WO2018077307A1 - Procédé et appareil de commande de déplacement, et support de stockage informatique - Google Patents

Procédé et appareil de commande de déplacement, et support de stockage informatique Download PDF

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Publication number
WO2018077307A1
WO2018077307A1 PCT/CN2017/110852 CN2017110852W WO2018077307A1 WO 2018077307 A1 WO2018077307 A1 WO 2018077307A1 CN 2017110852 W CN2017110852 W CN 2017110852W WO 2018077307 A1 WO2018077307 A1 WO 2018077307A1
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WIPO (PCT)
Prior art keywords
electronic device
motion
motion vector
control
joystick
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PCT/CN2017/110852
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English (en)
Chinese (zh)
Inventor
吴庆
孙晓路
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纳恩博（北京）科技有限公司
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Publication of WO2018077307A1 publication Critical patent/WO2018077307A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle

Definitions

  • the present invention relates to the field of control, and in particular to a motion control method, apparatus, and computer storage medium.
  • the robot can control its own motion according to a preset algorithm without external operations.
  • the basic modes commonly used by the robot the follow-up mode and the follow-up mode. The following two basic modes are described in detail:
  • the position of the robot can only be automatically adjusted according to a preset algorithm, and the optimal tracking and tracking effect may not be achieved.
  • Embodiments of the present invention are desirable to provide a motion control method, apparatus, and computer storage medium to solve the problem of a single positional relationship between a robot and a target when the robot is in an autonomous motion mode.
  • a motion control method for use in an electronic device, the method comprising: obtaining a first control instruction, the first control instruction being used to instruct an electronic device to enter an autonomous a motion mode; controlling the electronic device to enter an autonomous motion mode in response to the first control instruction, wherein in the autonomous motion mode, the electronic device moves according to a first motion vector; in the autonomous motion mode, when Receiving a second control instruction, determining, according to the second control instruction, a second motion vector for controlling motion of the electronic device, wherein the second control instruction is used to remotely control the electronic device;
  • the vector superposition rule performs vector superposition on the first motion vector and the second motion vector to generate a third motion vector obtained by superposition, and controls the electronic device motion according to the third motion vector.
  • the determining, by the electronic device, the first motion vector comprises: acquiring the The current position of the child device and the position of the tracking target; determining the direction of the first motion vector according to the linear direction of the current position to the position of the tracking target; determining the size of the first motion vector according to the distance between the current position and the position of the tracking target.
  • the second control instruction is an instruction issued by a joystick, wherein a preset forward 0 degree direction of the joystick is a direction of the first motion vector, and the second motion vector The direction is determined according to the linear direction in which the initial position of the rocker is directed to the current position of the rocker.
  • the magnitude of the second motion vector is related to a displacement between a current position of the rocker and an initial position of the rocker, and the current position of the joystick is The dwell time is related.
  • the method before receiving the first control instruction, further comprises: monitoring whether a pairing signal sent by the joystick is received; performing a pairing operation on the joystick; determining whether the pairing operation is successfully performed; Determining that the pairing operation is successfully performed, determining that the joystick is successfully paired with the electronic device; after determining that the joystick is successfully paired with the electronic device, monitoring whether the second control issued by the joystick is received instruction.
  • the electronic device has a driving unit configured to provide a driving force for the electronic device to move the electronic device;
  • Controlling the movement of the electronic device according to the motion vector comprises: outputting a corresponding driving signal to the driving unit according to the motion vector, wherein the driving unit is configured to control the movement of the electronic device based on the driving signal, wherein The drive signal is used to control one of at least the following motion parameters of the electronic device: motion speed, motion direction, motion acceleration.
  • a motion control apparatus for use in an electronic device, the electronic device having a driving unit configured to provide a driving force for the electronic device to The electronic device moves;
  • the device includes: an acquiring unit configured to acquire a first control instruction, where the first control instruction is used to indicate that the electronic device enters An autonomous motion mode; the control unit configured to control the electronic device to enter an autonomous motion mode in response to the first control instruction, wherein, in the autonomous motion mode, the electronic device moves according to the first motion vector; a determining unit configured to, in the autonomous motion mode, determine a second motion vector for controlling motion of the electronic device based on the second control instruction when receiving the second control instruction, wherein the second control The command is used to remotely control the electronic device; and the generating unit is configured to perform vector superposition on the first motion vector and the second motion vector according to a preset vector superposition rule to generate a third motion vector obtained by superposition, according to The third motion vector controls movement of the electronic device.
  • the apparatus further includes an autonomous motion unit configured to determine and output the first motion vector to control motion of the electronic device;
  • the autonomous motion unit includes: an acquisition module configured to acquire the electronic The current location of the device and the location of the tracking target; the first determining module is configured to determine a direction of the first motion vector according to a linear direction of the position where the current location is obtained by the acquiring module, and the position of the tracking target; the second determining module, configured The size of the first motion vector is determined for the distance between the current location acquired by the acquisition module and the location of the tracking target.
  • the second control instruction is an instruction issued by a joystick, wherein a preset forward 0 degree direction of the joystick is a direction of the first motion vector, and the second motion vector The direction is determined according to the linear direction in which the initial position of the rocker is directed to the current position of the rocker.
  • the magnitude of the second motion vector is related to a displacement between a current position of the rocker and an initial position of the rocker, and the current position of the joystick is The dwell time is related.
  • the apparatus further includes: a monitoring unit configured to monitor whether a pairing signal sent by the joystick is received before receiving the first control instruction; and an executing unit configured to perform a pairing operation on the joystick; a determining unit configured to determine the configuration performed by the execution unit Whether the operation is successfully performed; the second determining unit is configured to determine that the joystick is successfully paired with the electronic device if the determining unit determines that the pairing operation is successfully performed, wherein the monitoring unit is further configured to determine the shake After the pole is successfully paired with the electronic device, it is monitored whether a second control command issued by the joystick is received.
  • control unit includes: an output module configured to output a corresponding driving signal to the driving unit according to the motion vector, wherein the driving unit is configured to control the electronic based on the driving signal
  • the device is in motion, wherein the drive signal is used to control one of at least the following motion parameters of the electronic device: motion speed, motion direction, motion acceleration.
  • a motion control apparatus includes: a processor and a memory for storing a computer program executable on a processor, wherein the processor is used to operate In the case of a computer program, the steps of the motion control method described in the embodiments of the present invention are performed.
  • a computer storage medium storing computer executable instructions for performing the embodiments of the present invention is provided. Motion control method.
  • the second motion vector for controlling the motion of the electronic device is determined based on the second control instruction, and the first motion vector is determined according to the preset vector superposition rule.
  • FIG. 1 is a flow chart of a motion control method according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of a robot tracking a target in an autonomous motion mode according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a positional relationship between a robot and an tracking target according to a control command in an autonomous motion mode according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of a motion control device in accordance with an embodiment of the present invention.
  • Embodiments of the present invention provide a motion control method. It should be noted that the motion control method provided by the embodiment of the present invention may be applied to an electronic device for controlling the motion of the electronic device.
  • the electronic device may be any electronic device that can move its own position, for example, a ground mobile robot, specifically, a ground robot that uses a two-wheel balance vehicle as a sports chassis, or a drone that flies in the air.
  • the electronic device has a drive unit configured to provide a driving force for the electronic device to move the electronic device.
  • the motion mode of the electronic device includes an autonomous motion mode in which the electronic device autonomously moves.
  • FIG. 1 is a flow chart of a motion control method in accordance with an embodiment of the present invention. As shown in Figure 1, the method includes the following steps:
  • Step S101 obtaining a first control instruction.
  • the first control instruction is used to instruct the electronic device to enter an autonomous motion mode.
  • Step S102 in response to the first control instruction, controlling the electronic device to enter the autonomous motion mode.
  • the electronic device moves according to the first motion vector
  • the autonomous motion unit of the electronic device is used to determine and output the first motion vector to control the electronic device to move according to the first motion vector.
  • Step S103 in the autonomous motion mode, when receiving the second control instruction, determining a second motion vector for controlling motion of the electronic device based on the second control instruction.
  • the second control command is used to remotely control the electronic device.
  • Step S104 performing vector superposition on the first motion vector and the second motion vector according to a preset vector superposition rule, generating a third motion vector obtained by superposition, and controlling motion of the electronic device according to the third motion vector.
  • the first control instruction is an instruction for instructing the electronic device to enter the autonomous motion mode, and the electronic device may receive the first control instruction by using a wireless communication manner, for example, sending the first control instruction by using the mobile phone terminal, or the electronic device may also be configured with The corresponding control panel, the first control command can be issued by the user pressing a corresponding physical or virtual button on the operation panel.
  • the electronic device After receiving the first control command, the electronic device enters the autonomous motion mode in response to the first control command.
  • the autonomous motion mode is a mode in which an electronic device can move autonomously without an external input control command.
  • the autonomous motion mode may include a tracking mode or a follow-up mode.
  • the electronic device can track the target object, as shown in FIG. 2, that is, when the target object moves, the electronic device can follow the target object according to a preset tracking algorithm.
  • the electronic device having the tracking mode or the tracking mode can track the target object by a preset tracking algorithm.
  • the ground robot preset tracks the target object within a linear distance ranging from 2 meters to 4 meters from the target object moving on the ground.
  • the electronic device can also perform preset operations on the target object.
  • the aerial drone tracks the target object within a range of 2 meters to 4 meters from the target object in the follow-up mode, and each time Take a picture of the target object every 1 minute.
  • the electronic device autonomously moves through the autonomous motion unit in the autonomous motion mode, and the autonomous motion unit is configured to determine and output the first motion vector in the autonomous motion mode to control the electronic device to move according to the first motion vector.
  • the electronic device can control its own motion through a motion vector, and the direction of the motion vector can be used to control the motion direction of the electronic device, and the magnitude of the motion vector can be used to control the motion acceleration of the electronic device.
  • the first motion vector is automatically updated according to the relative positional relationship between the electronic device and the tracking target object to adjust the positional relationship between the electronic device and the target object from time to time.
  • the electronic device After entering the autonomous motion mode, the electronic device determines a second motion vector for controlling motion of the electronic device based on the second control command if a second control command for the remote control electronic device is received.
  • the second control instruction may specifically be a remote control signal, which can be sent through a joystick and carried with a pair Joystick operation information.
  • the rocker can be a physical or virtual rocker
  • the solid rocker can be a commonly used rod-shaped rocker that can control the movement of the front, rear, left, and right directions, or can be four buttons of up, down, left, and right through the operation panel.
  • the remote control panel of the analog joystick, the virtual joystick can be a virtual button or a joystick displayed on the touch screen of the terminal such as a mobile phone or a palmtop computer.
  • a second motion vector for controlling the motion of the electronic device can be determined based on the second control command.
  • the second motion vector is also a motion vector that can be used to control the electronic device.
  • the second motion vector can be used to independently control the motion of the electronic device
  • the second motion vector provided in this embodiment is not used to independently control the motion of the electronic device, but is generated by superimposing with the first motion vector.
  • a third motion vector the electronic device controls the movement of the electronic device according to the third motion vector, where the second motion vector is also used to control the motion vector of the electronic device, which refers to the type and vector size of the second motion vector and the first motion vector. The meaning of the direction is the same.
  • the first motion vector and the second motion vector are vector-superimposed according to a preset vector superposition rule, and the third motion vector obtained by the superposition is generated, and the electronic device motion is controlled according to the third motion vector.
  • the preset vector superposition rule may be that the first motion vector and the second motion vector are directly superimposed, or may be superimposed according to a certain weight formula, and the weight formula may be preset, or the preset vector superposition rule may also be The second motion vector is deflected by a preset angle and then superimposed with the first motion vector, and the present invention is not limited to the specific embodiment.
  • the preset vector superposition rule directly superimposes the first motion vector and the second motion vector.
  • Determining the second motion vector based on the second control instruction may be: generating a second motion vector according to the operation information of the joystick carried in the second control instruction, for example, according to the operation of the up, down, left, and right directions of the joystick according to the second control instruction The direction of the second motion vector is determined.
  • the received second control command Carrying the joystick to receive the forward operation information, according to the information, the direction of the second motion vector can be determined, and the information that the joystick receives the forward operation indicates that the second motion vector is superimposed on the first motion vector by one direction as the electronic device A vector pointing to the target object, the size of the second motion vector may be preset to be the same as the size of the current first motion vector, or may be related to the operation performed on the joystick, for example, the size of the second vector may be shaken
  • the displacement between the current position of the lever and the initial position of the rocker is related to the dwell time of the rocker at the current location.
  • the received second control command carries information that the joystick receives the rightward operation, and according to the information, the direction of the second motion vector is determined to be rightward, and the second motion The vector is superimposed on the first motion vector with a vector that is 90 degrees clockwise from the direction in which the electronic device points to the target object.
  • the size of the second motion vector can be preset to be the same as the current first motion vector, if the user has been Pushing the joystick to the right, the electronic device performs an action of counterclockwise around the curved path of the target object under the control of the third motion vector generated by the superposition of the first motion vector and the second motion vector, as shown in FIG.
  • the motion control method when receiving the second control instruction in the autonomous motion mode, determining a second motion vector for controlling motion of the electronic device based on the second control instruction, according to a preset vector superposition rule, Performing vector superposition on the first motion vector and the second motion vector to generate a third motion vector obtained by superposition, and controlling motion of the electronic device according to the third motion vector, and solving the robot and the target in the related art when the robot is in the autonomous motion mode.
  • the determining, by the electronic device, the first motion vector comprises: acquiring a current position of the electronic device and a position of the tracking target; determining a direction of the first motion vector according to a linear direction of the current position to the position of the tracking target; according to the current position The distance between the position of the tracking target and the position of the tracking target determines the size of the first motion vector.
  • the rocker can receive not only four sides, but also up, down, left, right, and left and right.
  • the operational signal is directed, but is capable of receiving operational signals in all directions of 360 degrees, for example, receiving an operation at an angle of 45 degrees to the forward clockwise.
  • the relationship between the first motion vector and the second motion vector may be determined by: the preset forward 0 degree direction of the rocker is the direction of the first motion vector, and specifically, the preset positive 0 degree direction is the initial of the joystick. The position points to the direction of the preset forward position of the joystick.
  • the preset initial position of the rocker is generally centered, and the preset forward position is usually preset to be in the forward direction or the up, down, left, and right of the front, rear, left and right, and the current position of the rocker is the position where the joystick is now, according to The second control command is determined.
  • the specific manner of determining the direction of the second motion vector may include: issuing a second control instruction by the rocker, after parsing the second control instruction, the direction of the second motion vector is directed to the current position of the joystick by the initial position of the joystick The direction of the line at the position is determined.
  • a specific manner of determining the magnitude of the second motion vector may include: the magnitude of the second motion vector is related to the displacement between the current position of the joystick and the initial position of the joystick, and the presence of the joystick at the current location Time dependent, for example, the larger the displacement, the larger the size of the second motion vector, and the longer the user spends the same position on the joystick operation, the larger the size of the second motion vector, that is, the current position of the joystick
  • the displacement of the position and the initial position is used as the initial value of the second motion vector size, and its size may cumulatively increase as the user operates in the same position.
  • the size of the second motion vector may also be preset to be the same as the size of the first motion vector, that is, before determining the size of the second motion vector, first determine the size of the current first motion vector, and the second motion vector The size will vary as the size of the first motion vector changes.
  • the second motion vector may be superimposed to the first motion vector to obtain a third motion vector to control electronic device motion.
  • the method may further comprise the step of a pairing operation, in particular, monitoring whether a pairing signal from the joystick is received before receiving the first control command; performing a pairing operation on the joystick; determining whether the pairing operation is successfully performed; if determining the pairing The operation is successfully performed, and it is determined that the joystick is successfully paired with the electronic device; after determining that the joystick is successfully paired with the electronic device, monitoring whether the joystick is received The second control command issued.
  • a pairing operation in particular, monitoring whether a pairing signal from the joystick is received before receiving the first control command; performing a pairing operation on the joystick; determining whether the pairing operation is successfully performed; if determining the pairing The operation is successfully performed, and it is determined that the joystick is successfully paired with the electronic device; after determining that the joystick is successfully paired with the electronic device, monitoring whether the joystick is received The second control command issued.
  • the electronic device has a driving unit configured to provide a driving force for the electronic device to move the electronic device; an embodiment of controlling the motion of the electronic device according to the motion vector may be Outputting a corresponding driving signal to the driving unit according to the motion vector, wherein the driving unit is configured to control the movement of the electronic device based on the driving signal, wherein the driving signal is used to control one of at least the following motion parameters of the electronic device: the moving speed, the moving direction, Motion acceleration.
  • the electronic device may be a ground robot, and the specific embodiment may be applied to a motion control system of the robot.
  • the vision sensor of the robot needs to be decoupled from the main body of the robot, for example, a robot that is equipped with a pan/tilt for the visual sensor, and the robot Decoupling the visual sensor from the subject of the robot ensures that while the robot is doing any motion, the robot vision sensor can always face the target object being tracked.
  • the specific implementation manner can make the robot adjust the motion of the robot by using a 360-degree vector joystick when in the autonomous motion mode, for example, in a Follow me mode, a follow-up mode, an autonomous navigation mode, and the like. Additional motion vectors are superimposed on the robot's current autonomous motion to dynamically adjust the robot's position, improving the user's experience in tracking, follow-up mode, or in application scenarios such as complex road conditions.
  • the motion of the robot is controlled by the robot master module.
  • the main control module receives the motion vector output by the upper module, and sends a control signal to the robot dynamic component according to the motion vector, thereby controlling the robot motion.
  • the robot is in the autonomous motion mode, for example, follow me mode, calculates the first motion vector through a preset tracking algorithm and outputs the first motion vector to the robot master module, and the control machine
  • the power component of the person produces a corresponding traction force, thereby controlling the robot to follow the movement of the target object.
  • the direction of the first motion vector output by the preset tracking algorithm is that the robot position points to the target position (the position where the target object is located).
  • the pan/tilt of the robot is always dynamically corrected in the direction of the target object to receive the position of the target object through the visual sensor.
  • the robot After entering the autonomous motion mode, the robot can send an additional motion vector to the robot master module by the manipulation of the joystick, that is, the second motion vector in the above embodiment.
  • the robot's rocker device can be a 360-degree damped digital rocker that outputs the rocker vector at a fixed frequency as the second motion vector of the robot.
  • the main control module simultaneously receives the first motion vector output by the preset tracking module and the second motion vector output by the rocker device, and performs vector superposition, and outputs a control signal to the motor according to the third motion vector obtained after the superposition to control the robot motion. Thereby realizing the dynamic adjustment of the position during the robot tracking process.
  • the priority strategy of the robot motion control response can be implemented by adjusting the weights of the first motion vector output by the preset tracking algorithm and the second motion vector output by the joystick.
  • the first motion vector may be preferentially responded to, and after the second motion vector is generated, the robot motion is controlled according to the second motion vector generated by the second motion vector and the first motion vector. If the target object moves faster, the first motion vector changes faster, and the changed time interval is less than the preset threshold.
  • the second motion vector can be preferentially responded to at this time, and the preset tracking algorithm output is superimposed on the second motion vector.
  • the first motion vector generates a third motion vector to control the robot motion.
  • Embodiments of the present invention also provide a motion control device. It should be noted that the motion control apparatus of the embodiment of the present invention can be used to perform the motion control method of the present invention.
  • the motion control device of the embodiment of the present invention can be used to control the motion of the electronic device.
  • the apparatus includes an acquisition unit 10, a control unit 20, a first determination unit 30, and a generation unit 40.
  • the acquiring unit 10 is configured to acquire a first control instruction, where the first control instruction is used to instruct the electronic device to enter the autonomous motion mode, and the control unit 20 is configured to respond to the first control instruction obtained by the acquiring unit 10, Controlling the electronic device to enter an autonomous motion mode, wherein, in the autonomous motion mode, the electronic device moves according to the first motion vector; the first determining unit 30 is configured to, when in the autonomous motion mode, receive the second control command, based on The second control instruction determines a second motion vector for controlling motion of the electronic device, wherein the second control instruction is used to remotely control the electronic device; the generating unit 40 is configured to perform the first motion vector according to a preset vector superposition rule Performing vector superposition with the second motion vector to generate a third motion vector obtained by superposition, and controlling the motion of the electronic device according to the third motion vector.
  • the motion control apparatus determines, by receiving, in the autonomous motion mode, a second motion vector for controlling motion of the electronic device based on the second control instruction when receiving the second control instruction, according to a preset vector superposition rule, Performing vector superposition on the first motion vector and the second motion vector to generate a third motion vector obtained by superposition, and controlling the motion of the electronic device according to the third motion vector, and solving the positional relationship between the robot and the target when the robot is in the autonomous motion mode
  • a single problem achieves the effect of being able to adjust the positional relationship between the robot and the target according to the control command when in the autonomous motion mode.
  • the apparatus further includes an autonomous motion unit configured to determine and output the first motion vector to control motion of the electronic device;
  • the autonomous motion unit may include: an acquisition module configured to acquire an electronic device The current location and the location of the tracking target; the first determining module is configured to determine a direction of the first motion vector according to a linear direction of the current location of the tracking target acquired by the acquiring module; the second determining module is configured to obtain Module acquisition The distance between the current position and the position of the tracking target is determined to determine the size of the first motion vector.
  • the second control command may be an instruction issued by the joystick, wherein the preset forward 0 degree direction of the joystick is the direction of the first motion vector, and the direction of the second motion vector is according to the initial of the joystick. The position is determined by the direction of the line pointing to the current position of the rocker.
  • the magnitude of the second motion vector is related to the displacement between the current position of the rocker and the initial position of the rocker, and is related to the dwell time of the rocker at the current location.
  • the apparatus may further include: a monitoring unit configured to monitor whether a pairing signal sent by the joystick is received before receiving the first control instruction; and an execution unit configured to perform a pairing operation on the joystick; the determining unit, Configuring to determine whether the pairing operation performed by the execution unit is successfully executed; the second determining unit is configured to determine that the joystick is successfully paired with the electronic device if the determining unit determines that the pairing operation is successfully performed, wherein the monitoring unit is further configured to After determining that the joystick is successfully paired with the electronic device, it is monitored whether a second control command issued by the joystick is received.
  • control unit may include: an output module configured to output a corresponding driving signal to the driving unit according to the motion vector, wherein the driving unit is configured to control the movement of the electronic device based on the driving signal, wherein the driving signal is used to control the electronic At least one of the following motion parameters of the device: motion speed, motion direction, motion acceleration.
  • the acquiring unit, the control unit, the first determining unit, the generating unit, the monitoring unit, the executing unit, the determining unit and the second determining unit of the device may be implemented by a central processing unit (CPU, Central) in practical applications.
  • CPU Central
  • Processing Unit Digital Signal Processor
  • MCU Microcontroller Unit
  • FPGA Field-Programmable Gate Array
  • the motion control apparatus when performing the motion control processing, the motion control apparatus provided in the above embodiment is only illustrated by the division of each of the above-mentioned program modules. In actual applications, the above-mentioned processing assignments may be completed by different program modules as needed. , the internal junction of the motion control device The structure is divided into different program modules to complete all or part of the processing described above.
  • the motion control device provided by the foregoing embodiment is the same as the embodiment of the motion control method, and the specific implementation process is described in detail in the method embodiment, and details are not described herein again.
  • Embodiments of the present invention also provide a motion control apparatus comprising: a processor and a memory for storing a computer program executable on the processor. among them,
  • the memory can be implemented by any type of volatile or non-volatile storage device, or a combination thereof.
  • the non-volatile memory may be a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), or an Erasable Programmable Read (EPROM). Only Memory), Electrically Erasable Programmable Read-Only Memory (EEPROM), Ferromagnetic Random Access Memory (FRAM), Flash Memory, Magnetic Surface Memory , CD-ROM, or Compact Disc Read-Only Memory (CD-ROM); the magnetic surface memory can be a disk storage or a tape storage.
  • the volatile memory can be a random access memory (RAM) that acts as an external cache.
  • RAM Static Random Access Memory
  • SSRAM Synchronous Static Random Access Memory
  • SSRAM Dynamic Random Access
  • DRAM Dynamic Random Access Memory
  • SDRAM Synchronous Dynamic Random Access Memory
  • DDRSDRAM Double Data Rate Synchronous Dynamic Random Access Memory
  • ESDRAM enhancement Synchronous Dynamic Random Access Memory
  • SLDRAM Synchronous Dynamic Random Access Memory
  • DRAM Direct Memory Bus Random Access Memory
  • DRRAM Direct) Rambus Random Access Memory
  • the method disclosed in the foregoing embodiments of the present invention may be applied to a processor or implemented by a processor.
  • the processor may be an integrated circuit chip with signal processing capabilities.
  • each step of the above method may be completed by an integrated logic circuit of hardware in a processor or an instruction in a form of software.
  • the above described processor may be a general purpose processor, a DSP, or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, or the like.
  • the processor may implement or perform the methods, steps, and logic blocks disclosed in the embodiments of the present invention.
  • a general purpose processor can be a microprocessor or any conventional processor or the like.
  • the steps of the method disclosed in the embodiment of the present invention may be directly implemented as a hardware decoding processor, or may be performed by a combination of hardware and software modules in the decoding processor.
  • the software module can be located in a storage medium, the storage medium being located in the memory, the processor reading the information in the memory, and completing the steps of the foregoing methods in combination with the hardware thereof.
  • the processor is configured to: when the computer program is executed, obtain: a first control instruction, where the first control instruction is used to indicate that the electronic device enters an autonomous motion mode; and in response to the first Controlling an instruction to control the electronic device to enter the autonomous motion mode, wherein, in the autonomous motion mode, the electronic device moves according to a first motion vector; and in the autonomous motion mode, when receiving a second control command Determining, according to the second control instruction, a second motion vector for controlling motion of the electronic device, wherein the second control instruction is used to remotely control the electronic device; according to a preset vector superposition rule, The first motion vector and the second motion vector are vector superimposed to generate a third motion vector obtained by superposition, and the electronic device motion is controlled according to the third motion vector.
  • the processor when the processor is configured to run the computer program, performing: acquiring a current location of the electronic device and a location of the tracking target; determining, according to a linear direction of the location of the current location to the tracking target The direction of the first motion vector; according to the current The distance between the location and the location of the tracking target determines the magnitude of the first motion vector.
  • the processor when the processor is configured to run the computer program, performing: monitoring whether a pairing signal sent by the joystick is received before receiving the first control instruction; performing a pairing operation on the joystick; Determining whether the pairing operation is successfully performed; if it is determined that the pairing operation is successfully performed, determining that the joystick is successfully paired with the electronic device; after determining that the joystick is successfully paired with the electronic device, monitoring whether to receive a second control command to the rocker.
  • the electronic device has a driving unit configured to provide a driving force for the electronic device to move the electronic device; and when the processor is configured to run the computer program, perform: Outputting a corresponding driving signal to the driving unit according to the motion vector, wherein the driving unit is configured to control the movement of the electronic device based on the driving signal, wherein the driving signal is used to control the electronic device At least one of the following motion parameters: motion speed, motion direction, motion acceleration.
  • an embodiment of the present invention further provides a computer readable storage medium, such as a memory including a computer program, which may be executed by a processor of an electronic device to perform the steps of the foregoing method.
  • the computer readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disk, or CD-ROM; or may be various devices including one or any combination of the above memories, such as Mobile phones, computers, tablet devices, personal digital assistants, etc.
  • An embodiment of the present invention provides a computer storage medium, where the computer storage medium stores computer executable instructions, where the computer executable instructions are configured to: obtain a first control instruction, where the first control instruction is used to indicate The electronic device enters an autonomous motion mode; controlling the electronic device to enter the autonomous motion mode in response to the first control instruction, wherein, in the autonomous motion mode, the electronic device moves according to a first motion vector
  • the autonomous motion mode when receiving the second control instruction, determining to be used based on the second control instruction a second motion vector for controlling movement of the electronic device, wherein the second control instruction is for remotely controlling the electronic device; and the first motion vector and the second motion vector are according to a preset vector superposition rule Performing vector superposition, generating a third motion vector obtained by superposition, and controlling the electronic device motion according to the third motion vector.
  • the computer executable instructions are configured to: acquire a current location of the electronic device and a location of the tracking target; determine the first according to a linear direction of the location of the current location pointing to the tracking target a direction of the motion vector; determining a size of the first motion vector according to a distance between the current location and a location of the tracking target.
  • the computer executable instructions are configured to: monitor whether a pairing signal sent by the joystick is received before receiving the first control instruction; perform a pairing operation on the joystick; determine the pairing Whether the operation is successfully performed; if it is determined that the pairing operation is successfully performed, determining that the joystick is successfully paired with the electronic device; after determining that the joystick is successfully paired with the electronic device, monitoring whether the shaking is received The second control command issued by the lever.
  • the computer executable instructions are configured to: output a corresponding driving signal to the driving unit according to the motion vector, wherein the driving unit is configured to control the electronic device based on the driving signal Movement, wherein the drive signal is used to control one of at least the following motion parameters of the electronic device: motion speed, motion direction, motion acceleration.
  • modules or steps of the present invention described above can be implemented by a general-purpose computing device that can be centralized on a single computing device or distributed across a network of multiple computing devices. Alternatively, they may be implemented by program code executable by the computing device, such that they may be stored in a storage device by a computing device, or they may be fabricated into individual integrated circuit modules, or Multiple modules or steps are made into a single integrated circuit module. Thus, the invention is not limited to any specific combination of hardware and software.
  • the second motion vector for controlling the motion of the electronic device is determined based on the second control instruction, according to the preset vector superposition rule, A motion vector and a second motion vector are superposed by a vector to generate a third motion vector obtained by superposition, and the motion of the electronic device is controlled according to the third motion vector, and the position between the robot and the target when the robot is in the autonomous motion mode in the related art is solved.
  • the problem of a single relationship achieves the effect of being able to adjust the positional relationship between the robot and the target according to the control command when in the autonomous motion mode.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un procédé et un appareil de commande de déplacement, ainsi qu'un support de stockage informatique. Le procédé comprend : l'obtention d'une première instruction de commande (S101), la première instruction de commande étant utilisée pour ordonner à un dispositif électronique de passer en mode de déplacement autonome; la réponse à la première instruction de commande et la commande du dispositif électronique pour l'amener à passer en mode de déplacement autonome (S102); dans le mode de déplacement autonome, suite à la réception d'une deuxième instruction de commande, la détermination d'un deuxième vecteur de déplacement, utilisé pour ordonner au dispositif électronique de se déplacer, sur la base de la deuxième instruction de commande (S103), la deuxième instruction de commande étant utilisée pour commander à distance le dispositif électronique; conformément à une règle d'empilement de vecteurs prédéfinie, la mise en œuvre d'un empilement de vecteurs sur les premier et deuxième vecteurs de déplacement afin de générer un troisième vecteur de déplacement obtenu par empilement, et la commande du dispositif électronique pour l'amener à se déplacer conformément au troisième vecteur de déplacement (S104).
PCT/CN2017/110852 2016-10-31 2017-11-14 Procédé et appareil de commande de déplacement, et support de stockage informatique WO2018077307A1 (fr)

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CN113504749A (zh) * 2021-06-25 2021-10-15 上海闻泰信息技术有限公司 基于uwb的设备控制方法和装置、控制设备、存储介质
CN114115272A (zh) * 2021-11-25 2022-03-01 中北大学 具有时空解耦特性的空中多智能体分布式椭圆环绕制导方法

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