WO2014121365A1 - Method for controlling an object - Google Patents

Method for controlling an object Download PDF

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Publication number
WO2014121365A1
WO2014121365A1 PCT/BY2013/000006 BY2013000006W WO2014121365A1 WO 2014121365 A1 WO2014121365 A1 WO 2014121365A1 BY 2013000006 W BY2013000006 W BY 2013000006W WO 2014121365 A1 WO2014121365 A1 WO 2014121365A1
Authority
WO
WIPO (PCT)
Prior art keywords
virtual model
image
actions
optimal
action
Prior art date
Application number
PCT/BY2013/000006
Other languages
French (fr)
Russian (ru)
Inventor
Вячеслав Георгиевич МЫТНИК
Original Assignee
Mytnik Vyacheslav Georgievich
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mytnik Vyacheslav Georgievich filed Critical Mytnik Vyacheslav Georgievich
Publication of WO2014121365A1 publication Critical patent/WO2014121365A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B17/00—Systems involving the use of models or simulators of said systems

Definitions

  • the field of technology relates to general-purpose control systems, in particular to self-tuning control systems using models.
  • the technical problem to which the present invention is directed is to develop a method for optimal control of an object.
  • the technical result obtained as a result of the implementation of the invention consists in the development of an optimal variant of the object.
  • the specified technical result in the implementation of the invention is achieved by creating a virtual model or image of the object, then creating a virtual model or image of the space surrounding the object, then using the virtual model or image of the object and the virtual model or image of the space surrounding the object, determine the optimal or sufficient version of the action or actions, then carry out a repeat of the optimal or sufficient version of the action or actions by the object.
  • the choice of the optimal or sufficient variant of the action or actions is carried out by evaluating the results of the variants of actions of the virtual model or image of the object in the virtual model or image of the space surrounding the object.
  • the object is a robot.
  • the action is movement.
  • the implementation of the invention The use of a virtual model of an object and the surrounding space allows it to develop an optimal or sufficient version of the actions (for example, movement) of a physical object in existing conditions.
  • the choice can be made by analyzing the results of the actions of the virtual model of the object in the virtual model of space.
  • a robot having its own virtual model and forming a virtual model of the space surrounding it at the moment, can carry out the development of an optimal variant of its own further action by evaluating the results of the actions of the virtual robot model in the virtual space model.
  • An advantage of the invention is the low cost of implementation. Using the invention will reduce the cost of resources required to achieve the desired result by the object, and reduce the number of negative results of the actions of the object.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to general-purpose control systems and specifically to self-adjusting control systems which utilize models. The technical problem which the present invention aims to solve consists in developing a method for optimally controlling an object. The technical result achieved by means of implementing the invention consists in determining an optimal course of action for an object. Said technical result from implementing the invention is achieved in that a virtual model or image of an object is created, then a virtual model or image of the space surrounding the object is created, then, with the help of the virtual model or image of the object and the virtual model or image of the space surrounding the object, the optimal or adequate course of action or actions is determined and the object is made to repeat said optimal or adequate course of action or actions.

Description

Название изобретения. Способ управления объектом  Title of invention. Object Management Method
Область техники. Изобретение относится к управляющим системам общего назначения, в частности к самонастраивающимся системам управления с использованием моделей. The field of technology. The invention relates to general-purpose control systems, in particular to self-tuning control systems using models.
Предшествующий уровень техники. Аналоги отсутствуют.  The prior art. There are no analogs.
Раскрытие изобретения. Техническая задача, на решение которой направлено настоящее изобретение, состоит в разработке способа оптимального управления объектом. Технический результат, получаемый в результате реализации изобретения, состоит в выработке оптимального варианта действия объекта.  Disclosure of the invention. The technical problem to which the present invention is directed is to develop a method for optimal control of an object. The technical result obtained as a result of the implementation of the invention consists in the development of an optimal variant of the object.
Указанный технический результат при осуществлении изобретения достигается тем, что создают виртуальную модель или образ объекта, далее создают виртуальную модель или образ окружающего объект пространства, далее с помощью виртуальной модели или образа объекта и виртуальной модели или образа окружающего объект пространства определяют оптимальный или достаточный вариант действия или действий, далее осуществляют повтор оптимального или достаточного варианта действия или действий объектом.  The specified technical result in the implementation of the invention is achieved by creating a virtual model or image of the object, then creating a virtual model or image of the space surrounding the object, then using the virtual model or image of the object and the virtual model or image of the space surrounding the object, determine the optimal or sufficient version of the action or actions, then carry out a repeat of the optimal or sufficient version of the action or actions by the object.
Кроме того, выбор оптимального или достаточного варианта действия или действий осуществляют путём оценки результатов вариантов действий виртуальной модели или образа объекта в виртуальной модели или образе окружающего объект пространства.  In addition, the choice of the optimal or sufficient variant of the action or actions is carried out by evaluating the results of the variants of actions of the virtual model or image of the object in the virtual model or image of the space surrounding the object.
Кроме того, объектом является робот.  In addition, the object is a robot.
Кроме того, действием является движение.  In addition, the action is movement.
Осуществление изобретения. Применение виртуальной модели объекта и окружающего его пространства позволяет выработать оптимальный или достаточный вариант действий (например, движения) физического объекта в существующих условиях. Выбор может быть осуществлён путём анализа результатов действий виртуальной модели объекта в виртуальной модели пространства.  The implementation of the invention. The use of a virtual model of an object and the surrounding space allows it to develop an optimal or sufficient version of the actions (for example, movement) of a physical object in existing conditions. The choice can be made by analyzing the results of the actions of the virtual model of the object in the virtual model of space.
Например, робот, имея собственную виртуальную модель и сформировав виртуальную модель окружающего его в настоящий момент пространства, может осуществить выработку оптимального варианта собственного дальнейшего действия путём оценки результатов действий виртуальной модели робота в виртуальной модели пространства. For example, a robot, having its own virtual model and forming a virtual model of the space surrounding it at the moment, can carry out the development of an optimal variant of its own further action by evaluating the results of the actions of the virtual robot model in the virtual space model.
Промышленная применимость. При реализации предлагаемого способа рекомендуется использовать для создания виртуальных моделей программное обеспечение в сочетании, например, с системой технического зрения.  Industrial applicability. When implementing the proposed method, it is recommended to use software in combination with, for example, a vision system for creating virtual models.
Преимуществом изобретения является низкая стоимость реализации. Использование изобретения позволит сократить затраты ресурсов, требуемых для достижения необходимого результата объектом, и снизить количество отрицательных результатов действий объекта.  An advantage of the invention is the low cost of implementation. Using the invention will reduce the cost of resources required to achieve the desired result by the object, and reduce the number of negative results of the actions of the object.

Claims

Формула изобретения Claim
Пункт 1. Способ управления объектом, заключающийся в том, что создают виртуальную модель или образ объекта, далее создают виртуальную модель или образ окружающего объект пространства, далее с помощью виртуальной модели или образа объекта и виртуальной модели или образа окружающего объект пространства определяют оптимальный или достаточный вариант действия или действий, далее осуществляют повтор оптимального или достаточного варианта действия или действий объектом. Point 1. The way to control the object, which consists in creating a virtual model or image of the object, then creating a virtual model or image of the space surrounding the object, then using the virtual model or image of the object and the virtual model or image of the space surrounding the object, determine the optimal or sufficient option actions or actions, then carry out the repetition of the optimal or sufficient version of the action or actions by the object.
Пункт 2. Способ управления объектом по пункту 1 , отличающийся тем, что выбор оптимального или достаточного варианта действия или действий осуществляют путём оценки результатов вариантов действий виртуальной модели или образа объекта в виртуальной модели или образе окружающего объект пространства.  Paragraph 2. The method of controlling the object according to paragraph 1, characterized in that the choice of the optimal or sufficient variant of the action or actions is carried out by evaluating the results of the variants of actions of the virtual model or image of the object in the virtual model or image of the space surrounding the object.
Пункт 3. Способ управления объектом по пункту 1 , отличающийся тем, что объектом является робот.  Point 3. The method of controlling the object according to paragraph 1, characterized in that the object is a robot.
Пункт 4. Способ управления объектом по пункту 1, отличающийся тем, что действием является движение.  Paragraph 4. The method of controlling the object according to paragraph 1, characterized in that the action is movement.
PCT/BY2013/000006 2013-02-11 2013-08-12 Method for controlling an object WO2014121365A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
BY20130160 2013-02-11
BYA20130160 2013-02-11

Publications (1)

Publication Number Publication Date
WO2014121365A1 true WO2014121365A1 (en) 2014-08-14

Family

ID=51299105

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/BY2013/000006 WO2014121365A1 (en) 2013-02-11 2013-08-12 Method for controlling an object

Country Status (1)

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WO (1) WO2014121365A1 (en)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5625577A (en) * 1990-12-25 1997-04-29 Shukyohojin, Kongo Zen Sohonzan Shorinji Computer-implemented motion analysis method using dynamics
RU2308762C2 (en) * 2003-10-29 2007-10-20 Снекма Моторс Method for moving a virtual object in virtual environment without mutual interference between its jointed elements
EP1864764A2 (en) * 2006-06-06 2007-12-12 Fanuc Ltd Robot simulation apparatus

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5625577A (en) * 1990-12-25 1997-04-29 Shukyohojin, Kongo Zen Sohonzan Shorinji Computer-implemented motion analysis method using dynamics
RU2308762C2 (en) * 2003-10-29 2007-10-20 Снекма Моторс Method for moving a virtual object in virtual environment without mutual interference between its jointed elements
EP1864764A2 (en) * 2006-06-06 2007-12-12 Fanuc Ltd Robot simulation apparatus

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