WO2020042062A1 - 地面遥控机器人的漂移控制方法、装置及地面遥控机器人 - Google Patents

地面遥控机器人的漂移控制方法、装置及地面遥控机器人 Download PDF

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Publication number
WO2020042062A1
WO2020042062A1 PCT/CN2018/103188 CN2018103188W WO2020042062A1 WO 2020042062 A1 WO2020042062 A1 WO 2020042062A1 CN 2018103188 W CN2018103188 W CN 2018103188W WO 2020042062 A1 WO2020042062 A1 WO 2020042062A1
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WO
WIPO (PCT)
Prior art keywords
drift
robot
ground remote
remote control
curve
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2018/103188
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English (en)
French (fr)
Inventor
龚鼎
陈超彬
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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 SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2018/103188 priority Critical patent/WO2020042062A1/zh
Priority to CN201880037081.9A priority patent/CN110730705A/zh
Publication of WO2020042062A1 publication Critical patent/WO2020042062A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44—Arrangements for executing specific programs
    • G06F9/448—Execution paradigms, e.g. implementations of programming paradigms
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44—Arrangements for executing specific programs
    • G06F9/448—Execution paradigms, e.g. implementations of programming paradigms
    • G06F9/4482—Procedural

Definitions

  • the present application relates to the field of electronic technology, and in particular, to a drift control method and device for a ground remote control robot and a ground remote control robot.
  • drift is a driving technique, also known as "tail-flicking".
  • the rider can control the car's oversteering to make the body slide sideways.
  • the drift of the car is highly ornamental.
  • the operation method of the ground remote control robot is remote control. Due to the limitation of the control strategy of the ground remote control robot in the prior art, the ground remote control robot cannot automatically turn in a drifting state when cornering; in addition, if the user wants to manually
  • the way of controlling the ground-controlled remote control robot is to make the ground-controlled remote control robot to turn in a drift state, which has a very high requirement on the user's manual control level. It can be seen that this reduces the controllability of the ground remote robot.
  • the embodiment of the invention discloses a drift control method and device of a ground remote control robot, and a ground remote control robot, so that the ground remote control robot realizes drifting motion when passing through a curve, and enhances the fun of the ground remote control robot.
  • a first aspect of an embodiment of the present invention is to provide a drift control method for a ground-based remote control robot, including:
  • a second aspect of the embodiments of the present invention is to provide a drift control device for a ground-based remote control robot, including:
  • the memory is used to store program code
  • the processor calls the program code, and when the program code is executed, is used to perform the following operations:
  • a third aspect of the embodiments of the present invention is to provide a ground remote control robot, including:
  • a power system mounted on the fuselage and configured to provide power to the ground remote control robot;
  • drift control device for the ground-based remote control robot provided in the second aspect.
  • the drift control method and device and the ground remote control robot provided by the embodiments of the present invention control the ground remote control robot to move along a drift curve in a drift state by acquiring a drift control parameter.
  • the ground-based remote control machine automatically realizes the effect of turning in a drift state according to the drift control parameters, which enriches the control strategy of the ground-based remote control robot and reduces the manual operation requirements of the user, thus enhancing the control of the ground-based remote control robot.
  • FIG. 1 is a flowchart of a drift control method for a ground-based remote control robot according to an embodiment of the present invention
  • 2A is a schematic diagram of a drift interface provided by an embodiment of the present invention.
  • 2B is a schematic diagram of a drift interface according to another embodiment of the present invention.
  • FIG. 2C is a schematic diagram of an included angle change according to an embodiment of the present invention.
  • FIG. 3 is a flowchart of a method for acquiring a drift control parameter according to an embodiment of the present invention
  • FIG. 4 is a flowchart of a method for acquiring a drift control parameter according to another embodiment of the present invention.
  • FIG. 5 is a flowchart of a method for acquiring a drift control parameter according to another embodiment of the present invention.
  • FIG. 6 is a flowchart of a method for acquiring a drift control parameter according to another embodiment of the present invention.
  • FIG. 7 is a structural diagram of a drift control device for a ground-based remote control robot according to an embodiment of the present invention.
  • a component when a component is called “fixed to” another component, it may be directly on another component or a centered component may exist. When a component is considered to be “connected” to another component, it can be directly connected to another component or a centered component may exist at the same time.
  • the drift control method and device and the ground remote control robot provided by the embodiments of the present invention control the ground remote control robot to move along a drift curve in a drift state by acquiring a drift control parameter.
  • the ground-based remote control machine automatically realizes the effect of turning in a drift state according to the drift control parameters, which enriches the control strategy of the ground-based remote control robot and reduces the manual operation requirements of the user, thus enhancing the control of the ground-based remote control robot.
  • the orientation of the head of the ground remote control robot is not parallel to the direction of movement of the ground remote control robot, which means that the existence between the head of the ground remote control robot and the direction of movement of the ground remote control robot is greater than 0 degrees and The angle is less than 180 degrees.
  • the drift control parameter may include at least one of configuration information of a drift curve and configuration information of an angle between a head of the ground remote control robot and a moving direction of the ground remote control robot.
  • the configuration information of the drift curve may be used to indicate the drift curve.
  • the configuration information of the drift curve may include at least one of a curve radius and a curve angle of the drift curve.
  • the drift curve may be composed of an arc, for example, the shape of the drift curve may be circular.
  • the curve radius may be a curvature radius corresponding to the drift curve.
  • the curve angle may be the center angle of the drift curve. Taking FIG. 2A as an example, the curve angle is 90 °.
  • the ground remote control robot can determine the drift curve according to the configuration information of the drift curve, in order to control the ground remote control robot to move along the determined drift curve in a drift state, and ensure that the head of the ground remote control robot is oriented and The movement direction of the ground remote robot is not parallel.
  • the ground-based remote control robot may determine the drift curve according to the configuration information of the drift curve, for example, obtaining a curve radius and a curve angle where the ground remote control robot moves in the drift curve, based on the curve radius and the curve angle The ground remote control robot is controlled to move along the determined drift curve in a drift state.
  • the configuration information of the included angle between the orientation of the head of the ground remote control robot and the movement direction of the ground remote control robot may be used to indicate the orientation between the head of the ground remote control robot and the movement direction of the ground remote control robot.
  • Angle exemplary, the configuration information of the angle between the orientation of the head of the ground remote control robot and the movement direction of the ground remote control robot may include the maximum angle between the orientation of the head of the ground remote control robot and the movement direction of the ground remote control robot. , Or the angle between the orientation of the head of the ground remote control robot and the movement direction of the ground remote control robot during the movement of the ground remote control robot in the drift curve.
  • the angle between the orientation of the head of the ground remote control robot and the movement direction of the ground remote control robot may include the angle between the orientation of the head of the ground remote control robot and the movement direction of the ground remote control robot at different times.
  • the angle sequence Taking the schematic diagram of the drift interface shown in FIG. 2B as an example, an included angle between the head of the ground remote control robot and the moving direction of the ground remote control robot may be ⁇ .
  • the ground remote control robot can control the angle between the orientation of the head of the ground remote control robot and the movement direction of the ground remote control robot according to the configuration information of the angle during the process of the ground remote control robot moving along the drift curve.
  • the included angle between the head of the ground remote control robot and the moving direction of the ground remote control robot can be planned according to the maximum angle between the head of the ground remote control robot and the movement direction of the ground remote control robot.
  • the ground remote control robot can control the grip between the direction of the head of the ground remote control robot and the moving direction of the ground remote control robot according to the configuration information of the included angle during the movement of the ground remote control robot along the drift curve. angle.
  • the configuration information of the angle between the head of the ground remote control robot and the moving direction of the ground remote control robot may be determined by the drift scene.
  • the ground friction coefficients are different in different drift scenarios, and the different ground friction coefficients correspond to the configuration information of the angle between the head of the ground remote control robot and the moving direction of the ground remote control robot.
  • Drift scenes can include grass, tiled ground, carpeted ground, or sand.
  • different ground friction coefficients may correspond to the maximum angle between the orientation of the head of the ground remote control robot and the moving direction of the ground remote control robot. For example, the ground friction coefficient of grass is large, and the ground remote control robot is on the grass.
  • the maximum angle between the direction of the ground remote robot's head and the direction of movement of the ground remote robot is small; the tiled ground friction coefficient is small, and the ground remote robot moves on the tiled ground
  • the maximum included angle between the head of the ground remote control robot and the moving direction of the ground remote control robot is large.
  • the angle between the direction of the head of the ground remote control robot and the moving direction of the ground remote control robot at different times can be an angle sequence, and the angle sequence can be based on the ground remote control.
  • the maximum angle between the orientation of the robot's head and the movement direction of the ground remote control robot is planned. For example, within the time period of t 0 , the angle between the orientation of the head of the ground remote control robot and the movement direction of the ground remote control robot is planned. Increase from zero to the maximum included angle, keep the maximum included angle unchanged during the time period of t 1 , and decrease from the maximum included angle to zero again during the time period of t 2 .
  • the maximum included angle between the orientation of the head of the ground remote control robot and the moving direction of the ground remote control robot may be determined according to a control instruction input by a user through a joystick on the remote control, or preset Is not specifically limited by the embodiments of the present application.
  • the drift control parameters can be obtained through the environmental sensors of the ground-based remote control robot.
  • the environmental sensor may include a vision sensor (such as a binocular camera, a monocular camera) and / or a distance sensor (such as a TOF camera, lidar).
  • a vision sensor such as a binocular camera, a monocular camera
  • a distance sensor such as a TOF camera, lidar.
  • the ground remote control robot moves to the drift curve or the ground remote control robot moves along the drift curve
  • at least one of a curve radius and a curve angle of the drift curve is acquired through an environmental sensor.
  • the drift environment is obtained through the environmental sensor, and the head of the ground remote control robot and the ground remote control are obtained based on the drift environment. The angle between the robot's moving directions.
  • the control terminal sends drift control parameters to the ground-based remote control robot.
  • the control terminal downloads from the server, or obtains at least one of the curve radius and the curve angle of the drift curve based on the detection data of the sensors on the control terminal, and is based on at least one of the curve radius and the curve angle Generate the configuration information of the drift curve, and send the configuration information of the drift curve to the ground remote robot.
  • the control terminal displays at least one drifting environment, for example, displays at least one description of the drifting environment (text, identifier, etc.).
  • the user wants the ground-controlled remote robot to realize drifting movements in a specified drifting environment, the user can perform Select the operation to specify the drift environment.
  • the control terminal When the control terminal detects the user's drift scene selection operation, determine the configuration information of the angle between the head of the ground remote robot corresponding to the selected drift environment and the movement direction of the ground remote robot. And send the configuration information to the ground-based remote control robot. For another example, the control terminal displays at least one drift control parameter of the drift environment. When the user wants the ground-controlled remote robot to drift in the specified drift environment, the user can select the drift control parameter of the specified drift environment.
  • the control terminal detects the user's drift control parameter input operation, For example, determine the configuration information of the included angle between the head of the ground remote control robot and the moving direction of the ground remote control robot, and send the configuration information to the ground remote control robot. For another example, the user performs a drift control parameter input operation on the control terminal.
  • the user can input at least one of a curve radius and a curve angle of the drift curve to the control terminal, and the control terminal detects the user's drift control parameter input operation.
  • the drift control parameter is determined at all times.
  • the drift control parameter includes the configuration information of the drift curve, and the control terminal sends the drift control parameter to the ground remote control robot.
  • the control terminal sends the drift scene instruction information to the ground remote control robot, and the ground remote control robot determines the configuration information of the included angle according to the drift scene instruction information.
  • the control terminal displays at least one drifting environment.
  • the user wants the ground-controlled remote robot to drift in the specified drifting environment, the user can select the specified drifting environment.
  • the control terminal detects the user's drifting scene selection operation, it generates the drifting scene instruction information and the control terminal
  • the ground remote control robot sends indication information of the drift scene, and the ground remote control robot determines the configuration information of the included angle according to the drift scene instruction information.
  • the control terminal sends the ground friction coefficient to the ground remote control robot, and the ground remote control robot determines the configuration information of the included angle according to the ground friction coefficient. For example, the control terminal displays at least one ground friction coefficient.
  • the control terminal displays at least one ground friction coefficient.
  • the control terminal detects the user's ground friction coefficient input operation, it generates ground friction.
  • Coefficient indication information the control terminal sends the ground friction coefficient indication information to the ground remote control robot, and the ground remote control robot determines the configuration information of the included angle according to the ground friction coefficient indication information.
  • the ground remote control robot's environment sensor detects the drift control parameters in real time. After the ground remote control robot obtains the drift control parameters, it controls the ground remote control robot to move along the drift curve in a drift state according to the drift control parameters.
  • the control terminal acquires the drift control parameters in real time, and sends the drift control parameters to the ground remote control robot. After the ground remote control robot receives the drift control parameters, it controls the ground remote control robot to move along the drift curve in a drift state according to the drift control parameters.
  • the control terminal obtains the drift scene instruction information in real time, and sends the drift scene instruction information to the ground remote control robot. After receiving the drift scene instruction information, the ground remote control robot controls the ground remote robot to move along the drift curve in the drift state according to the drift scene instruction information. .
  • the control terminal obtains the ground friction coefficient instruction information in real time, and sends the ground friction coefficient instruction information to the ground remote control robot. After the ground remote control robot receives the ground friction coefficient instruction information, it controls the ground remote control robot to move along the drift state according to the ground friction coefficient instruction information. Drift curve moves.
  • the control terminal sends the drift control parameter to the ground remote control robot.
  • the ground remote control robot After the ground remote control robot receives the control instruction, it controls the ground remote control robot to move along the drift curve in a drift state according to the drift control parameter and the control instruction.
  • the user inputs a control instruction through a joystick on the remote control.
  • the amount of the user input includes a roll, a pitch, a yaw, and a thr. .
  • the ground remote control robot determines the drift control parameters according to the digital map and the position information of the ground remote control robot, and controls the ground remote control robot to move along the drift curve in the drift state according to the drift control parameters. For example, the ground remote control robot recognizes that the ground remote control robot is about to enter a drift curve based on the digital map and the position information of the ground remote control robot. The ground remote control robot can determine the drift control parameters and control the ground remote control robot to drift along the drift state according to the drift control parameters. The curve moves.
  • the electronic map stored on the ground remote control robot may be downloaded from a server, or obtained based on detection data of an environmental sensor on the ground remote control robot.
  • the following describes a drift control method of a ground-based remote control robot in an embodiment of the present invention by way of example.
  • FIG. 1 is a flowchart of a drift control method for a ground-based remote control robot according to an embodiment of the present invention. As shown in FIG. 1, the method includes the following steps:
  • Step 101 Obtain a drift control parameter.
  • the ground remote control robot involved in this embodiment may be a device capable of moving by a power system configured by itself.
  • the ground remote control robot may be a device with a certain processing capability, such as a drone or a car.
  • the drift control parameter may include at least one of configuration information of a drift curve and configuration information of an angle between a head of the ground remote control robot and a moving direction of the ground remote control robot.
  • the ground-based remote control robot may receive drift control parameters sent by the control terminal; or obtain environmental data by detecting the environment sensors of the ground-based remote control robot, and determine the drift control parameters according to the environment data; or according to digital maps and Position information, determining drift control parameters; or receiving drift scene indication information sent by the control terminal, determining drift control parameters according to the drift scene indication information, and the like, which are not specifically limited by the embodiments of the present application.
  • Step 102 Control the ground remote control robot to move along the drift curve in a drift state according to the drift control parameter, wherein the drift state is a state where the head of the ground remote control robot is not parallel to the moving direction of the ground remote control robot.
  • the ground-based remote control robot may determine the drift curve according to the configuration information of the drift curve, and control the ground remote-control robot to follow the determined drift curve in a drift state.
  • the ground-based remote control robot can determine the curve radius and angle of the drift curve based on the configuration information of the drift curve, and then control the ground-based remote control robot to follow the determined drift curve in a drift state based on the curve radius and the curve angle. mobile.
  • the drift control parameter includes configuration information of an angle between a head of the ground remote control robot and a moving direction of the ground remote control robot
  • a process in which the ground remote control robot moves along a drift curve In the ground remote control robot the angle between the head of the ground remote control robot and the moving direction of the ground remote control robot can be controlled according to the configuration information of the angle.
  • the drift control parameter when the drift control parameter includes configuration information of a drift curve, and configuration information of an angle between a head of the ground remote control robot and a moving direction of the ground remote control robot, the ground remote control robot
  • the drift curve can be determined according to the configuration information of the drift curve, and the ground remote control robot can control the orientation of the head of the ground remote control robot and the ground remote control robot during the movement of the ground remote control robot along the drift curve. The angle between the moving directions.
  • the ground remote control robot may control the ground remote control robot so that the ground remote control robot is not in a drift state when the ground remote control robot enters and exits a curve.
  • the ground remote control robot can control the ground remote control robot so that the ground remote control robot is not in a drift state, that is, before the ground remote control robot enters the drift curve, the ground remote control robot The head of the camera is parallel to the moving direction of the ground-based remote control robot.
  • the ground remote control robot can control the ground remote control robot to move along the drift curve in a drift state according to the drift control parameters.
  • the head of the ground remote control robot is the same as the ground remote control robot ’s.
  • the movement directions are not parallel.
  • the ground remote control robot can control the ground remote control robot so that the ground remote control robot is not in a drift state, that is, when the ground remote control robot exits the drift curve, the head of the ground remote control robot is oriented and The ground-controlled robots move in parallel.
  • the drift control method and device and the ground remote control robot provided by the embodiments of the present invention control the ground remote control robot to move along a drift curve in a drift state by acquiring a drift control parameter.
  • the ground-based remote control machine automatically realizes the effect of turning in a drift state according to the drift control parameters, which enriches the control strategy of the ground-based remote control robot and reduces the manual operation requirements of the user, thus enhancing the control of the ground-based remote control robot.
  • FIG. 1 is further optimized and expanded by using specific embodiments.
  • another embodiment of the present invention provides a method for controlling a ground remote robot to move along a drift curve in a drift state, including:
  • the parameter includes the configuration information of the drift curve
  • the configuration information of the angle between the head of the ground remote control robot and the movement direction of the ground remote control robot is generated according to the configuration information of the drift curve, so as to control the ground remote control robot along the drift curve.
  • the track moves, and during the movement, according to the configuration information of the included angle, the included angle between the head of the ground remote control robot and the moving direction of the ground remote control robot is controlled.
  • the ground-based remote control robot may generate a maximum angle between the orientation of the head of the ground-based remote control robot and the movement direction of the ground-based remote control robot according to the configuration information of the drift-based curve, thereby controlling the ground-based remote-control robot to move along the drift-shaped curve. And during the movement, the angle between the head of the ground remote control robot and the moving direction of the ground remote control robot is controlled according to the maximum included angle.
  • the ground remote robot after the ground remote robot obtains the configuration information of the drift curve, it can determine the direction between the head of the ground remote robot and the moving direction of the ground remote robot according to the curve radius and angle of the drift curve.
  • the maximum included angle is based on the maximum included angle between the head of the ground remote control robot and the movement direction of the ground remote control robot to generate the angle between the head of the ground remote control robot and the movement direction of the ground remote control robot.
  • the ground remote control robot is controlled to move along the drift curve, and during the movement, the angle between the head of the ground remote control robot and the moving direction of the ground remote control robot is controlled.
  • the maximum included angle and the curve angle between the orientation of the head of the ground remote control robot and the moving direction of the ground remote control robot may be proportional, and may be inversely proportional to the radius of the curve, that is, the curve of the drift curve
  • the radius of the curve that is, the curve of the drift curve
  • the maximum angle between the orientation of the head of the ground remote control robot and the moving direction of the ground remote control robot Based on the maximum angle between the direction of the ground remote control robot head and the movement direction of the ground remote control robot, the manner of generating the angle between the direction of the ground remote control robot head and the movement direction of the ground remote control robot can be seen in FIG. 2C The description in this embodiment is not repeated here.
  • the ground-based remote control robot may generate an included angle between the orientation of the head of the ground-based remote control robot and the movement direction of the ground-based remote control robot according to the configuration information of the drift-shaped turn to control the ground-based remote-control robot to move along the drift curve, and During the movement, the included angle between the head of the ground remote control robot and the moving direction of the ground remote control robot is controlled according to the generated angle.
  • the ground remote robot after the ground remote robot obtains the configuration information of the drift curve, it can determine the direction between the head of the ground remote robot and the moving direction of the ground remote robot according to the curve radius and angle of the drift curve.
  • the angle of the ground remote control robot is further controlled to move along the drift curve, and the angle between the head of the ground remote control robot and the movement direction of the ground remote control robot is controlled during the movement.
  • the included angle and the curve angle between the orientation of the head of the ground remote control robot and the moving direction of the ground remote control robot may be proportional, and may be inversely proportional to the curve radius, that is, the curve of the drift curve
  • the curve radius that is, the curve of the drift curve
  • another embodiment of the present invention provides a method for controlling a ground remote robot to move along a drift curve in a drift state, including: The configuration information of the drift curve is generated by the configuration information of the drift curve, and the drift curve is determined according to the configuration information of the drift curve, and then the ground remote control robot is controlled to move along the determined drift curve.
  • the information controls the included angle between the head of the ground remote control robot and the moving direction of the ground remote control robot.
  • the configuration information of the included angle between the orientation of the head of the ground-based remote control robot and the movement direction of the ground-based remote control robot includes the maximum
  • the ground remote control robot may generate the configuration information of the drift curve according to the maximum angle between the head of the ground remote control robot and the moving direction of the ground remote control robot, and determine the drift curve according to the configuration information of the drift curve.
  • control the ground remote control robot to move along the determined drift curve, and during the movement, control the ground remote control robot according to the maximum angle between the orientation of the head of the ground remote control robot and the moving direction of the ground remote control robot. The angle between the direction of the nose and the direction of movement of the ground-based remote control robot.
  • the curve angle of the drift curve may be proportional to the maximum angle between the orientation of the head of the ground remote control robot and the moving direction of the ground remote control robot, and the curve radius of the drift curve may be related to the ground remote control.
  • the maximum included angle between the orientation of the robot's head and the movement direction of the ground remote control robot is inversely proportional, that is, the larger the maximum included angle between the orientation of the head of the ground remote control robot and the movement direction of the ground remote control robot, the larger the drift curve.
  • the configuration information of the included angle between the orientation of the head of the ground-based remote control robot and the moving direction of the ground-based remote control robot includes the configuration
  • the ground remote control robot may generate the configuration information of the drift curve according to the included angle between the head direction of the ground remote control robot and the moving direction of the ground remote control robot, and determine the drift curve according to the configuration information of the drift curve. Furthermore, the ground remote control robot is controlled to move along the determined drift curve, and during the movement, the angle between the head of the ground remote control robot and the moving direction of the ground remote control robot is controlled.
  • the curve angle of the drift curve may be proportional to the included angle between the head of the ground remote control robot and the moving direction of the ground remote control robot, and the curve radius of the drift curve may be related to the ground remote control robot.
  • the included angle between the orientation of the head of the remote control robot and the movement direction of the ground remote control robot is inversely proportional, that is, the larger the included angle between the orientation of the head of the ground remote control robot and the movement direction of the ground remote control robot, the greater the bend of the drift curve The smaller the radius of the road and the larger the angle of the curve.
  • the drift control parameter may include an angle between an orientation of a head of the ground remote control robot and a moving direction of the ground remote control robot.
  • the configuration information is shown in FIG. 3.
  • the method for acquiring drift control parameters may include the following steps:
  • Step 301 The control terminal determines the configuration information of the included angle by detecting a user's drift scene selection operation.
  • the control terminal may display at least one drifting environment.
  • the control terminal may select the designated drifting environment.
  • the control terminal detects the user's drift scene selection operation, it determines the drift scene selected by the user, and determines the configuration information of the included angle corresponding to the selected drift scene.
  • determining the configuration information of the included angle corresponding to the selected drift scene may include: the control terminal may obtain the ground friction coefficient of the drift scene selected by the user, and determine the configuration information of the included angle according to the ground friction coefficient, such as ground remote control The maximum angle between the orientation of the robot's nose and the direction of movement of the ground-based remote control robot.
  • the drift scene may include grass, tiled ground, carpeted ground, or sand.
  • the ground friction coefficient of grass is large.
  • the maximum angle between the direction of the head of the ground remote control robot and the movement direction of the ground remote control robot is small; the tiled floor The friction coefficient is small.
  • the maximum angle between the orientation of the head of the ground remote control robot and the moving direction of the ground remote control robot is large.
  • the control terminal may determine the configuration information of the included angle by detecting a user's ground friction coefficient input operation. For example, the control terminal may display at least one ground friction coefficient. When the user wants the ground remote robot to drift in a specified drift environment, the user may select the ground friction coefficient of the specified drift environment. When the control terminal detects the user's ground friction coefficient input operation, The friction coefficient determines the configuration information of the included angle, such as the maximum included angle between the head of the ground remote control robot and the moving direction of the ground remote control robot.
  • Step 302 The control terminal sends the configuration information of the included angle to the ground remote control robot.
  • the control terminal determines the configuration information of the included angle by detecting the drift scene selection operation of the user, and sends the configuration information of the included angle to the ground remote control robot.
  • the accuracy of the drift control parameter can be improved through human-machine interaction.
  • FIG. 4 is a flowchart of a method for acquiring a drift control parameter according to another embodiment of the present invention.
  • the drift control parameter may include a clamp between a head of the ground remote control robot and a moving direction of the ground remote control robot.
  • the method for acquiring drift control parameters may include the following steps:
  • Step 401 The control terminal determines drift scene indication information by detecting a user's drift scene selection operation.
  • the control terminal may display at least one drifting environment.
  • the control terminal may select the specified drifting environment.
  • the control terminal detects the user's drift scene selection operation, it determines the drift scene selected by the user, and generates drift scene indication information.
  • the control terminal may determine the ground friction coefficient by detecting a user's ground friction coefficient input operation. For example, the control terminal may display at least one ground friction coefficient. When the user wants the remote-controlled robot to drift in the specified drift environment, the control terminal may select the ground friction coefficient of the specified drift environment. To get the ground friction coefficient input by the user.
  • Step 402 The control terminal sends the drift scene instruction information to the ground remote control robot.
  • control terminal may send the drift scene instruction information to the ground remote control robot through a communication link with the ground remote control robot, and the ground remote control robot may determine the drift scene selected by the user according to the received drift scene instruction information.
  • control terminal may send the ground friction coefficient to the ground remote control robot.
  • Step 403 The ground remote control robot determines the configuration information of the included angle according to the drift scene instruction information.
  • the ground-based remote control robot may obtain the ground friction coefficient of the drift scene indicated by the drift scene instruction information, and determine the configuration information of the included angle according to the ground friction coefficient, such as the orientation of the head of the ground remote-control robot and the ground remote-control robot The maximum angle between the moving directions.
  • the configuration information of the included angle can be determined according to the ground friction coefficient, for example, between the orientation of the head of the ground remote control robot and the moving direction of the ground remote control robot. Maximum included angle.
  • the drift control method and device and the ground remote control robot provided by the embodiments of the present invention control the ground remote control robot to move along a drift curve in a drift state by acquiring a drift control parameter.
  • the ground-based remote control machine automatically realizes the effect of turning in a drift state according to the drift control parameters, which enriches the control strategy of the ground-based remote control robot and reduces the manual operation requirements of the user, thus enhancing the control of the ground-based remote control robot.
  • FIG. 5 is a flowchart of a method for acquiring a drift control parameter according to another embodiment of the present invention.
  • the drift control parameter may include configuration information of a drift curve, as shown in FIG. 5.
  • the method for acquiring drift control parameters may include the following steps:
  • Step 501 The control terminal determines a drift control parameter by detecting a user's drift control parameter input operation.
  • the user can perform a drift control parameter input operation when the user knows the drift curve that the ground-based remote control robot is about to drift, for example, input configuration information of the drift curve in the control terminal, and the configuration information of the drift curve At least one of a curve radius and a curve angle of the drift curve may be included.
  • Step 502 The control terminal sends the drift control parameter to the ground remote control robot.
  • the control terminal determines a drift control parameter by detecting a user's drift control parameter input operation, and sends the drift control parameter to a ground-based remote control robot.
  • the accuracy of the drift control parameter can be improved through human-machine interaction.
  • FIG. 6 is a flowchart of a method for acquiring a drift control parameter according to another embodiment of the present invention. As shown in FIG. 6, based on the foregoing embodiment, the method for acquiring a drift control parameter may include the following steps:
  • Step 601 The ground remote control robot obtains environmental data output by an environment sensor configured on the ground remote control robot.
  • the environmental data detected by the environmental sensor configured on the ground remote-controlling robot may be at least one of image information, depth information, or point cloud detected by the environmental sensor.
  • Step 602 The ground remote control robot determines a drift control parameter according to the environmental data.
  • the ground-based remote control robot may identify a curve area according to the environmental data, and then determine the configuration information of the drift curve based on the identified curve area. For example, a ground-based remote control robot may identify a curve area based on image information detected by an environmental sensor, acquire at least one of a curve radius and a curve angle of the curve area, and generate based on at least one of the curve radius and the curve angle Configuration information for drift curves.
  • the ground-based remote control robot can identify obstacles according to the environmental data, and then determine the configuration information of the drift curve based on the identified obstacles. For example, the ground-based remote control robot can identify obstacles based on the image information detected by the environmental sensors, determine the drift curve formed by the ground-based remote control robot in order to bypass the obstacle, and then obtain the configuration information of the drift curve, such as The drift curve has at least one of a curve radius and a curve angle.
  • the ground-based remote control robot may determine a drifting environment of the ground-based remote control robot according to environmental data, and determine a configuration of an angle between a head of the ground-based remote control robot and a moving direction of the ground-based remote control robot according to the drift environment. information.
  • the ground-based remote control robot can determine the drift scene of the drift curve according to the environmental data, obtain the ground friction coefficient of the drift scene, and determine the distance between the head of the ground-based remote control robot and the movement direction of the ground-based remote control robot according to the ground friction coefficient.
  • the configuration information of the included angle for example, the maximum included angle between the head of the ground remote control robot and the moving direction of the ground remote control robot.
  • the ground remote control robot obtains the environmental data output by the environmental sensors configured on the ground remote control robot, determines the drift control parameters according to the environmental data, and does not need to interact with the control terminal, which can improve the acquisition efficiency of the drift control parameters.
  • another embodiment of the present invention provides a method for acquiring drift control parameters, which includes: determining a drift control parameter according to a digital map and position information of a ground-based remote control robot.
  • the ground remote control robot recognizes that the ground remote control robot is about to enter a curve area according to the digital map and the position information of the ground remote control robot.
  • the ground remote control robot may obtain the radius and / or the curve of the curve area from the digital map. Road angle.
  • the ground-based remote control robot may determine the drift control parameter according to the radius of the curve area and / or the angle of the curve.
  • the ground remote control robot may determine the drift environment of the ground remote control robot according to the digital map and the position of the ground remote control robot, and determine the drift control parameter according to the determined drift environment.
  • FIG. 7 is a structural diagram of a drift control device for a ground remote robot according to an embodiment of the present invention.
  • the drift control device 700 for a ground remote robot includes The memory 701 and the processor 702.
  • the memory 702 stores program code.
  • the processor 702 calls the program code in the memory.
  • the processor 702 performs the following operations:
  • the drift control parameter includes configuration information of the drift curve and a configuration of an angle between a head of the ground remote control robot and a moving direction of the ground remote control robot. At least one of the messages.
  • the drift control parameter includes configuration information of the drift curve, where:
  • the processor 702 controls the ground remote robot to move along a drift curve in a drift state according to the drift control parameter, the processor 702 performs the following operations:
  • the drift curve is determined according to the configuration information of the drift curve, and the ground remote control robot is controlled to move along the determined drift curve in a drift state.
  • processor 702 when the processor 702 calls the program code, it also performs the following operations:
  • the processor 702 controls the ground remote robot to move along a drift curve in a drift state according to the drift control parameter, the processor 702 performs the following operations:
  • the drift control parameter includes configuration information of an included angle between a head of the ground remote control robot and a moving direction of the ground remote control robot, where:
  • the processor 702 controls the ground remote robot to move along a drift curve in a drift state according to the drift control parameter, the processor 702 performs the following operations:
  • the angle between the head of the ground remote control robot and the moving direction of the ground remote control robot is controlled according to the configuration information of the included angle. .
  • processor 702 when the processor 702 calls the program code, it also performs the following operations:
  • the processor 702 controls the ground remote robot to move along a drift curve in a drift state according to the drift control parameter, the processor 702 performs the following operations:
  • processor 702 when the processor 702 calls the program code, it also performs the following operations:
  • the drift control parameter includes configuration information of an included angle between a head of the ground remote control robot and a moving direction of the ground remote control robot, wherein the included angle
  • the configuration information is determined by the control terminal by detecting a user's drift scene selection operation.
  • the processor 702 when acquiring the drift control parameter, performs the following operations:
  • the processor 702 when acquiring the drift control parameter, performs the following operations:
  • the drift control parameter includes configuration information of the drift curve, where:
  • the processor 702 When acquiring the drift control parameter, the processor 702 performs the following operations:
  • the processor 702 when acquiring the drift control parameter, performs the following operations:
  • the drift control parameter includes configuration information of the drift curve, where:
  • the processor 702 determines a drift control parameter according to the environmental data, the processor 702 performs the following operations:
  • the curve area or obstacle is identified according to the environmental data, and the configuration information of the drift curve is determined according to the identified curve area or obstacle.
  • the drift control parameter includes configuration information of an included angle between a head of the ground remote control robot and a moving direction of the ground remote control robot, where:
  • the processor 702 determines a drift control parameter according to the environmental data, the processor 702 performs the following operations:
  • a drift environment of the ground remote robot is determined according to the environmental data, and configuration information of the included angle is determined according to the drift environment.
  • the processor 702 when acquiring the drift control parameter, performs the following operations:
  • the drift control device of the ground-based remote control robot provided by this embodiment can execute the drift control method of the ground-based remote control robot provided by the foregoing embodiment, and the execution manner and beneficial effects thereof are similar, and are not described herein again.
  • An embodiment of the present invention further provides a ground remote-control robot.
  • the ground remote-control robot includes:
  • a power system mounted on the fuselage and configured to provide power to the ground remote control robot;
  • the ground remote-control robot further includes: an environmental sensor installed on the fuselage, and configured to detect and obtain environmental data.
  • the environment sensor includes a vision sensor and / or a distance sensor.
  • the ground remote control robot further includes:
  • a communication device is installed on the fuselage and is used for information interaction with the control terminal.
  • the ground remote-control robot includes at least one of the following: a drone, a car.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are only schematic.
  • the division of the unit is only a logical function division.
  • multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, which may be electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objective of the solution of this embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist separately physically, or two or more units may be integrated into one unit.
  • the above integrated unit may be implemented in the form of hardware, or in the form of hardware plus software functional units.
  • the above integrated unit implemented in the form of a software functional unit may be stored in a computer-readable storage medium.
  • the software functional unit is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) or a processor to execute the methods described in the embodiments of the present invention Some steps.
  • the aforementioned storage media include: U disks, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks or compact discs, and other media that can store program codes .

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Abstract

一种地面遥控机器人的漂移控制方法，包括：获取漂移控制参数（步骤101）；根据漂移控制参数控制地面遥控机器人以漂移状态沿漂移弯道移动（步骤102），其中，漂移状态为地面遥控机器人的机头的朝向与地面遥控机器人的移动方向不平行的状态。通过这种方式，使得地面遥控机器自动地根据漂移控制参数实现以漂移状态来过弯的效果，丰富了地面遥控机器人的控制策略，同时降低对用户的手动操作要求，这样增强地面遥控机器人操控的趣味性。

Description

地面遥控机器人的漂移控制方法、装置及地面遥控机器人 技术领域
本申请涉及电子技术领域，尤其涉及地面遥控机器人的漂移控制方法、装置及地面遥控机器人。
背景技术
在赛车领域，漂移是一种驾驶技巧，又称“甩尾”，车手通过控制汽车过度转向的方式令车身侧滑行走，赛车的漂移具有较高的观赏性。
地面遥控机器人的操作方式为遥控式操纵，由于现有技术中地面遥控机器人的控制策略的限制，地面遥控器机器人在过弯时不能自动地以漂移状态过弯；另外，若当用户想通过手动操控地面遥控机器人的方式来使地面遥控机器人在以漂移状态过弯，这样对用户的手动操控水平有非常高的要求。由此可知，这样降低了地面遥控机器人的操控趣味性。
发明内容
本发明实施例公开了地面遥控机器人的漂移控制方法、装置及地面遥控机器人，使得地面遥控机器人在经过弯道时实现漂移运动，增强地面遥控机器人操控的趣味性。
本发明实施例的第一方面是提供一种地面遥控机器人的漂移控制方法，包括：
获取漂移控制参数；
根据所述漂移控制参数控制所述地面遥控机器人以漂移状态沿漂移弯道移动，其中，所述漂移状态为所述地面遥控机器人的机头的朝向与所述地面遥控机器人的移动方向不平行的状态。
本发明实施例的第二方面是提供一种地面遥控机器人的漂移控制装置，包括：
存储器和处理器；
所述存储器用于存储程序代码；
所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操 作：
获取漂移控制参数；
根据所述漂移控制参数控制所述地面遥控机器人以漂移状态沿漂移弯道移动，其中，所述漂移状态为所述地面遥控机器人的机头的朝向与所述地面遥控机器人的移动方向不平行的状态。
本发明实施例的第三方面是提供一种地面遥控机器人，包括：
机身；
动力系统，安装在所述机身，用于为所述地面遥控机器人提供动力；
以及上述第二方面提供的地面遥控机器人的漂移控制装置。
本发明实施例提供的漂移控制方法、装置及地面遥控机器人，通过获取到漂移控制参数控制地面遥控机器人以漂移状态沿漂移弯道移动。通过这种方式，使得地面遥控机器自动地根据漂移控制参数实现以漂移状态来过弯的效果，丰富了地面遥控机器人的控制策略，同时降低对用户的手动操作要求，这样增强地面遥控机器人操控的趣味性。
附图说明
图1是本发明实施例提供的地面遥控机器人的漂移控制方法的流程图；
图2A是本发明实施例提供的一种漂移界面示意图；
图2B是本发明另一实施例提供的一种漂移界面示意图；
图2C是本发明实施例提供的一种夹角变化示意图；
图3是本发明实施例提供的一种漂移控制参数获取方法流程图；
图4是本发明另一实施例提供的一种漂移控制参数获取方法流程图；
图5是本发明另一实施例提供的一种漂移控制参数获取方法流程图；
图6是本发明另一实施例提供的一种漂移控制参数获取方法流程图；
图7是本发明实施例提供的地面遥控机器人的漂移控制装置的结构图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动 前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
本发明实施例提供的漂移控制方法、装置及地面遥控机器人，通过获取到漂移控制参数控制地面遥控机器人以漂移状态沿漂移弯道移动。通过这种方式，使得地面遥控机器自动地根据漂移控制参数实现以漂移状态来过弯的效果，丰富了地面遥控机器人的控制策略，同时降低对用户的手动操作要求，这样增强地面遥控机器人操控的趣味性。
本发明实施例中，地面遥控机器人的机头的朝向与地面遥控机器人的移动方向不平行，指的是地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的存在大于0度且小于180度夹角的状态。
本发明实施例中，漂移控制参数可以包括漂移弯道的配置信息和地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角的配置信息中的至少一个。
在一些实施例中，漂移弯道的配置信息可以用于指示该漂移弯道。示例性的，漂移弯道的配置信息可以包括漂移弯道的弯道半径和弯道角度中的至少一个。以图2A所示的漂移界面示意图为例，漂移弯道可以由弧线组成，例如漂移弯道的形状可以为环形。弯道半径可以为该漂移弯道对应的曲率半径。弯道角度可以为该漂移弯道对应的圆心角，以图2A为例，弯道角度为90°。
其中，地面遥控机器人可以根据漂移弯道的配置信息确定漂移弯道，以便控制地面遥控机器人以漂移状态沿确定的漂移弯道移动，确保在移动的过程中，地面遥控机器人的机头的朝向与地面遥控机器人的移动方向不平行。示例性的，地面遥控机器人可以根据漂移弯道的配置信息确定漂移弯道，例如，获 取地面遥控机器人在该漂移弯道中移动的弯道半径和弯道角度，基于该弯道半径和弯道角度控制地面遥控机器人以漂移状态沿确定的漂移弯道移动。
在一些实施例中，地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角的配置信息可以用于指示地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角。示例性的，地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角的配置信息可以包括地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的最大夹角，或者地面遥控机器人在漂移弯道中移动的过程中，地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角。示例性的，地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角可以包括不同时刻的地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角，即夹角序列。以图2B所示的漂移界面示意图为例，地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角可以为ψ。
其中，地面遥控机器人可以在地面遥控机器人沿漂移弯道移动的过程中，根据夹角的配置信息控制地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角。地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角可以根据地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的最大夹角规划得到。示例性的，地面遥控机器人可以在地面遥控机器人沿漂移弯道移动的过程中，根据夹角的配置信息控制不同时刻的地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角。
其中，地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角的配置信息可以由漂移场景确定。不同漂移场景的地面摩擦系数各不相同，不同地面摩擦系数与地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角的配置信息相对应。漂移场景可以包括草地、铺有瓷砖的地面、铺有地毯的地面或者沙地等。示例性的，不同地面摩擦系数可以与地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的最大夹角相对应，例如，草地的地面摩擦系数较大，地面遥控机器人在草地上移动的过程中，地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的最大夹角较小；铺有瓷砖的地面摩擦系数较小，地面遥控机器人在铺有瓷砖的地面上移动的过程中，地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的 最大夹角较大。
以图2C所示的夹角变化示意图为例，不同时刻的地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角可以为夹角序列，该夹角序列可以根据地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的最大夹角规划得到，例如在t 0时间长度内，地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角由零增大到最大夹角，在t 1时间长度内保持最大夹角不变，在t 2时间长度内重新由最大夹角降低到零。需要说明的是，地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的最大夹角可以是根据用户通过遥控器上的摇杆输入的操控指令确定得到的，或者预先设定的，具体不受本申请实施例的限定。
本发明实施例中，漂移控制参数的获取方式可以有多种。
1、通过地面遥控机器人的环境传感器，探测得到漂移控制参数。该环境传感器可以包括视觉传感器(例如双目相机、单目相机)和/或距离传感器(例如TOF相机、激光雷达)。例如，在地面遥控机器人移动至漂移弯道时或者地面遥控机器人沿漂移弯道移动的过程中，通过环境传感器获取漂移弯道的弯道半径和弯道角度中的至少一个。又如，在地面遥控机器人移动至漂移弯道之前或者地面遥控机器人沿漂移弯道移动的过程中，通过环境传感器获取漂移环境，基于漂移环境得到地面遥控机器人的机头的朝向与所述地面遥控机器人的移动方向之间的夹角。
2、控制终端向地面遥控机器人发送漂移控制参数。例如，控制终端从服务器上下载，或者是基于控制终端上的传感器的探测数据获取漂移弯道的弯道半径和弯道角度中的至少一个，并基于弯道半径和弯道角度中的至少一个生成漂移弯道的配置信息，将漂移弯道的配置信息发送给地面遥控机器人。又如，控制终端显示至少一个漂移环境，例如显示至少一个漂移环境的描述信息(文字、标识符等等)，用户希望地面遥控机器人在指定漂移环境中实现漂移运动时，用户可以对控制终端进行选择指定漂移环境的操作，控制终端检测到用户的漂移场景选择操作时，确定与选中的漂移环境对应的地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角的配置信息，并将该配置信息发送给地面遥控机器人。又如，控制终端显示至少一个漂移环境的漂移控制参数，用户希望地面遥控机器人在指定漂移环境中漂移时，可以选取指定漂移环 境的漂移控制参数，控制终端检测到用户的漂移控制参数输入操作时，例如，确定地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角的配置信息，并将该配置信息发送给地面遥控机器人。又如，用户对控制终端进行漂移控制参数输入操作，例如用户可以向控制终端输入该漂移弯道的弯道半径和弯道角度中的至少一个，控制终端在检测到用户的漂移控制参数输入操作时确定漂移控制参数，漂移控制参数包括漂移弯道的配置信息，控制终端将该漂移控制参数发送给地面遥控机器人。
3、控制终端向地面遥控机器人发送漂移场景指示信息，地面遥控机器人根据漂移场景指示信息确定夹角的配置信息。例如，控制终端显示至少一个漂移环境，用户希望地面遥控机器人在指定漂移环境中漂移时，可以选取指定漂移环境，控制终端检测到用户的漂移场景选择操作时，生成漂移场景指示信息，控制终端向地面遥控机器人发送漂移场景指示信息，地面遥控机器人根据漂移场景指示信息确定夹角的配置信息。
4、控制终端向地面遥控机器人发送地面摩擦系数，地面遥控机器人根据地面摩擦系数确定夹角的配置信息。例如，控制终端显示至少一个地面摩擦系数，用户希望地面遥控机器人在指定漂移环境中漂移时，可以选取指定漂移环境的地面摩擦系数，控制终端检测到用户的地面摩擦系数输入操作时，生成地面摩擦系数指示信息，控制终端向地面遥控机器人发送地面摩擦系数指示信息，地面遥控机器人根据地面摩擦系数指示信息确定夹角的配置信息。
本发明实施例中，地面遥控机器人以漂移状态沿漂移弯道移动的触发方式可以有多种。
1、地面遥控机器人的环境传感器实时探测得到漂移控制参数，地面遥控机器人获取到漂移控制参数之后，根据漂移控制参数控制地面遥控机器人以漂移状态沿漂移弯道移动。
2、控制终端实时获取漂移控制参数，将漂移控制参数发送给地面遥控机器人，地面遥控机器人接收到漂移控制参数之后，根据漂移控制参数控制地面遥控机器人以漂移状态沿漂移弯道移动。
3、控制终端实时获取漂移场景指示信息，将漂移场景指示信息发送给地面遥控机器人，地面遥控机器人接收到漂移场景指示信息之后，根据漂移场景指示信息控制地面遥控机器人以漂移状态沿漂移弯道移动。
4、控制终端实时获取地面摩擦系数指示信息，将地面摩擦系数指示信息发送给地面遥控机器人，地面遥控机器人接收到地面摩擦系数指示信息之后，根据地面摩擦系数指示信息控制地面遥控机器人以漂移状态沿漂移弯道移动。
5、控制终端将漂移控制参数发送给地面遥控机器人，地面遥控机器人接收到操控指令之后，根据漂移控制参数和操控指令控制地面遥控机器人以漂移状态沿漂移弯道移动。例如，用户通过遥控器上的摇杆来输入操控指令，用户输入的杆量包括横滚杆量(roll)、俯仰杆量(pitch)、偏航杆量(yaw)、油门杆量(thr)。
6、地面遥控机器人根据数字地图和地面遥控机器人的位置信息，确定漂移控制参数，并根据漂移控制参数控制地面遥控机器人以漂移状态沿漂移弯道移动。例如，地面遥控机器人根据数字地图和地面遥控机器人的位置信息，识别到地面遥控机器人即将进入漂移弯道，地面遥控机器人可以确定漂移控制参数，并根据漂移控制参数控制地面遥控机器人以漂移状态沿漂移弯道移动。其中，地面遥控机器人所存储的电子地图可以是从服务器上下载的，或者是基于地面遥控机器人上的环境传感器的探测数据所获取的。
下面对本发明实施例中的地面遥控机器人的漂移控制方法进行举例描述。
本发明实施例提供一种地面遥控机器人的漂移控制方法。图1是本发明实施例提供的地面遥控机器人的漂移控制方法的流程图，如图1所示，该方法包括如下步骤：
步骤101、获取漂移控制参数。
其中，本实施例涉及的地面遥控机器人可以为依靠自身配置的动力系统能够移动的设备，其中，所述地面遥控机器人可以是诸如无人机、汽车等具有一定处理能力的设备。
在一种可能的实现方式中，漂移控制参数可以包括漂移弯道的配置信息和地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角的配置信息中的至少一个。
在本申请实施例中，地面遥控机器人可以接收控制终端发送的漂移控制参数；或者通过地面遥控机器人的环境传感器探测得到环境数据，根据环境数据确定漂移控制参数；或者根据数字地图和地面遥控机器人的位置信息，确定漂 移控制参数；或者接收控制终端发送的漂移场景指示信息，根据漂移场景指示信息确定漂移控制参数，等等，具体不受本申请实施例的限定。
步骤102、根据漂移控制参数控制地面遥控机器人以漂移状态沿漂移弯道移动，其中，漂移状态为地面遥控机器人的机头的朝向与地面遥控机器人的移动方向不平行的状态。
在一种可能的实现方式中，当漂移控制参数包括漂移弯道的配置信息时，地面遥控机器人可以根据漂移弯道的配置信息确定漂移弯道，控制地面遥控机器人以漂移状态沿确定的漂移弯道移动。举例来说，地面遥控机器人可以根据漂移弯道的配置信息确定漂移弯道的弯道半径和弯道角度，进而控制地面遥控机器人基于弯道半径和弯道角度以漂移状态沿确定的漂移弯道移动。
在一种可能的实现方式中，当漂移控制参数包括地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角的配置信息时，在地面遥控机器人沿漂移弯道移动的过程中，地面遥控机器人可以根据夹角的配置信息控制地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角。
在一种可能的实现方式中，当漂移控制参数包括漂移弯道的配置信息，以及地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角的配置信息时，地面遥控机器人可以根据漂移弯道的配置信息确定漂移弯道，并在地面遥控机器人沿漂移弯道移动的过程中，地面遥控机器人可以根据夹角的配置信息控制地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角。
在一种可能的实现方式中，地面遥控机器人可以对地面遥控机器人进行控制以使地面遥控机器人在进入和退出弯道时地面遥控机器人不处于漂移状态。以图2B为例，地面遥控机器人在进入漂移弯道之前，地面遥控机器人可以对地面遥控机器人进行控制以使地面遥控机器人不处于漂移状态，即地面遥控机器人在进入漂移弯道之前，地面遥控机器人的机头的朝向与地面遥控机器人的移动方向平行。地面遥控机器人在进入漂移弯道之后，地面遥控机器人可以根据漂移控制参数控制地面遥控机器人以漂移状态沿漂移弯道移动，在移动的过程中，地面遥控机器人的机头的朝向与地面遥控机器人的移动方向不平行。地面遥控机器人在退出漂移弯道时，地面遥控机器人可以对地面遥控机器人进行控制以使地面遥控机器人不处于漂移状态，即地面遥控机器人在退出漂移弯道 时，地面遥控机器人的机头的朝向与地面遥控机器人的移动方向平行。
当然本领域技术人员应该了解的是上述举例仅是为清楚所做的示例说明而不是对本发明的唯一限定。
本发明实施例提供的漂移控制方法、装置及地面遥控机器人，通过获取到漂移控制参数控制地面遥控机器人以漂移状态沿漂移弯道移动。通过这种方式，使得地面遥控机器自动地根据漂移控制参数实现以漂移状态来过弯的效果，丰富了地面遥控机器人的控制策略，同时降低对用户的手动操作要求，这样增强地面遥控机器人操控的趣味性。
下面通过具体的实施例对图1实施例进行进一步的优化和扩展。
与图1所示的控制地面遥控机器人以漂移状态沿漂移弯道移动方法相对地，本发明另一实施例提供一种控制地面遥控机器人以漂移状态沿漂移弯道移动方法，包括：在漂移控制参数包括漂移弯道的配置信息时，根据漂移弯道的配置信息生成地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角的配置信息，进而控制地面遥控机器人沿漂移弯道移动，并且在移动的过程中，根据夹角的配置信息控制地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角。
在一些实施例中，地面遥控机器人可以根据漂移弯道的配置信息生成地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的最大夹角，进而控制地面遥控机器人沿漂移弯道移动，并且在移动的过程中，根据所述最大夹角控制地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角。
以图2B为例，地面遥控机器人获取漂移弯道的配置信息之后，可以根据漂移弯道的弯道半径和弯道角度，确定地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的最大夹角，基于地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的最大夹角，生成地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角，进而控制地面遥控机器人沿漂移弯道移动，并且在移动的过程中，控制地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角。示例性的，地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的最大夹角和弯道角度可以成正比例关系，且和 弯道半径可以呈反比例关系，即漂移弯道的弯道半径越小，且弯道角度越大，地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的最大夹角越大。基于地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的最大夹角，生成地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角的方式可以参见图2C的描述，本申请实施例不再赘述。
在一些实施例中，地面遥控机器人可以根据漂移弯道的配置信息生成地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角进而控制地面遥控机器人沿漂移弯道移动，并且在移动的过程中，根据所述生成的夹角控制地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角。
以图2B为例，地面遥控机器人获取漂移弯道的配置信息之后，可以根据漂移弯道的弯道半径和弯道角度，确定地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角，进而控制地面遥控机器人沿漂移弯道移动，并且在移动的过程中，控制地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角。示例性的，地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角和弯道角度可以成正比例关系，且和弯道半径可以呈反比例关系，即漂移弯道的弯道半径越小，且弯道角度越大，地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角越大。
与图1所示的控制地面遥控机器人以漂移状态沿漂移弯道移动方法相对地，本发明另一实施例提供一种控制地面遥控机器人以漂移状态沿漂移弯道移动方法，包括：根据夹角的配置信息生成漂移弯道的配置信息，并根据漂移弯道的配置信息确定漂移弯道，进而控制地面遥控机器人沿确定的漂移弯道移动，并且，在移动的过程中，根据夹角的配置信息控制地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角。
在一些实施例中，当地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角的配置信息包括地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的最大夹角时，地面遥控机器人可以根据地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的最大夹角生成漂移弯道的配置信息，根据所述漂移弯道的配置信息确定漂移弯道，进而控制地面遥控机器人沿确定的漂移弯道移动，并且，在移动的过程中，根据地面遥控机器人 的机头的朝向与地面遥控机器人的移动方向之间的最大夹角控制地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角。示例性的，漂移弯道的弯道角度可以和地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的最大夹角呈正比例关系，且漂移弯道的弯道半径可以和地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的最大夹角呈反比例关系，即地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的最大夹角越大，漂移弯道的弯道半径越小，且弯道角度越大。
在一些实施例中，当地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角的配置信息包括地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角时，地面遥控机器人可以根据地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角生成漂移弯道的配置信息，根据所述漂移弯道的配置信息确定漂移弯道，进而控制地面遥控机器人沿确定的漂移弯道移动，并且，在移动的过程中，控制地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角。示例性的，漂移弯道的弯道角度可以和地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角呈正比例关系，且漂移弯道的弯道半径可以和地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角呈反比例关系，即地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角越大，漂移弯道的弯道半径越小，且弯道角度越大。
图3是本发明实施例提供的漂移控制参数获取方法流程图，在本申请实施例中，漂移控制参数可以包括地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角的配置信息，如图3所示，在上述实施例的基础上，漂移控制参数获取方法可以包括如下步骤：
步骤301、控制终端通过检测用户的漂移场景选择操作确定夹角的配置信息。
本申请实施例中，控制终端可以显示至少一个漂移环境，用户希望地面遥控机器人在指定漂移环境中漂移时，可以通过控制终端选择指定漂移环境。控制终端检测到用户的漂移场景选择操作时，确定用户选择的漂移场景，并确定与所述选择的漂移场景对应的夹角的配置信息。进一步地，确定与所述选择的 漂移场景对应的夹角的配置信息可以包括：控制终端可以获取用户选择的漂移场景的地面摩擦系数，并根据地面摩擦系数确定夹角的配置信息，例如地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的最大夹角。
示例性的，漂移场景可以包括草地、铺有瓷砖的地面、铺有地毯的地面或者沙地等。例如，草地的地面摩擦系数较大，地面遥控机器人在草地上移动的过程中，地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的最大夹角较小；铺有瓷砖的地面摩擦系数较小，地面遥控机器人在铺有瓷砖的地面上移动的过程中，地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的最大夹角较大。
在一种可能的实现方式中，控制终端可以通过检测用户的地面摩擦系数输入操作确定夹角的配置信息。例如，控制终端可以显示至少一个地面摩擦系数，用户希望地面遥控机器人在指定漂移环境中漂移时，可以选取指定漂移环境的地面摩擦系数，控制终端检测到用户的地面摩擦系数输入操作时，根据地面摩擦系数确定夹角的配置信息，例如地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的最大夹角。
步骤302、控制终端将夹角的配置信息发送给地面遥控机器人。
本实施例，控制终端通过检测用户的漂移场景选择操作确定夹角的配置信息，并将夹角的配置信息发送给地面遥控机器人，通过人机交互可提高漂移控制参数的准确度。
图4是本发明另一实施例提供的漂移控制参数获取方法流程图，在本申请实施例中，漂移控制参数可以包括地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角的配置信息，如图4所示，在上述实施例的基础上，漂移控制参数获取方法可以包括如下步骤：
步骤401、控制终端通过检测用户的漂移场景选择操作确定漂移场景指示信息。
本申请实施例中，控制终端可以显示至少一个漂移环境，用户希望地面遥控机器人在指定漂移环境中漂移时，可以通过控制终端选取指定漂移环境。控制终端检测到用户的漂移场景选择操作时，确定用户选择的漂移场景，并生成漂移场景指示信息。
在一种可能的实现方式中，控制终端可以通过检测用户的地面摩擦系数输入操作确定地面摩擦系数。例如，控制终端可以显示至少一个地面摩擦系数，用户希望地面遥控机器人在指定漂移环境中漂移时，可以通过控制终端选取指定漂移环境的地面摩擦系数，控制终端检测到用户的地面摩擦系数输入操作时，可以获取用户输入的地面摩擦系数。
步骤402、控制终端将漂移场景指示信息发送给地面遥控机器人。
本申请实施例中，控制终端可以通过与地面遥控机器人之间的通信链路将漂移场景指示信息发送给地面遥控机器人，地面遥控机器人可以根据接收到的漂移场景指示信息确定用户选择的漂移场景。
在一种可能的实现方式中，控制终端可以将地面摩擦系数发送给地面遥控机器人。
步骤403、地面遥控机器人根据漂移场景指示信息确定夹角的配置信息。
本申请实施例中，地面遥控机器人可以获取漂移场景指示信息所指示的漂移场景的地面摩擦系数，并根据地面摩擦系数确定夹角的配置信息，例如地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的最大夹角。
在一种可能的实现方式中，地面遥控机器人接收到地面摩擦系数之后，可以根据地面摩擦系数确定夹角的配置信息，例如地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的最大夹角。
本发明实施例提供的漂移控制方法、装置及地面遥控机器人，通过获取到漂移控制参数控制地面遥控机器人以漂移状态沿漂移弯道移动。通过这种方式，使得地面遥控机器自动地根据漂移控制参数实现以漂移状态来过弯的效果，丰富了地面遥控机器人的控制策略，同时降低对用户的手动操作要求，这样增强地面遥控机器人操控的趣味性。
图5是本发明另一实施例提供的漂移控制参数获取方法流程图，在本申请实施例中，漂移控制参数可以包括漂移弯道的配置信息，如图5所示，在上述实施例的基础上，漂移控制参数获取方法可以包括如下步骤：
步骤501、控制终端通过检测用户的漂移控制参数输入操作确定漂移控制参数。
本申请实施例中，用户在知悉地面遥控机器人即将漂移的漂移弯道的情况 下，可以进行漂移控制参数输入操作，例如在控制终端中输入漂移弯道的配置信息，其中漂移弯道的配置信息可以包括漂移弯道的弯道半径和弯道角度中的至少一个。
步骤502、控制终端将漂移控制参数发送给地面遥控机器人。
本实施例，控制终端通过检测用户的漂移控制参数输入操作确定漂移控制参数，将漂移控制参数发送给地面遥控机器人，通过人机交互可提高漂移控制参数的准确度。
图6是本发明另一实施例提供的漂移控制参数获取方法流程图，如图6所示，在上述实施例的基础上，漂移控制参数获取方法可以包括如下步骤：
步骤601、地面遥控机器人获取地面遥控机器人上配置的环境传感器输出的环境数据。
其中，地面遥控机器人上配置的环境传感器探测得到的环境数据，其中，所述环境数据可以为环境传感器探测到的图像信息、深度信息或者点云中的至少一种。
步骤602、地面遥控机器人根据环境数据确定漂移控制参数。
在一种可能的实现方式中，地面遥控机器人可以根据环境数据识别弯道区域，进而根据识别到的弯道区域确定漂移弯道的配置信息。例如，地面遥控机器人可以根据环境传感器探测到的图像信息识别弯道区域，获取该弯道区域的弯道半径和弯道角度中的至少一个，基于弯道半径和弯道角度中的至少一个生成漂移弯道的配置信息。
在一种可能的实现方式中，地面遥控机器人可以根据环境数据识别障碍物，进而根据识别到的障碍物确定漂移弯道的配置信息。例如，地面遥控机器人可以根据环境传感器探测到的图像信息识别障碍物，确定地面遥控机器人在移动的过程中为了绕开障碍物所形成的漂移弯道，进而获取该漂移弯道的配置信息，例如该漂移弯道的弯道半径和弯道角度中的至少一个。
在一种可能的实现方式中，地面遥控机器人可以根据环境数据确定地面遥控机器人的漂移环境，根据漂移环境确定地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角的配置信息。例如，地面遥控机器人可以根据环境数据确定漂移弯道的漂移场景，获取该漂移场景的地面摩擦系数，并根 据地面摩擦系数确定地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的夹角的配置信息，例如地面遥控机器人的机头的朝向与地面遥控机器人的移动方向之间的最大夹角。
本实施例，地面遥控机器人获取地面遥控机器人上配置的环境传感器输出的环境数据，根据环境数据确定漂移控制参数，无需与控制终端交互，可提高漂移控制参数的获取效率。
与图3-6所示的漂移控制参数获取方法相对地，本发明另一实施例提供一种漂移控制参数获取方法，包括：根据数字地图和地面遥控机器人的位置信息，确定漂移控制参数。
在一些实施例中，地面遥控机器人根据数字地图和地面遥控机器人的位置信息，识别到地面遥控机器人即将进入弯道区域，地面遥控机器人可以从数字地图中获取该弯道区域的半径和/或弯道角度。地面遥控机器人可以根据弯道区域的半径和/或弯道角度来确定漂移控制参数。
在一些实施例中，地面遥控机器人可以根据数字地图和地面遥控机器人的位置确定地面遥控机器人的漂移环境，并根据确定的漂移环境确定所述漂移控制参数。
本发明实施例提供一种地面遥控机器人的漂移控制装置，图7是本发明实施例提供的地面遥控机器人的漂移控制装置的结构图，如图7所示，地面遥控机器人的漂移控制装置700包括存储器701和处理器702，其中，存储器702中存储有程序代码，处理器702调用存储器中的程序代码，当程序代码被执行时，处理器702执行如下操作：
获取漂移控制参数；
根据所述漂移控制参数控制所述地面遥控机器人以漂移状态沿漂移弯道移动，其中，所述漂移状态为所述地面遥控机器人的机头的朝向与所述地面遥控机器人的移动方向不平行的状态。
在一种可能的实现方式中，所述漂移控制参数包括所述漂移弯道的配置信息和所述地面遥控机器人的机头的朝向与所述地面遥控机器人的移动方向之间的夹角的配置信息中的至少一个。
在一种可能的实现方式中，所述漂移控制参数包括所述漂移弯道的配置信息，其中，
所述处理器702在根据所述漂移控制参数控制所述地面遥控机器人以漂移状态沿漂移弯道移动时，执行如下操作：
根据所述漂移弯道的配置信息确定所述漂移弯道，控制所述地面遥控机器人以漂移状态沿所述确定的漂移弯道移动。
在一种可能的实现方式中，所述处理器702调用所述程序代码时，还执行如下操作：
根据所述漂移弯道的配置信息生成所述地面遥控机器人的机头的朝向与所述地面遥控机器人的移动方向之间的夹角的配置信息；
所述处理器702在根据所述漂移控制参数控制所述地面遥控机器人以漂移状态沿漂移弯道移动时，执行如下操作：
控制所述地面遥控机器人沿所述漂移弯道移动，并且在移动的过程中，根据所述夹角的配置信息控制所述地面遥控机器人的机头的朝向与所述地面遥控机器人的移动方向之间的夹角。
在一种可能的实现方式中，所述漂移控制参数包括所述地面遥控机器人的机头的朝向与所述地面遥控机器人的移动方向之间的夹角的配置信息，其中，
所述处理器702在根据所述漂移控制参数控制所述地面遥控机器人以漂移状态沿漂移弯道移动时，执行如下操作：
在所述地面遥控机器人沿所述漂移弯道移动的过程中，根据所述夹角的配置信息控制所述地面遥控机器人的机头的朝向与所述地面遥控机器人的移动方向之间的夹角。
在一种可能的实现方式中，所述处理器702调用所述程序代码时，还执行如下操作：
根据所述夹角的配置信息生成所述漂移弯道的配置信息，并根据所述漂移弯道的配置信息确定所述漂移弯道；
所述处理器702在根据所述漂移控制参数控制所述地面遥控机器人以漂移状态沿漂移弯道移动时，执行如下操作：
控制所述地面遥控机器人沿所述确定的漂移弯道移动，并且，在移动的过程中，根据所述夹角的配置信息控制所述地面遥控机器人的机头的朝向与所述 地面遥控机器人的移动方向之间的夹角。
在一种可能的实现方式中，所述处理器702调用所述程序代码时，还执行如下操作：
对所述地面遥控机器人进行控制以使所述地面遥控机器人在进入和退出所述弯道时所述地面遥控机器人不处于漂移状态。
在一种可能的实现方式中，所述漂移控制参数包括所述地面遥控机器人的机头的朝向与所述地面遥控机器人的移动方向之间的夹角的配置信息，其中，所述夹角的配置信息是控制终端通过检测用户的漂移场景选择操作确定的。
在一种可能的实现方式中，所述处理器702在获取漂移控制参数时，执行如下操作：
获取所述控制终端发送的夹角的配置信息，其中，所述夹角的配置信息是所述控制终端根据检测到的漂移场景选择操作确定的。
在一种可能的实现方式中，所述处理器702在获取漂移控制参数时，执行如下操作：
获取所述控制终端发送的漂移场景指示信息，根据所述漂移场景指示信息确定所述夹角的配置信息，其中，所述漂移场景指示信息是所述控制终端根据检测到的漂移场景选择操作确定的。
在一种可能的实现方式中，所述漂移控制参数包括所述漂移弯道的配置信息，其中，
所述处理器702在获取漂移控制参数时，执行如下操作：
获取控制终端发送的漂移控制参数，其中，所述漂移控制参数是所述控制终端通过检测用户的漂移控制参数输入操作确定的。
在一种可能的实现方式中，所述处理器702在获取漂移控制参数时，执行如下操作：
获取所述地面遥控机器人上配置的环境传感器输出的环境数据，根据所述环境数据确定漂移控制参数。
在一种可能的实现方式中，所述漂移控制参数包括所述漂移弯道的配置信息，其中，
所述处理器702在根据所述环境数据确定漂移控制参数时，执行如下操作：
根据所述环境数据识别弯道区域或者障碍物，根据识别到的弯道区域或者障碍物确定所述漂移弯道的配置信息。
在一种可能的实现方式中，所述漂移控制参数包括所述地面遥控机器人的机头的朝向与所述地面遥控机器人的移动方向之间的夹角的配置信息，其中，
所述处理器702在根据所述环境数据确定漂移控制参数时，执行如下操作：
根据所述环境数据确定所述地面遥控机器人的漂移环境，根据漂移环境确定所述夹角的配置信息。
在一种可能的实现方式中，所述处理器702在获取漂移控制参数时，执行如下操作：
根据数字地图和所述地面遥控机器人的位置信息，确定所述漂移控制参数。
本实施例提供的地面遥控机器人的漂移控制装置能够执行前述实施例提供的地面遥控机器人的漂移控制方法，其执行方式和有益效果类似，在这里不再赘述。
本发明实施例还提供一种地面遥控机器人，该地面遥控机器人包括：
机身；
动力系统，安装在所述机身，用于为所述地面遥控机器人提供动力；
以及上述实施例提供的地面遥控机器人的漂移控制装置。
可选地，该地面遥控机器人还包括：环境传感器，安装在所述机身，用于探测获得环境数据。
可选地，所述环境传感器包括视觉传感器和/或距离传感器。
可选地，所述地面遥控机器人还包括：
通信设备，安装在所述机身，用于与控制终端进行信息交互。
可选地，所述地面遥控机器人至少包括如下的一种：无人机、汽车。
本实施例提供的地面遥控机器人其执行方式和有益效果与前述实施例提供的移动装置类似，在这里不再赘述。
在本发明所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例 如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本发明各个实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
本领域技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述的装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (35)

  1. 一种地面遥控机器人的漂移控制方法，其特征在于，包括：
    获取漂移控制参数；
    根据所述漂移控制参数控制所述地面遥控机器人以漂移状态沿漂移弯道移动，其中，所述漂移状态为所述地面遥控机器人的机头的朝向与所述地面遥控机器人的移动方向不平行的状态。
  2. 根据权利要求1所述的方法，其特征在于，所述漂移控制参数包括所述漂移弯道的配置信息和所述地面遥控机器人的机头的朝向与所述地面遥控机器人的移动方向之间的夹角的配置信息中的至少一个。
  3. 根据权利要求1或2所述的方法，其特征在于，所述漂移控制参数包括所述漂移弯道的配置信息，其中，
    所述根据所述漂移控制参数控制所述地面遥控机器人以漂移状态沿漂移弯道移动包括：
    根据所述漂移弯道的配置信息确定所述漂移弯道，控制所述地面遥控机器人以漂移状态沿所述确定的漂移弯道移动。
  4. 根据权利要求3所述的方法，其特征在于，所述方法还包括：根据所述漂移弯道的配置信息生成所述地面遥控机器人的机头的朝向与所述地面遥控机器人的移动方向之间的夹角的配置信息；
    所述根据所述漂移控制参数控制所述地面遥控机器人以漂移状态沿漂移弯道移动包括：
    控制所述地面遥控机器人沿所述漂移弯道移动，并且在移动的过程中，根据所述夹角的配置信息控制所述地面遥控机器人的机头的朝向与所述地面遥控机器人的移动方向之间的夹角。
  5. 根据权利要求1-3任一项所述的方法，其特征在于，所述漂移控制参数包括所述地面遥控机器人的机头的朝向与所述地面遥控机器人的移动方向之间的夹角的配置信息，其中，
    所述根据所述漂移控制参数控制所述地面遥控机器人以漂移状态沿漂移弯道移动包括：
    在所述地面遥控机器人沿所述漂移弯道移动的过程中，根据所述夹角的配置信息控制所述地面遥控机器人的机头的朝向与所述地面遥控机器人的移动 方向之间的夹角。
  6. 根据权利要求5所述的方法，其特征在于，所述方法还包括：根据所述夹角的配置信息生成所述漂移弯道的配置信息，并根据所述漂移弯道的配置信息确定所述漂移弯道；
    所述根据所述漂移控制参数控制所述地面遥控机器人以漂移状态沿漂移弯道移动包括：
    控制所述地面遥控机器人沿所述确定的漂移弯道移动，并且，在移动的过程中，根据所述夹角的配置信息控制所述地面遥控机器人的机头的朝向与所述地面遥控机器人的移动方向之间的夹角。
  7. 根据权利要求1-6任一项所述的方法，其特征在于，所述方法还包括：
    对所述地面遥控机器人进行控制以使所述地面遥控机器人在进入和退出所述弯道时所述地面遥控机器人不处于漂移状态。
  8. 根据权利要求1-7任一项所述的方法，其特征在于，所述漂移控制参数包括所述地面遥控机器人的机头的朝向与所述地面遥控机器人的移动方向之间的夹角的配置信息，其中，所述夹角的配置信息是控制终端通过检测用户的漂移场景选择操作确定的。
  9. 根据权利要求8所述的方法，其特征在于，所述获取漂移控制参数包括：
    获取所述控制终端发送的夹角的配置信息，其中，所述夹角的配置信息是所述控制终端根据检测到的漂移场景选择操作确定的。
  10. 根据权利要求8所述的方法，其特征在于，所述获取漂移控制参数包括：
    获取所述控制终端发送的漂移场景指示信息，根据所述漂移场景指示信息确定所述夹角的配置信息，其中，所述漂移场景指示信息是所述控制终端根据检测到的漂移场景选择操作确定的。
  11. 根据权利要求1-6任一项所述的方法，其特征在于，所述漂移控制参数包括所述漂移弯道的配置信息，其中，
    所述获取漂移控制参数包括：
    获取控制终端发送的漂移控制参数，其中，所述漂移控制参数是所述控制终端通过检测用户的漂移控制参数输入操作确定的。
  12. 根据权利要求1-6任一项所述的方法，其特征在于，所述获取漂移控制参数包括：
    获取所述地面遥控机器人上配置的环境传感器输出的环境数据，根据所述环境数据确定漂移控制参数。
  13. 根据权利要求12所述的方法，其特征在于，所述漂移控制参数包括所述漂移弯道的配置信息，其中，
    所述根据所述环境数据确定漂移控制参数包括：
    根据所述环境数据识别弯道区域或者障碍物，根据识别到的弯道区域或者障碍物确定所述漂移弯道的配置信息。
  14. 根据权利要求12所述的方法，其特征在于，所述漂移控制参数包括所述地面遥控机器人的机头的朝向与所述地面遥控机器人的移动方向之间的夹角的配置信息，其中，
    所述根据所述环境数据确定漂移控制参数包括：
    根据所述环境数据确定所述地面遥控机器人的漂移环境，根据所述漂移环境确定所述夹角的配置信息。
  15. 根据权利要求1-6任一项所述的方法，其特征在于，所述获取漂移控制参数包括：
    根据数字地图和所述地面遥控机器人的位置信息，确定所述漂移控制参数。
  16. 一种地面遥控机器人的漂移控制装置，其特征在于，包括存储器和处理器；
    所述存储器用于存储程序代码；
    所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
    获取漂移控制参数；
    根据所述漂移控制参数控制所述地面遥控机器人以漂移状态沿漂移弯道移动，其中，所述漂移状态为所述地面遥控机器人的机头的朝向与所述地面遥控机器人的移动方向不平行的状态。
  17. 根权利要求16所述的装置，其特征在于，所述漂移控制参数包括所述漂移弯道的配置信息和所述地面遥控机器人的机头的朝向与所述地面遥控 机器人的移动方向之间的夹角的配置信息中的至少一个。
  18. 根据权利要求16或17所述的装置，其特征在于，所述漂移控制参数包括所述漂移弯道的配置信息，其中，
    所述处理器在根据所述漂移控制参数控制所述地面遥控机器人以漂移状态沿漂移弯道移动时，执行如下操作：
    根据所述漂移弯道的配置信息确定所述漂移弯道，控制所述地面遥控机器人以漂移状态沿所述确定的漂移弯道移动。
  19. 根据权利要求18所述的装置，其特征在于，所述处理器调用所述程序代码时，还执行如下操作：
    根据所述漂移弯道的配置信息生成所述地面遥控机器人的机头的朝向与所述地面遥控机器人的移动方向之间的夹角的配置信息；
    所述处理器在根据所述漂移控制参数控制所述地面遥控机器人以漂移状态沿漂移弯道移动时，执行如下操作：
    控制所述地面遥控机器人沿所述漂移弯道移动，并且在移动的过程中，根据所述夹角的配置信息控制所述地面遥控机器人的机头的朝向与所述地面遥控机器人的移动方向之间的夹角。
  20. 根据权利要求16-18任一项所述的装置，其特征在于，所述漂移控制参数包括所述地面遥控机器人的机头的朝向与所述地面遥控机器人的移动方向之间的夹角的配置信息，其中，
    所述处理器在根据所述漂移控制参数控制所述地面遥控机器人以漂移状态沿漂移弯道移动时，执行如下操作：
    在所述地面遥控机器人沿所述漂移弯道移动的过程中，根据所述夹角的配置信息控制所述地面遥控机器人的机头的朝向与所述地面遥控机器人的移动方向之间的夹角。
  21. 根据权利要求20所述的装置，其特征在于，所述处理器调用所述程序代码时，还执行如下操作：
    根据所述夹角的配置信息生成所述漂移弯道的配置信息，并根据所述漂移弯道的配置信息确定所述漂移弯道；
    所述处理器在根据所述漂移控制参数控制所述地面遥控机器人以漂移状态沿漂移弯道移动时，执行如下操作：
    控制所述地面遥控机器人沿所述确定的漂移弯道移动，并且，在移动的过程中，根据所述夹角的配置信息控制所述地面遥控机器人的机头的朝向与所述地面遥控机器人的移动方向之间的夹角。
  22. 根据权利要求16-21任一项所述的装置，其特征在于，所述处理器调用所述程序代码时，还执行如下操作：
    对所述地面遥控机器人进行控制以使所述地面遥控机器人在进入和退出所述弯道时所述地面遥控机器人不处于漂移状态。
  23. 根据权利要求16-22任一项所述的装置，其特征在于，所述漂移控制参数包括所述地面遥控机器人的机头的朝向与所述地面遥控机器人的移动方向之间的夹角的配置信息，其中，所述夹角的配置信息是控制终端通过检测用户的漂移场景选择操作确定的。
  24. 根据权利要求23所述的装置，其特征在于，所述处理器在获取漂移控制参数时，执行如下操作：
    获取所述控制终端发送的夹角的配置信息，其中，所述夹角的配置信息是所述控制终端根据检测到的漂移场景选择操作确定的。
  25. 根据权利要求23所述的装置，其特征在于，所述处理器在获取漂移控制参数时，执行如下操作：
    获取所述控制终端发送的漂移场景指示信息，根据所述漂移场景指示信息确定所述夹角的配置信息，其中，所述漂移场景指示信息是所述控制终端根据检测到的漂移场景选择操作确定的。
  26. 根据权利要求16-21任一项所述的装置，其特征在于，所述漂移控制参数包括所述漂移弯道的配置信息，其中，
    所述处理器在获取漂移控制参数时，执行如下操作：
    获取控制终端发送的漂移控制参数，其中，所述漂移控制参数是所述控制终端通过检测用户的漂移控制参数输入操作确定的。
  27. 根据权利要求16-21任一项所述的装置，其特征在于，所述处理器在获取漂移控制参数时，执行如下操作：
    获取所述地面遥控机器人上配置的环境传感器输出的环境数据，根据所述环境数据确定漂移控制参数。
  28. 根据权利要求27所述的装置，其特征在于，所述漂移控制参数包括 所述漂移弯道的配置信息，其中，
    所述处理器在根据所述环境数据确定漂移控制参数时，执行如下操作：
    根据所述环境数据识别弯道区域或者障碍物，根据识别到的弯道区域或者障碍物确定所述漂移弯道的配置信息。
  29. 根据权利要求27所述的装置，其特征在于，所述漂移控制参数包括所述地面遥控机器人的机头的朝向与所述地面遥控机器人的移动方向之间的夹角的配置信息，其中，
    所述处理器在根据所述环境数据确定漂移控制参数时，执行如下操作：
    根据所述环境数据确定所述地面遥控机器人的漂移环境，根据漂移环境确定所述夹角的配置信息。
  30. 根据权利要求16-21所述的装置，其特征在于，所述处理器在获取漂移控制参数时，执行如下操作：
    根据数字地图和所述地面遥控机器人的位置信息，确定所述漂移控制参数。
  31. 一种地面遥控机器人，其特征在于，包括：
    机身；
    动力系统，安装在所述机身，用于为所述地面遥控机器人提供动力；
    以及如权利要求16-30中任一项所述的地面遥控机器人的漂移控制装置。
  32. 根据权利要求31所述的地面遥控机器人，其特征在于，所述地面遥控机器人还包括：
    环境传感器，安装在所述机身，用于探测获得环境数据。
  33. 根据权利要求32所述的地面遥控机器人，其特征在于，所述环境传感器包括视觉传感器和/或距离传感器。
  34. 根据权利要求31所述的地面遥控机器人，其特征在于，所述地面遥控机器人还包括：
    通信设备，安装在所述机身，用于与控制终端进行信息交互。
  35. 根据权利要求31所述的地面遥控机器人，其特征在于，所述地面遥控机器人至少包括如下的一种：无人机、汽车。
PCT/CN2018/103188 2018-08-30 2018-08-30 地面遥控机器人的漂移控制方法、装置及地面遥控机器人 Ceased WO2020042062A1 (zh)

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