CN117452928A - Walking control method, intelligent equipment and computer readable medium - Google Patents
Walking control method, intelligent equipment and computer readable medium Download PDFInfo
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- CN117452928A CN117452928A CN202311284016.5A CN202311284016A CN117452928A CN 117452928 A CN117452928 A CN 117452928A CN 202311284016 A CN202311284016 A CN 202311284016A CN 117452928 A CN117452928 A CN 117452928A
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Abstract
The invention provides a walking control method, intelligent equipment and a computer readable medium, wherein the control method comprises the following steps: detecting gradient information of a ramp and attitude information of intelligent equipment on the ramp; judging the current ascending and descending slope state; and controlling and adjusting the walking speed of the intelligent equipment according to the acquired gradient, equipment posture and/or ascending and descending states. The walking control method and the intelligent device provided by the invention can prevent the intelligent device from positioning drift and sliding out of the boundary in the up-down slope state, are beneficial to reducing the landslide probability, and have remarkable effect on the positioning improvement of the robot.
Description
Technical Field
The present invention relates to the technical field of intelligent machine equipment, and in particular, to a walking control method, an intelligent device, and a computer readable medium.
Background
Along with the development of science and technology, intelligent automatic walking equipment is well known, and because the automatic walking equipment can automatically preset programs to execute preset related tasks without manual operation and intervention, the intelligent automatic walking equipment has very wide application in industrial application and household products. Industrial applications such as robots for performing various functions, household products such as mowers and dust collectors, etc., the intelligent automatic walking equipment greatly saves time of people and brings great convenience to industrial production and household life.
In the application, the intelligent automatic walking equipment often encounters ramp scenes such as ascending and descending slopes and continuous ascending and descending slopes, the intelligent automatic walking equipment walks on the descending slopes due to the action of the ground gravity, the intelligent automatic walking equipment walks on the descending slopes, the speed is too high, the intelligent automatic walking equipment walks on the slope boundary line, the intelligent automatic walking equipment can deviate and drift in positioning, in addition, the intelligent automatic walking equipment walks on the ascending slopes, the steep slopes are encountered, and the problems of insufficient machine power, downward sliding and the like can occur frequently.
Disclosure of Invention
In order to solve the technical problems, the invention provides a control method for walking in a ramp scene.
The method can prevent the intelligent equipment from positioning drift and sliding out of the boundary in the up-down slope state, is beneficial to reducing the landslide probability, and has remarkable effect on the positioning improvement of the robot.
In order to achieve the above purpose, the technical scheme provided by the invention is as follows:
the invention provides a walking control method, which is used for intelligent equipment with an automatic walking function and comprises the following steps:
detecting attitude information of the intelligent equipment on the ramp;
generating a speed control instruction according to the gesture information;
and controlling the speed of the intelligent equipment according to the speed control instruction.
In some embodiments, the gesture information includes a roll angle of the smart device; the control method comprises the following steps: and determining the relation between the rolling angle and a preset angle, and generating a speed control instruction when the rolling angle is larger than the preset angle so as to reduce the speed of the intelligent equipment.
The present invention provides a walking control method,
detecting ramp information within a working area of the smart device,
and setting a target walking speed on the ramp according to the ramp information, so that the intelligent equipment runs on the ramp based on the target walking speed.
In some embodiments, the ramp information includes grade information and/or the direction of travel of the smart device.
The invention provides a walking control method, which is used for intelligent equipment with an automatic walking function and is characterized by comprising the following steps:
detecting gradient information of the intelligent equipment;
generating a speed control instruction when the gradient information indicates that the intelligent equipment is in a downhill state;
and controlling the speed of the intelligent equipment according to the speed control instruction.
In some embodiments, the grade information includes an angle between the smart device and a ground horizon, wherein the speed control instruction indicates a lower destination speed the greater the angle.
The invention provides a walking control method, which is used for intelligent equipment with an automatic walking function and is characterized by comprising the following steps:
detecting state information of the intelligent equipment on the ramp;
generating a speed control instruction when the state information indicates that the intelligent equipment is in a diagonal state;
and controlling the speed of the intelligent equipment according to the speed control instruction.
In some embodiments, the diagonal state includes a diagonal angle, the greater the diagonal angle, the less the speed control instruction indicates a target walking speed.
The invention also provides an intelligent device with a self-walking function, which comprises a memory and a processor, wherein the memory stores a computer program capable of running on the processor.
The invention also provides a computer readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform the method.
In the scheme, the intelligent equipment is controlled and adjusted to travel speed according to the gradient, equipment posture and/or ascending and descending slope state by detecting and acquiring gradient information of the ramp and posture information of the intelligent equipment on the ramp, so that the intelligent equipment is prevented from rushing out of the ramp due to overhigh travel speed in the descending slope state, inaccurate positioning phenomenon is avoided, the intelligent equipment is prevented from being caused to travel speed in the ascending slope state, energy consumption caused by overhigh speed is avoided, or the phenomenon of sliding back and the like caused by overlow ascending slope speed is avoided, the intelligent equipment is controlled and adjusted to ascend and descend the slope at proper travel speed, positioning drift and sliding out boundary are prevented, and positioning reliability of the intelligent equipment is improved.
In some schemes, the intelligent equipment is properly slowed down through the size of the gradient and the running gesture of the robot on the gradient, so that the landslide probability is reduced, and the intelligent equipment positioning and improving device has remarkable effect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of the walking control method of the present invention;
FIG. 2 is a flow chart of the walking control method of the present invention;
FIG. 3 is a flow chart of the walking control method of the present invention;
FIG. 4 is a flow chart diagram 4 of the walking control method of the present invention;
FIG. 5 is a flow chart diagram 5 of the walking control method of the present invention;
FIG. 6 is a flow chart of the walking control method of the present invention;
fig. 7 is a schematic view of a ramp scenario of the intelligent device of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without creative efforts, based on the described embodiments of the present invention fall within the protection scope of the present invention.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of the terms "a," "an," or "the" and similar referents in the context of describing the invention are not to be construed to limit the scope of the invention, but rather to mean that there is at least one. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items.
The control method is used for intelligent equipment for automatic walking and working, wherein the intelligent equipment comprises, but is not limited to, an automatic vegetable feeding robot, a water feeding robot, an intelligent sweeper, an intelligent dust collector, an intelligent mowing robot and the like, and can automatically walk, identify paths and conduct working area planning.
The invention provides a walking control method for intelligent equipment with an automatic walking function, as shown in fig. 1, comprising the following steps:
detecting attitude information of the intelligent equipment on the ramp;
generating a speed control instruction according to the gesture information;
and controlling the speed of the intelligent equipment according to the speed control instruction. Wherein the gesture information includes a roll angle of the smart device; the control method comprises the following steps: and determining the relation between the rolling angle and a preset angle, and generating a speed control instruction when the rolling angle is larger than the preset angle so as to reduce the speed of the intelligent equipment.
The invention provides a walking control method for intelligent equipment with an automatic walking function, which comprises part or all of the technical characteristics of the control method, as shown in fig. 2, and comprises the following steps:
detecting state information of the intelligent equipment on the ramp;
generating a speed control instruction when the state information indicates that the intelligent equipment is in a diagonal state;
and controlling the speed of the intelligent equipment according to the speed control instruction. Preferably, the diagonal state includes a diagonal angle, and the greater the diagonal angle is, the smaller the target walking speed indicated by the speed control instruction is. The inclined angle refers to an included angle between the advancing direction of the intelligent equipment and the extending direction of the ramp.
According to the scheme, if the intelligent equipment is detected to be on the inclined ascending slope, the intelligent equipment is controlled to slow down, and when the gradient is fixed, the larger the included angle between the intelligent equipment and the extending direction of the slope is, the smaller the running speed of the machine is controlled, and the included angle is inversely proportional to the speed; preferably, the ramp is determined according to the inclination angle, i.e. the inclination angle is greater than 0; at this time, when the rolling angle is larger than a preset value, the instruction is in a diagonal state, and then a speed control instruction is generated according to the diagonal state, so that the speed of the intelligent equipment is reduced, and the intelligent equipment runs according to the target running speed indicated by the speed control instruction. Preferably, during the diagonal, the larger the inclination angle is, the smaller the target traveling speed is; preferably, the larger the rolling angle is, the smaller the target travelling speed is, so that the landslide probability is reduced, and the positioning improvement of the intelligent equipment is obviously realized.
The invention provides a walking control method for intelligent equipment with an automatic walking function, which is characterized by comprising part or all of the technical characteristics of the control method, as shown in fig. 3, and comprising the following steps: detecting gradient information of the intelligent equipment;
generating a speed control instruction when the gradient information indicates that the intelligent equipment is in a downhill state;
and controlling the speed of the intelligent equipment according to the speed control instruction. Preferably, the gradient information comprises an included angle between the intelligent device and the ground horizontal line, wherein the larger the included angle is, the smaller the target speed indicated by the speed control instruction is.
Through the scheme, when the intelligent equipment is detected and informed to be in the direct slope state, the intelligent equipment is controlled to reduce the speed, preferably, the larger the gradient is, the smaller the downhill speed is, and the gradient and the speed are inversely related; in an alternative embodiment, the smart device has a minimum operating speed, and the speed control command indicates a target speed greater than the minimum operating speed. Through the scheme, the intelligent equipment can be ensured to walk at the speed of descending, and the phenomenon of inaccurate positioning caused by the position drift of the intelligent equipment due to the fact that the intelligent equipment rushes out of the ramp due to the overhigh walking speed is avoided.
The invention provides a walking control method, which comprises part or all of the technical characteristics of the control method, as shown in fig. 4, and comprises the following steps: detecting ramp information within a working area of the smart device,
and setting a target walking speed on the ramp according to the ramp information, so that the intelligent equipment runs on the ramp based on the target walking speed. In some embodiments, the ramp information includes grade information and/or the direction of travel of the smart device. The gradient information comprises ascending and/or descending information, and the traveling direction can be acquired through the traveling direction of path planning and/or is set according to the traveling direction on the current ramp.
By the method, the speed planning and setting can be performed no matter whether the intelligent equipment is on a slope or not. When the intelligent equipment is not located on the ramp, ramp information can be obtained according to map information of the working area, and attitude information such as the advancing direction of the intelligent equipment on the ramp can be obtained according to path planning, so that speed control of the intelligent equipment on the ramp is achieved. When the intelligent equipment is positioned on the ramp, the speed of the ramp can be controlled according to the up-down slope information and the travelling direction, so that the intelligent equipment is ensured to travel at a down slope state, the phenomenon that the intelligent equipment is caused to drift in position due to the fact that the intelligent equipment is flushed out of the ramp due to the too high travelling speed is avoided, the intelligent equipment is ensured to travel at an up slope state, the energy consumption caused by the too high travelling speed is avoided, or the phenomenon that the intelligent equipment is caused to slide back due to the too low travelling speed is avoided, the intelligent equipment is controlled to travel up-down at a proper travelling speed, the positioning drift and the sliding out boundary are prevented, and the positioning reliability of the intelligent equipment is improved.
Referring to fig. 5, the walking control method provided by the present invention is used for an intelligent device for automatic walking and working, and includes:
s100: detecting gradient information of a ramp and attitude information of intelligent equipment on the ramp;
s200: judging the current ascending and descending slope state;
s300: and controlling and adjusting the walking speed of the intelligent equipment according to the acquired gradient, equipment posture and ascending and descending slope state so as to prevent positioning drift and sliding out of boundaries in the ascending and descending slope state.
In the above embodiment, referring to fig. 7, by detecting and acquiring gradient information of a ramp and posture information of an intelligent device on the ramp, according to the gradient, the device posture and the ascending and descending state, the traveling speed of the intelligent device is controlled and adjusted, so as to ensure that the traveling speed of the intelligent device is in a descending state, avoid the phenomenon that the intelligent device is shifted out of the ramp due to overhigh traveling speed and inaccurate positioning occurs, and also ensure that the traveling speed of the intelligent device is in an ascending state, avoid energy consumption caused by overhigh speed or avoid the phenomenon that the intelligent device is retreated due to overlow ascending speed, and the intelligent device is controlled and adjusted to ascend and descend at a proper traveling speed, so that positioning drift and sliding out boundary are prevented, thereby being beneficial to increasing positioning reliability of the intelligent device.
In the above embodiment, in step S100: in the slope information of the detection ramp and the attitude information of the intelligent equipment on the ramp, the ramp information and the attitude information are detected through an attitude sensor arranged on the intelligent equipment.
In addition, it should be noted that the attitude information of the intelligent device on the ramp includes an included angle between the intelligent device and the extending direction of the ramp, and an included angle between the intelligent device and the ground horizontal line. The intelligent equipment can be judged whether the slope is straight upward and downward or inclined upward and downward, and the included angle between the intelligent equipment and the ground horizontal line can be used for judging whether the current intelligent equipment is in an upward slope state or a downward slope state.
Following the above embodiment, in step S200: judging that in the current ascending and descending state, the intelligent equipment is in the descending state by acquiring the included angle between the intelligent equipment and the ground horizontal line, wherein the included angle between the intelligent equipment and the ground horizontal line is smaller than 90 degrees; the included angle between the intelligent equipment and the ground horizontal line is larger than 90 degrees, and the intelligent equipment is in an ascending state.
In addition, referring to fig. 6, step S300: according to the slope, equipment gesture and the state of going up and down the slope that obtains, control adjustment intelligent device's walking speed includes:
s301: the intelligent device judges that the intelligent device is currently in an ascending slope state, and the included angle between the intelligent device and the extending direction of the ramp is zero, so that the intelligent device is controlled to uniformly pass through the ramp at a constant speed.
Continuing with fig. 6, step S300: according to the obtained gradient, equipment posture and ascending and descending states, the intelligent equipment walking speed is controlled and adjusted, and the intelligent equipment walking speed control system further comprises:
step S302: the intelligent equipment judges that the intelligent equipment is in an ascending state at present, an included angle exists between the intelligent equipment and the extending direction of the ramp, the traveling speed of the intelligent equipment is controlled to be reduced, and the traveling speed of the intelligent equipment is controlled to be inversely proportional to the gradient and the included angle between the intelligent equipment and the extending direction of the ramp.
Continuing with fig. 6, step S300: according to the slope, equipment gesture and the state of going up and down the slope that obtains, control adjustment intelligent device's walking speed still includes:
s303: the intelligent equipment judges that the intelligent equipment is in a downhill state currently, and the included angle between the intelligent equipment and the extending direction of the ramp is zero, so that the running speed of the intelligent equipment is controlled to be reduced, and the running speed of the intelligent equipment is controlled to be inversely proportional to the gradient.
Continuing with fig. 6, step S300: according to the slope, equipment gesture and the state of going up and down the slope that obtains, control adjustment intelligent device's walking speed still includes:
s304: the intelligent equipment judges that the intelligent equipment is in a downhill state at present, an included angle exists between the intelligent equipment and the extending direction of the ramp, the running speed of the intelligent equipment is controlled to be reduced, and the running speed of the intelligent equipment is controlled to be inversely proportional to the gradient and the included angle between the intelligent equipment and the extending direction of the ramp.
The intelligent equipment is enabled to perform proper deceleration processing through the size of the gradient and the running gesture of the robot on the gradient, so that the intelligent equipment is beneficial to reducing the landslide probability and has remarkable effect on positioning improvement of the intelligent equipment.
In the above embodiment, in controlling and adjusting the walking speed of the intelligent device according to the acquired gradient, the equipment posture and the ascending and descending state, the walking speed of the intelligent device is adjusted to be not lower than the minimum walking speed of the intelligent device.
The control method provided by the invention is a preferred embodiment of the invention, and a person skilled in the art can recombine and replace the features according to actual needs to obtain a technical scheme capable of solving the technical problems described in the background art.
The invention also provides intelligent equipment, which comprises an attitude sensor, wherein the intelligent equipment uses the walking control method to walk on a slope so as to prevent positioning drift and sliding out of boundaries in an up-down slope state.
The invention also provides intelligent equipment which has a self-walking function and comprises a memory and a processor, wherein the memory stores a computer program which can run on the processor, and the processor realizes the method when executing the computer program.
The invention also provides a computer readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform the method.
According to the intelligent equipment provided by the embodiment of the invention, the slope information of the ramp and the posture information of the intelligent equipment on the ramp are obtained through detection, the walking speed of the intelligent equipment is controlled and adjusted according to the slope, the equipment posture and the ascending and descending states, the situation that the intelligent equipment is braked by using a point brake due to overhigh speed in the descending process is avoided, the problem that a boundary line is caused by easy slippage in the operation process of a robot in a ramp scene is solved, and the problem that the robot is caused to slip in the operation process in the ramp scene is also solved.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and apparatus may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the above embodiments are merely illustrative embodiments of the present invention, and not restrictive, and the scope of the invention is not limited thereto, although the invention has been described in detail with reference to the above embodiments, it will be understood by those skilled in the art that any modification or conceivable variation of the technical solutions described in the above embodiments, or equivalent substitution of some technical features or combination of some technical features thereof may be made within the scope of the present invention; such modifications, changes, substitutions and combinations do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The walking control method is used for intelligent equipment with an automatic walking function and is characterized by comprising the following steps of:
detecting attitude information of the intelligent equipment on the ramp;
generating a speed control instruction according to the gesture information;
and controlling the speed of the intelligent equipment according to the speed control instruction.
2. The walking control method of claim 1, wherein said gesture information comprises a roll angle of said smart device; the control method comprises the following steps: and determining the relation between the rolling angle and a preset angle, and generating a speed control instruction when the rolling angle is larger than the preset angle so as to reduce the speed of the intelligent equipment.
3. A walking control method is characterized in that:
detecting ramp information within a working area of the smart device,
and setting a target walking speed on the ramp according to the ramp information, so that the intelligent equipment runs on the ramp based on the target walking speed.
4. A walking control method according to claim 3, characterized in that the ramp information comprises grade information and/or the direction of travel of the smart device.
5. The walking control method is used for intelligent equipment with an automatic walking function and is characterized by comprising the following steps of:
detecting gradient information of the intelligent equipment;
generating a speed control instruction when the gradient information indicates that the intelligent equipment is in a downhill state;
and controlling the speed of the intelligent equipment according to the speed control instruction.
6. The travel control method of claim 5, wherein the grade information includes an angle between the smart device and a ground horizon, wherein the speed control command indicates a lower destination speed the greater the angle.
7. The walking control method is used for intelligent equipment with an automatic walking function and is characterized by comprising the following steps of:
detecting state information of the intelligent equipment on the ramp;
generating a speed control instruction when the state information indicates that the intelligent equipment is in a diagonal state;
and controlling the speed of the intelligent equipment according to the speed control instruction.
8. The travel control method according to claim 7, wherein the diagonal state includes a diagonal angle, the greater the diagonal angle, the smaller the target travel speed indicated by the speed control instruction.
9. A smart device, characterized in that it has a self-walking function, comprising a memory, a processor, on which a computer program is stored, which can be run on the processor, characterized in that the processor implements the method according to any of the preceding claims 1-8 when executing the computer program.
10. A computer readable medium having non-volatile program code executable by a processor, wherein the program code causes the processor to perform the method of any of claims 1-8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311284016.5A CN117452928A (en) | 2023-09-28 | 2023-09-28 | Walking control method, intelligent equipment and computer readable medium |
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| CN202311284016.5A CN117452928A (en) | 2023-09-28 | 2023-09-28 | Walking control method, intelligent equipment and computer readable medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117775130A (en) * | 2024-02-26 | 2024-03-29 | 湖南千智机器人科技发展有限公司 | Walking chassis, control method of walking chassis and application method |
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- 2023-09-28 CN CN202311284016.5A patent/CN117452928A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117775130A (en) * | 2024-02-26 | 2024-03-29 | 湖南千智机器人科技发展有限公司 | Walking chassis, control method of walking chassis and application method |
| CN117775130B (en) * | 2024-02-26 | 2024-05-17 | 湖南千智机器人科技发展有限公司 | Walking chassis, control method of walking chassis and application method |
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