect of mapping, SLAM mapping is adopted to generate a two-dimensional cost map, so that the position of the current mobile mechanical model and the environment around the model can be reflected in real time; the motion planning module S207 performs global path planning on the two-dimensional cost map generated by the positioning and mapping module S205, and adopts a hybrid a-path planning algorithm S206 to plan an optimal global optimal path. All of the above processes need to be completed under the control and decision of the control and decision block S201. After the mobile machine model reaches the target point, the executing mechanism executes the automatic operation S208 under the control of the control and decision module S201, and meanwhile, the executing mechanism feeds back the operation condition information in real time in the automatic operation S208.
Referring to fig. 4, a simulation apparatus of an automated mobile machine according to a second embodiment of the present application includes:
a URDF file generating unit 201, configured to obtain a three-dimensional model of a mobile machine configured with joint transmission relationships of parts, and generate a URDF parametric model file according to the three-dimensional model of the mobile machine;
a debugging unit 202, configured to construct a Gazebo simulation environment, and import the URDF parameterized model file into the Gazebo simulation environment for debugging;
the association unit 203 is configured to invoke movet to configure an execution mechanism of the mobile machinery three-dimensional model and add a control plug-in to establish a connection between Gazebo and movet;
the simulation test unit 204 acquires a script for realizing the task, and performs a joint simulation test based on Gazebo and movet.
A third embodiment of the present application provides an automated mobile machinery simulation device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer program is executable by the processor to implement an automated mobile machinery simulation method according to any one of the above.
A fourth embodiment of the present application provides a computer readable storage medium, storing a computer program, where the computer program is capable of being executed by a processor of a device in which the computer readable storage medium is located, to implement a simulation method of an automated mobile machine according to any one of the above.
The application provides an automatic mobile machine simulation method, device, equipment and storage medium. The method realizes advanced verification of various algorithms of the intelligent mobile machine, can simulate an ideal working environment in a short time, and improves the research and development efficiency. A certain foundation is laid for the research and development of the following intelligent mobile machinery related technology.
Illustratively, the computer programs described in the third and fourth embodiments of the present application may be divided into one or more modules, which are stored in the memory and executed by the processor to complete the present application. The one or more modules may be a series of computer program instruction segments capable of performing particular functions for describing the execution of the computer program in the simulation device implementing an automated mobile machine. For example, the device described in the second embodiment of the present application.
The processor may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, which is the control center of the simulation method of an automated mobile machine, connecting the various parts of the simulation method of an automated mobile machine based on the whole of the implementation using various interfaces and lines.
The memory may be used to store the computer program and/or the module, and the processor may implement various functions of a simulation method of an automated mobile machine by running or executing the computer program and/or the module stored in the memory and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, a text conversion function, etc.) required for at least one function, and the like; the storage data area may store data (such as audio data, text message data, etc.) created according to the use of the cellular phone, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
Wherein the modules may be stored in a computer readable storage medium if implemented in the form of software functional units and sold or used as a stand alone product. Based on this understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and the computer program may implement the steps of each method embodiment described above when executed by a processor. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.
It should be noted that the above-described apparatus embodiments are merely illustrative, and the units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the drawings of the embodiment of the device provided by the application, the connection relation between the modules represents that the modules have communication connection, and can be specifically implemented as one or more communication buses or signal lines. Those of ordinary skill in the art will understand and implement the present application without undue burden.
The present application is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present application are intended to be included in the scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.
Claims (10)
1. A method of simulating an automated mobile machine, comprising:
acquiring a mobile mechanical three-dimensional model configured with joint transmission relations of all parts, and generating a URDF parameterized model file according to the mobile mechanical three-dimensional model;
constructing a Gazebo simulation environment, and importing the URDF parameterized model file into the Gazebo simulation environment for debugging;
calling Movet to configure an executing mechanism of the mobile machinery three-dimensional model and adding a control plug-in to establish a connection between Gazebo and Movet;
and acquiring a script for realizing the task, and performing joint simulation test based on Gazebo and Movet.
2. The simulation method of an automated mobile machine according to claim 1, further comprising, before the constructing a Gazebo simulation environment and importing the URDF parametric model file into the Gazebo simulation environment for debugging:
and adjusting parameters of the URDF parameterized model file, configuring a joint control file, and running a demo file for preliminary debugging.
3. The method of claim 1, wherein the component joint transmission relationships comprise: rotate, slide, float and fix.
4. The simulation method of an automated mobile machine according to claim 1, wherein the URDF parameterized model file is in xml syntax format;
the URDF parameterized model file comprises a robot tag, a link tag, a joint tag and a gazebo tag.
5. A method of simulating an automated mobile machine according to claim 1, further comprising, after said establishing a connection between Gazebo and movet:
and changing the gesture of the mobile mechanical model at the Rviz visual interface, and performing forward and reverse kinematics planning.
6. The method of claim 1, wherein the script for implementing the task comprises: and controlling the movement of the three-dimensional model of the mobile machinery according to the target position, controlling the movement of a control chain of an executing mechanism of the three-dimensional model of the mobile machinery, and planning the action of the executing mechanism when the three-dimensional model of the mobile machinery reaches the designated position.
7. The method of claim 1, wherein the three-dimensional model of the mobile machine employs a tracked chassis differential drive, wherein the tracked chassis differential drive satisfies a state matrix of:
in the method, in the process of the application,for course angle->For the linear speed of the right crawler wheel of the mobile machine, < + >>For the linear speed of the left crawler wheel of the mobile machine, < >>For the linear distance between the track wheel intermediate shaft and the reference point, < > j->For moving the included angle between the middle of the mechanical chassis and the reference point, B is the distance between the inner edges of the two tracks, B is the width of the tracks, and k is the ratio of the speeds of the left track to the right track.
8. An automated mobile machinery simulation apparatus, comprising:
the URDF file generation unit is used for acquiring a mobile mechanical three-dimensional model configured with the joint transmission relation of each part and generating a URDF parameterized model file according to the mobile mechanical three-dimensional model;
the debugging unit is used for constructing a Gazebo simulation environment and importing the URDF parameterized model file into the Gazebo simulation environment for debugging;
the association unit is used for calling movet to configure an execution mechanism of the mobile machinery three-dimensional model and adding a control plug-in to establish the association between Gazebo and movet;
and the simulation test unit is used for acquiring a script for realizing the task and carrying out joint simulation test based on Gazebo and Movet.
9. An automated mobile machinery simulation device comprising a memory and a processor, the memory having stored therein a computer program executable by the processor to implement an automated mobile machinery simulation method according to any one of claims 1 to 7.
10. A computer readable storage medium, storing a computer program executable by a processor of a device in which the computer readable storage medium is located, to implement a method of simulating an automated mobile machine according to any one of claims 1 to 7.
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| CN107671857A (en) * | 2017-10-11 | 2018-02-09 | 上海交通大学 | For service robot operation demonstration and the three-dimensional artificial platform of proof of algorithm |
| CN112140106A (en) * | 2020-08-06 | 2020-12-29 | 盐城工学院 | Vehicle-mounted mechanical arm control system based on ROS and modeling method thereof |
| CN112338903A (en) * | 2020-10-21 | 2021-02-09 | 西安工程大学 | Mechanical arm control method based on model design |
| WO2023125213A1 (en) * | 2021-12-27 | 2023-07-06 | 北京罗克维尔斯科技有限公司 | Multi-ecu simulation test method and apparatus, computer device, and storage medium |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107671857A (en) * | 2017-10-11 | 2018-02-09 | 上海交通大学 | For service robot operation demonstration and the three-dimensional artificial platform of proof of algorithm |
| CN112140106A (en) * | 2020-08-06 | 2020-12-29 | 盐城工学院 | Vehicle-mounted mechanical arm control system based on ROS and modeling method thereof |
| CN112338903A (en) * | 2020-10-21 | 2021-02-09 | 西安工程大学 | Mechanical arm control method based on model design |
| WO2023125213A1 (en) * | 2021-12-27 | 2023-07-06 | 北京罗克维尔斯科技有限公司 | Multi-ecu simulation test method and apparatus, computer device, and storage medium |
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