WO2019128406A1

WO2019128406A1 - Robot speed control method and system

Info

Publication number: WO2019128406A1
Application number: PCT/CN2018/111110
Authority: WO
Inventors: 胡陟; 李佳艺; 李�杰
Original assignee: 上海物景智能科技有限公司
Priority date: 2017-12-25
Filing date: 2018-10-19
Publication date: 2019-07-04
Also published as: CN108015775A

Abstract

A robot speed control method and system. The method comprises: obtaining distance information between a current position of a robot and each as-yet-unreached target position in travel map information and first preset speed information of the current position; obtaining, according to the first preset speed information of the currently travelling robot and the distance information for travelling to each as-yet-unreached target position, corresponding second speed information when the robot travels to each as-yet-unreached target position; comparing the obtained second speed information corresponding to each as-yet-unreached target position with corresponding second preset speed information; obtaining, according to a comparison result, an as-yet-unreached target position that satisfies a preset condition, and setting the as-yet-unreached target position that satisfies the preset condition as the next target position to which the robot will travel; and controlling the robot to travel to the next target position.

Description

Speed control method and system for robot

Technical field

The invention relates to speed control of a handling robot, in particular to a speed control method and system of a robot.

Background technique

The handling robot is an industrial robot that can perform automated handling operations. The handling robot can be equipped with different end effectors to complete the workpiece handling work in various shapes and states, which greatly reduces the heavy manual labor of human beings. In the work of the handling robot, it is necessary to set an upper speed limit to prevent various accidents during the handling. In different handling scenarios, the safety requirements for the handling speed are different. It is necessary to set different speed limits for the handling robot.

In response to such a situation, the present application provides a technical solution to solve the above technical problems.

Summary of the invention

An object of the present invention is to provide a speed control method and system for a robot, which acquires position information of a robot target by acquiring current position information of the robot, working conditions on the travel route, and maximum line speed information, thereby determining the travel of the robot. Route; therefore, it can ensure that the robot can adjust the target position in time according to different road conditions during the working process; it can adaptively adjust the distance and acceleration of the next target point on the path according to different speed upper limits to ensure smooth movement of the handling robot. Reduce the probability of accidents during handling.

The technical solution provided by the present invention is as follows:

A speed control method for a robot includes: step S100: acquiring distance information between a current position of the robot and each target position that is not reached in the travel map information, and first preset speed information of the current position; and step S200 according to the current robot a first preset speed information that travels and distance information that travels to the unreceived target positions, and acquires corresponding second speed information when the robot travels to each of the unreached target positions; the step S300 will acquire the acquired The second speed information corresponding to each target position that is not reached is compared with the corresponding second preset speed information; step S400 acquires the unreached target position that meets the preset condition according to the result of the comparison of step S300, The unreached target position that satisfies the preset condition is set as the next target position that the robot travels; step S500 controls the robot to travel to the next target position.

Further, before the step S100, the method further includes: step S000, constructing the travel map information according to the robot travel target position, and setting the second preset speed information to the corresponding target position.

Further, the step S500 includes: step S510: acquiring current posture information of the robot in real time during the traveling of the robot; step S520 acquiring posture deviation information according to the current posture information of the robot and the target posture information; step S530 is based on Obtaining the posture deviation information, acquiring the regulation information of the robot travel by using the first preset algorithm; and controlling the robot to travel to the next target position according to the regulation information.

Further, the posture deviation information includes:

P _r (x _r , y _r , θ _r )--target attitude information, P(x, y, θ)--current attitude information,

-- Posture deviation information.

Further, the mathematical model of the first preset algorithm for acquiring the regulation information includes: taking ρ, α in the posture deviation information as a parameter of a mathematical model of the first preset algorithm;

k ₁ , k ₂ --- is a preset constant; v---the linear velocity of the robot; ω---the angular velocity of the robot; ρ---the distance of the target point.

A speed control system for a robot includes: a speed control method capable of executing the robot as described above; and a first preset information acquisition module that acquires a distance between a current position of the robot and each target position that is not reached in the travel map information Information and the first preset speed information of the current location; the second preset information acquiring module is in communication with the first preset information acquiring module; according to the first preset speed information that the robot currently travels and travels to the location Decoding the distance information of each target position that is not reached, acquiring corresponding second speed information when the robot travels to each of the unreached target positions; and the information comparison module is in communication with the second preset information acquiring module to obtain The second speed information corresponding to the unreceived target positions is compared with the corresponding second preset speed information; the target position acquiring module is connected with the information comparison module to obtain the preset The unreached target position of the condition, the unreached target position that satisfies the preset condition is set as the robot traveling The next target position; and a control module that controls the robot proceeds to the next target position.

Further, the method further includes: a preset information setting module, and a communication connection with the first preset information acquiring module, constructing the traveling map information according to the robot traveling target position, and setting the reaching the corresponding target location The second preset speed information is described.

Further, the control module includes: a current attitude information acquisition sub-module, which acquires current posture information of the robot in real time during the traveling of the robot; the attitude deviation information acquisition sub-module, according to the current posture information and target of the robot The posture information acquisition posture deviation information; the regulation information acquisition sub-module, according to the acquired posture deviation information, acquiring the regulation information of the robot travel by using the first preset algorithm, and controlling the robot to travel to the next according to the regulation information target location.

Further, the attitude deviation information includes:

-- Posture deviation information.

Further, the mathematical model of the first preset algorithm for acquiring the regulation information includes: using ρ, α in the posture deviation information as a parameter of a mathematical model of the first preset algorithm;

The speed control method and system for a robot provided by the present invention can bring at least one of the following

Beneficial effects:

1. In the present invention, by acquiring the current position information of the robot, the working condition on the traveling route, and the maximum line speed information, the position information of the robot target is acquired, thereby determining the traveling route of the robot; thus, the robot can be guaranteed in the working process. In the middle, according to different road conditions, the target position can be adjusted in time; the next target point distance and acceleration can be adaptively adjusted according to different speed upper limits to ensure smooth movement of the handling robot, which can reduce the probability of accidents during the handling process. .

2. In the present invention, when the set maximum speed changes, the acceleration process of the robot during the movement is limited, and can be realized. When the target point distance is too small, the target point is re-allocated according to the set speed. The adjustment is made, so that the robot acceleration is adjustable according to the distance of the target point.

3. In the invention, since the working environment of each robot is different, the advance planning of the robot's travel route is made, and different maximum speeds are set according to different target points, thereby realizing convenient management of the robot. In addition, it ensures the safe and efficient operation of the robot.

4. In the present invention, the actual travel deviation information and the set first preset algorithm robot are used to obtain the deviation information of the travel route, thereby realizing the angular velocity of different target points and the update of the linear velocity, which is an adaptive adjustment of the robot. Provide reliable parameter information at a fast speed to achieve smooth operation of the robot at different target points.

5. In the present invention, the disclosed technical features can realize a method capable of adaptively adjusting the speed change process according to the upper limit of the speed, so that the speed change and the motion can be smoothly completed after the upper limit of the moving speed of the transporting robot changes in different scenarios.

DRAWINGS

The above-described characteristics, technical features, advantages and implementation manners of a robot speed control method and system will be further described below in a clear and understandable manner with reference to the accompanying drawings.

1 is an embodiment of a speed control method of a robot according to the present invention;

2 is another embodiment of a speed control method of a robot according to the present invention;

3 is another embodiment of a speed control method of a robot according to the present invention;

[Correct according to Rule 26 30.11.2018]
4 is another embodiment of a speed control method of a robot of the present invention.

Detailed ways

In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the specific embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings in the following description are only some embodiments of the present invention, and those skilled in the art can obtain other drawings according to the drawings without obtaining creative labor, and obtain Other embodiments.

In order to succinctly the drawings, only the parts related to the present invention are schematically shown in the drawings, and they do not represent the actual structure of the product. In addition, in order to make the drawings simple and easy to understand, components having the same structure or function in some of the figures are only schematically illustrated, or only one of them is marked. In this paper, "a" means not only "only this one" but also "more than one".

The present invention provides an embodiment of a speed control method for a robot, as shown in FIG. 1 . The method includes: Step S100: acquiring distance information between a current position of the robot and each target position that is not reached in the travel map information, and the current position. First preset speed information; step S200, according to the first preset speed information that the robot is currently traveling and the distance information that travels to the unreached target positions, acquire the robot when traveling to the unreached target positions Corresponding to the second speed information; step S300 compares the acquired second speed information corresponding to each of the unreceived target positions with the corresponding second preset speed information; step S400 compares the result according to step S300 Obtaining an unreached target position that satisfies a preset condition, setting the unreached target position that satisfies the preset condition as a next target position that the robot travels; step S500 controlling the robot to travel to the next target position.

Specifically, in the present invention, the robot can be applied to the handling robot, and can realize the determination including the motion path planning, the calculation of the nearest point on the motion path, and the target distance. Motion path planning: During the whole movement of the handling robot, it is necessary to timely plan the path according to the target position and the road condition, and divide the entire motion path into multiple edges to determine the starting point, end point and length of the edge, and the maximum speed allowed in the edge. And angular velocity. Calculate the closest point on the route: the moving route that the handling robot may deviate. At this time, you need to find the position on the route closest to the current position, and use the nearest point as the next target point. In this process, the end point of each motion path in the motion path planning is compared and judged, and the end point of the side closest to the current position of the transport robot is searched for as the next moving target point of the transport robot. The target point distance is automatically adjusted according to the maximum speed.

In the present invention, by acquiring the current position information of the robot, the working condition on the travel route, and the maximum line speed information, the position information of the robot target is acquired, thereby determining the travel route of the robot; thus, the robot can be guaranteed during the work. According to different road conditions, the target position can be adjusted in time; the next target point distance and acceleration can be adaptively adjusted according to different speed upper limits to ensure smooth movement of the handling robot, which can reduce the probability of accidents during transportation.

In the present invention, when the set maximum speed changes, the acceleration process of the robot is limited during the movement, and can be realized. When the target point distance is too small, the target point is re-adjusted according to the set speed. Therefore, according to the distance of the target point, the acceleration of the robot is adjustable.

Preferably, before the step S100, the method further includes: step S000, constructing the travel map information according to the robot travel target position, and setting the second preset speed information to the corresponding target position; Distance information between the current position of the robot and each target position not reached in the travel map information and the first preset speed information of the current position; step S200 according to the first preset speed information that the robot is currently traveling and proceeding to the Distance information of each target position that has not arrived, acquiring corresponding second speed information when the robot travels to each of the unreached target positions; and step S300, the second corresponding to the acquired target positions that are not reached The speed information is compared with the corresponding second preset speed information; step S400 acquires the unreached target position that meets the preset condition according to the result of the step S300, and the unreached target position that meets the preset condition is obtained. Set to the next target position where the robot travels; step S500 controls the robot to travel to the next target position

In the invention, since the working environment of each robot is different, the route for the robot to travel is pre-planned, and different maximum speeds are set according to different target points, thereby facilitating convenient management of the robot; , but to ensure the safe and effective operation of the robot.

Based on the above embodiment, the present invention further provides an embodiment; referring to FIG. 2; step S000 constructs the travel map information according to the robot travel target position and sets the corresponding target position to be reached. Describe the second preset speed information; step S100 acquires distance information between the current position of the robot and each target position that is not reached in the travel map information, and first preset speed information of the current position; step S200 is based on the current travel of the robot First preset speed information and distance information of each target position that is not reached, acquiring corresponding second speed information when the robot travels to each of the unreached target positions; the step S300 will acquire the obtained non-arrival The second speed information corresponding to each target position is compared with the corresponding second preset speed information; step S400 acquires the unreached target position that meets the preset condition according to the result of the step S300 comparison, The unreached target position that satisfies the preset condition is set as the next target position that the robot travels; step S510 is in the machine During travel, acquired in real time the current robot posture information; step S520 attitude deviation information obtaining posture information based on the current posture of the robot and the target information; mathematical model obtained by (1)

Attitude deviation information,

For the target pose information, P(x, y, θ) is the current pose information. According to the obtained posture deviation information

Obtaining, by using a first preset algorithm, the regulation information of the robot traveling; wherein ρ, α in the posture deviation information is a parameter of a mathematical model of the first preset algorithm;

k ₁ , k ₂ --- is a preset constant; v---the linear velocity of the robot; ω---the angular velocity of the robot; ρ---the distance of the target point. Step S540 controls the robot to travel to the next target position according to the regulation information.

Specifically, in order to ensure that the robot can smoothly and effectively travel to the target position that satisfies the condition; refer to FIG. 1-3; the acceleration and angle of the robot need to be constantly adjusted for error adjustment; Figure N is taken as an example; The position information is P(x, y, θ), which needs to be traversed to other target points on the map, assuming P1(x1, y1, θ2), P2(x2, y2, θ2), P3(x3, y3, Θ3)...;P The distance between other points is S1, S2, S3...; the maximum speed v1 _m , v2 _m , v3 _m ... set in the system corresponding to each point, according to the setting of P to other point systems The acceleration is a1, a2, a3...; using S=v ² /2a; with the current P a (acceleration), the velocity of P to each point can be obtained as v1, v2, v3...; v1, v2, v3... Each point is set v1 _m , v2 _m , v3 _m ... for comparison, and which one is determined

3 Which speed meets v1 _m , v2 _m , v3 _m ..., assuming that v1 matches the speed v3 _m set by P3, the robot sets P3 as the next target point to be traveled; however, since the robot is subjected to the course of travel The interference of various information will deviate from the actual target; since the robot needs to go to the target point during the work, it needs to correct the corresponding position, that is, the spatial position, that is, the target attitude information P _r (x _r , y _r , θ _r ); need to constantly adjust the space attitude information of the robot; then if the acquisition robot is the current attitude information P (x, y, θ);

Select the state variable ρ, α is the calming object, take the Lyapunov scalar function as the formula (2), from which we can see that the function V>0, if and only if (ρ,α) ^T =0, V=0; The Lyapunov function deduces the time and determines the control law of the closed-loop system according to the formula (3); the point-calculated speed calculation formula (4); the linear velocity of the robot; the angular velocity of the ω robot; The point stabilization parameters at five different speed upper limits are fitted to the polynomial to obtain the point stabilization parameters k ₁ and k _{2 at} different speeds. For different maximum speed upper limits, use the calculation formula (4) to obtain the corresponding point stabilization parameters. When the upper speed limit is changed, the acceleration also needs to be corrected accordingly to ensure that the handling robot can smoothly reach the specified target point. According to the experiment, according to the experiment, the acceleration values which need to be given at different maximum speeds are obtained, and the acceleration calculation functions at different maximum speeds are obtained. When the maximum speed changes, the corresponding acceleration is calculated according to the different maximum speeds. The module that automatically adjusts the maximum target point distance according to the maximum speed: When the speed upper limit changes, the target point of each movement of the transport robot needs to be adjusted to ensure that the transport robot can smoothly reach the target position.

In the present invention, the deviation information of the travel route is obtained through the actual travel deviation information and the set first preset algorithm robot, thereby realizing the angular velocity of different target points and the update of the linear velocity, thereby providing the adaptive speed regulation of the robot. Reliable parameter information for smooth operation of the robot at different target points.

The present invention also provides an embodiment of a speed control system for a robot, as shown in FIG. 4; comprising: an embodiment of a speed control method capable of executing the above-described robot; a first preset information acquisition module for acquiring a current robot The distance information between the location and the target location that is not reached in the travel map information, and the first preset speed information of the current location; the second preset information acquisition module is in communication with the first preset information acquisition module. Obtaining corresponding second speed information when the robot travels to each of the unreached target positions according to the first preset speed information that the robot currently travels and the distance information that travels to the unreached target positions; information comparison The module is connected to the second preset information acquiring module, and the second speed information corresponding to the acquired target positions that are not reached is compared with the corresponding second preset speed information; a module that communicates with the information comparison module to obtain an unreached target location that meets a preset condition, and the It does not reach the target position setting conditions is set as the next target position of the robot travel; and a control module that controls the robot proceeds to the next target position.

Preferably, the method further includes: a preset information setting module, in communication with the first preset information acquiring module, constructing the traveling map information according to the robot traveling target position, and setting the reaching the corresponding target position The second preset speed information.

Preferably, the control module includes: a current attitude information acquisition sub-module, which acquires current posture information of the robot in real time during the traveling of the robot; and an attitude deviation information acquisition sub-module according to the current posture information of the robot The target posture information acquires the posture deviation information; the regulation information acquisition sub-module acquires the regulation information of the robot travel by using the first preset algorithm according to the acquired posture deviation information, and controls the robot to travel to the lower part according to the regulation information. A target location.

Preferably, the attitude deviation information includes:

-- Posture deviation information.

Preferably, the mathematical model of the first preset algorithm for acquiring the regulation information comprises:

Taking ρ,α in the posture deviation information as a parameter of a mathematical model of the first preset algorithm;

The present application also provides an embodiment; referring to FIG. 3; in order to ensure that the robot can smoothly and effectively travel to the target position that meets the condition; it is necessary to continuously adjust the acceleration and angle of the robot for error adjustment; Assume that the current position information of the robot is P(x, y, θ), and it needs to go through other target points on the map, assuming P1(x1, y1, θ2), P2(x2, y2, θ2), P3 ( X3, y3, θ3)...; The distance between P and other points is S1, S2, S3...; the maximum speed v1 _m , v2 _m , v3 _m ... set in the system corresponding to each point, according to P to other point systems The acceleration set in is a1, a2, a3...; using S=v ² /2a; with the current P a (acceleration), the velocity of P to each point can be obtained as v1, v2, v3...; v1, v2 , v3... Compare with each point setting v1 _m , v2 _m , v3 _m ... to determine which v1, v2, v3... which speed meets v1 _m , v2 _m , v3 _m ..., assuming v1 and P3 are set When the speed v3 _m matches, the robot sets P3 as the next target point to be traveled; but because the robot is interfered by various information during the travel, it will deviate from the actual target; When the robot needs to go to the target point in the working process, it needs to correct the corresponding position, that is, the spatial position, that is, the target posture information P _r (x _r , y _r , θ _r ); the space of the robot needs to be constantly adjusted. Attitude information; then if the acquiring robot is the current attitude information P(x, y, θ);

In the present invention, the disclosed technical features can realize a method capable of adaptively adjusting the speed change process according to the upper limit of the speed, so that the speed change and the motion can be smoothly completed after the upper limit of the moving speed of the transporting robot changes in different scenarios.

In the present invention, if it is implemented in the form of a software functional unit and sold or used as a stand-alone product, it can be stored in a computer readable storage medium. Based on such an understanding, a part of the technical solution of the present application or the contribution to the prior art or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium. A number of instructions are included to cause a computer device (either a personal computer, a server, or a network device), or a processor to perform all or part of the steps of the methods described in this application. The foregoing storage value package data server, cloud server, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile communication device, or optical disc, or U disk, etc. The medium in which the code is stored.

It should be noted that the above embodiments can be freely combined as needed. The above description is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can also make several improvements and retouchings without departing from the principles of the present invention. It should be considered as the scope of protection of the present invention.

Claims

A method for controlling a speed of a robot, comprising:

Step S100: acquiring distance information between a current position of the robot and each target position that is not reached in the travel map information, and first preset speed information of the current position; acceleration

Step S200, according to the first preset speed information that the robot currently travels and the distance information that travels to the unreached target positions, acquire corresponding second speed information when the robot travels to each of the unreached target positions; speed

Step S300: comparing the acquired second speed information corresponding to each of the unreceived target positions with the corresponding second preset speed information;

Step S400 acquires an unreached target position that satisfies a preset condition according to the result of the step S300, and sets the unreached target position that satisfies the preset condition as the next target position that the robot travels;

Step S500 controls the robot to travel to the next target position.
The speed control method of the robot according to claim 1, wherein before the step S100, the method further comprises:

Step S000 constructs the travel map information according to the robot travel target position and sets the second preset speed information to reach the corresponding target position.
The speed control method of the robot according to claim 1, wherein the step S500 comprises:

Step S510: acquiring current posture information of the robot in real time during the traveling of the robot;

Step S520: acquiring posture deviation information according to current posture information of the robot and target posture information;

Step S530: Acquire, according to the obtained posture deviation information, the regulation information of the traveling of the robot by using a first preset algorithm;

Step S540 controls the robot to travel to the next target position according to the regulation information.
The speed control method of the robot according to claim 3, wherein the posture deviation information comprises:

P r (x r , y r , θ r )--target attitude information, P(x, y, θ)--current attitude information,
Posture deviation information.
The speed control method of the robot according to claim 4, wherein the mathematical model of the first preset algorithm for acquiring the regulation information comprises:

Taking ρ,α in the posture deviation information as a parameter of a mathematical model of the first preset algorithm;

k 1 , k 2 --- is a preset constant; v---the linear velocity of the robot; ω---the angular velocity of the robot; ρ---the distance of the target point.
A speed control system for a robot, comprising: a speed control method capable of executing the robot according to any one of claims 1-5

a first preset information acquiring module, configured to acquire distance information between a current location of the robot and each target location that is not reached in the travel map information, and first preset speed information of the current location;

The second preset information acquiring module is communicably connected to the first preset information acquiring module; and acquiring the robot traveling according to the first preset speed information that the robot currently travels and the distance information that travels to the unreached target positions Corresponding second speed information to each of the unreached target positions;

The information comparison module is in communication with the second preset information acquiring module, and the second speed information corresponding to the acquired target positions that are not reached is compared with the corresponding second preset speed information;

a target location acquisition module, configured to communicate with the information comparison module, acquire an unreached target location that meets a preset condition, and set the unreached target location that meets the preset condition as a next target location of the robot to travel ;

And a control module that controls the robot to travel to the next target location.
The speed control system of the robot according to claim 6, further comprising:

a preset information setting module, in communication with the first preset information acquiring module, constructing the traveling map information according to the traveling target position of the robot, and setting the second preset to reach the corresponding target position Speed information.
The speed control system of the robot according to claim 6, wherein the control module comprises:

The current attitude information acquisition sub-module acquires the current posture information of the robot in real time during the traveling of the robot;

The attitude deviation information acquisition sub-module acquires the posture deviation information according to the current posture information of the robot and the target posture information;

The regulation information acquisition sub-module acquires the regulation information of the robot travel by using the first preset algorithm according to the obtained posture deviation information, and controls the robot to travel to the next target position according to the regulation information.
The speed control system for a robot according to claim 8, wherein the posture deviation information comprises:

P r (x r , y r , θ r )--target attitude information, P(x, y, θ)--current attitude information,
Posture deviation information.
The speed control system of the robot according to claim 9, wherein the mathematical model of the first preset algorithm for acquiring the regulation information comprises:

Taking ρ,α in the posture deviation information as a parameter of a mathematical model of the first preset algorithm;

k 1 , k 2 --- is a preset constant; v---the linear velocity of the robot; ω---the angular velocity of the robot; ρ---the distance of the target point.