WO2020047746A1 - Procédé et système de commande de robot mobile, et robot mobile - Google Patents

Procédé et système de commande de robot mobile, et robot mobile Download PDF

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Publication number
WO2020047746A1
WO2020047746A1 PCT/CN2018/103979 CN2018103979W WO2020047746A1 WO 2020047746 A1 WO2020047746 A1 WO 2020047746A1 CN 2018103979 W CN2018103979 W CN 2018103979W WO 2020047746 A1 WO2020047746 A1 WO 2020047746A1
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WIPO (PCT)
Prior art keywords
robot
current
control
control instruction
state
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PCT/CN2018/103979
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English (en)
Chinese (zh)
Inventor
龚鼎
陈超彬
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深圳市大疆创新科技有限公司
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Priority to CN201880017015.5A priority Critical patent/CN110419014A/zh
Priority to PCT/CN2018/103979 priority patent/WO2020047746A1/fr
Publication of WO2020047746A1 publication Critical patent/WO2020047746A1/fr

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

Definitions

  • Embodiments of the present invention relate to the field of control, and in particular, to a control method and system for a mobile robot, and a mobile robot.
  • a first aspect of an embodiment of the present invention is to provide a method for controlling a mobile robot, the method including:
  • a second aspect of the embodiments of the present invention is to provide a mobile robot, the mobile robot includes: a main control terminal and an execution terminal;
  • the main control terminal is configured to obtain a control instruction, determine a current execution state of the control instruction, and determine a current environment of the robot, a current state of the robot's mobility performance according to the control instruction and the current execution state of the control instruction, or Adjusting at least one of a current control performance state of the robot according to at least one of a current environment of the robot, a current maneuverability state of the robot, or a current control performance state of the robot;
  • the execution end is configured to adjust the movement of the robot according to the adjusted control instruction.
  • a third aspect of the embodiments of the present invention is to provide a mobile robot control system.
  • the control system includes a remote control terminal and a mobile robot, and the remote control terminal is configured to generate a control instruction and send the control instruction to the mobile robot.
  • the mobile robot includes: a main control terminal and an execution terminal;
  • the main control terminal is configured to obtain a control instruction, determine a current execution state of the control instruction, and determine a current environment of the robot, a current state of the robot's mobility performance according to the control instruction and the current execution state of the control instruction, or Adjusting at least one of a current control performance state of the robot according to at least one of a current environment of the robot, a current maneuverability state of the robot, or a current control performance state of the robot;
  • the execution end is configured to adjust the movement of the robot according to the adjusted control instruction.
  • the mobile robot control method, control system and mobile robot provided by the embodiments of the present invention determine at least one of the current environment of the robot, the current mobility performance status of the robot, or the current control performance status of the robot by determining the current execution status of the control instruction. Item to adjust the control instruction to adjust the movement of the robot in real time. It can be seen that the mobile robot control method, control system, and mobile robot provided by the embodiments of the present invention enable the mobile robot to adaptively adjust its own motion when it enters different environments, thereby exhibiting stable maneuverability, thereby improving Control efficiency and safety of mobile robots.
  • FIG. 1 is a motion diagram of a wheeled mobile robot on different roads provided in the prior art.
  • FIG. 2 is a flowchart of a mobile robot control method according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a mobile robot control system according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a master terminal according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a remote control terminal according to an embodiment of the present invention.
  • FIG. 1 is a schematic diagram of a wheeled mobile robot on different roads provided in the prior art, including a remote control terminal 101 and a mobile robot terminal 102.
  • the remote control terminal 101 sends a control instruction to the mobile robot terminal 102, and the mobile robot terminal 102 controls the movement of the wheeled mobile robot according to the control instruction.
  • the operator needs to manually adjust the control instructions.
  • the mobile robot control method, control system and mobile robot provided by the embodiments of the present invention enable the mobile robot to adaptively adjust its own motion when it enters different environments, and exhibit stable maneuverability, thereby improving the control of the mobile robot. Efficiency and safety.
  • FIG. 2 is a flowchart of a method for controlling a mobile robot according to an embodiment of the present invention.
  • the mobile robot described in this embodiment may specifically be a wheeled mobile robot, an unmanned aerial vehicle, or an unmanned ship.
  • Step S201 Obtain a control instruction sent by the remote terminal.
  • control instruction in this embodiment includes one or more of a speed instruction, an acceleration instruction, a position instruction, and an attitude instruction.
  • Step S202 Determine a current execution state of the control instruction.
  • determining the current execution state of the control instruction includes: acquiring current motion parameters, wherein the motion parameters include one or more of a current speed, acceleration, position, and attitude of the robot.
  • determining the current execution state of the control instruction includes: obtaining current maneuverability parameters, wherein the maneuverability parameters include one or more of a current rotation speed and a torque of the motor.
  • determining the current execution status of the control instruction includes: obtaining a current control performance parameter, wherein the control performance parameter includes one or more of an adjustment time and an error range.
  • the adjustment time is the time when the actual output of the robot stabilizes within a preset range
  • the error range is the error of the actual output of the robot relative to the target output of the control instruction. For example, if the control instruction is a speed instruction of 5m / s and the preset range is 5m / s ⁇ 10%, the adjustment time is the time when the actual speed stabilizes from the original speed to 4.5m / s-5.5m / s.
  • step S203 at least one of the environment in which the robot is currently located, the current state of the robotic performance of the robot, or the current state of the control performance of the robot is determined according to the control instruction and the current execution state of the control instruction.
  • the current motion parameter is compared with a first threshold to obtain the current environment of the robot, wherein the first threshold is a motion parameter corresponding to the control instruction under a standard environment.
  • the current maneuverability parameter of the robot is obtained by comparing the current maneuverability parameter with a second threshold, wherein the second threshold value is a maneuverability parameter corresponding to the control instruction under a standard environment.
  • the current control performance parameter is compared with a third threshold value to obtain the current control performance state of the robot, wherein the third threshold value is a control performance parameter corresponding to the control instruction under a standard environment.
  • the corresponding motion parameters, maneuverability parameters, and control performance parameters of the control instruction in a standard environment are obtained through calibration experiments or simulation calculations.
  • the simulation can model the dynamic environment and kinematics, describe different environmental states with parameters such as road friction coefficient, and derive control instructions and motion parameters in different environments. Maneuverability parameters, the mapping relationship between control performance parameters.
  • Step S204 adjusting the control instruction according to at least one of the current environment of the robot, the current maneuverability status of the robot, or the current control performance status of the robot, so that the execution end adjusts according to the adjusted control instruction The movement of the robot.
  • the current environment of the robot is a standard environment
  • the current state of the robot's maneuverability is good
  • the current state of the robot's control performance is good
  • the current maneuver of the robot At least one of a performance state or a current control performance state of the robot, and adjusting the control instruction includes maintaining the control instruction unchanged.
  • the current status of the robot Adjusting the control instruction includes at least one of a maneuverability state or a current control performance state of the robot, including: reducing a current acceleration and / or speed.
  • the non-standard environment includes bumpy roads, smooth roads, and muddy roads.
  • a wheeled mobile robot when the motor speed of the robot is high and the torque is small, that is, the motor speed to torque ratio is too large, the attitude adjustment time is too long, the Z-axis acceleration appears high amplitude vibration, and the wheel is frequently suspended, Determine the current environment of the robot as a bumpy road; when the motor speed is high and the torque is small, that is, the motor speed to torque ratio is too large, the speed adjustment time and attitude adjustment time are longer, and the Z-axis acceleration changes gently, and the robot is in the starting and braking stages.
  • the skid When the skid is frequent, it can be judged that the current environment of the robot is a smooth road; when the motor speed is low and the torque is large, that is, the motor speed to torque ratio is small, the speed adjustment time and attitude adjustment time are long, and the wheel is subject to greater resistance, the Determine the current environment of the robot as a muddy road.
  • reducing the current acceleration and / or speed includes reducing the current acceleration and speed to alleviate the vibration of the robot on the bumpy road. If the non-standard environment is a smooth road, reducing the current acceleration and / or speed includes reducing the current acceleration so that the robot speed matches the wheel speed. If the non-standard environment is a muddy road, reducing the current acceleration and / or speed includes reducing the current acceleration and / or speed so that the robot can run slowly and steadily.
  • the current environment of the robot is divided into a standard environment and a non-standard environment.
  • the non-standard environment includes bumpy roads, smooth roads, and muddy roads.
  • the current environment of the robot can be expanded into more scenes according to the type and actual needs of the mobile robot, and divided into different levels according to different scenes, and is not limited to the text form, and can be set according to actual needs.
  • the scene of bumps can be divided into different levels from 1 to 10. The larger the number, the more severe the bump.
  • other scenes such as smooth and muddy can also be divided into more levels to describe the environment in which the robot is currently in more detail.
  • the maneuverability state and the control performance state are described only by taking the bad as an example.
  • the current maneuverability state of the robot and the current state of the control performance of the robot can be expanded by more levels as needed. It can be understood that the specific content of the adjusted control instruction is not limited to reducing the acceleration and / or speed described in the embodiment, and the content of the control instruction and the actual application scenario can be expanded into more types according to the type of the mobile robot.
  • the mobile robot control method further includes:
  • Obtaining a feedback amount which includes one or more of a motor speed, a motor torque, a robot speed, a robot acceleration, a robot position, and a robot posture;
  • the movement of the robot is further adjusted according to the feedback amount and the adjusted control instruction.
  • the mobile robot control method further includes sending at least one of a current environment of the robot, a current maneuverability status of the robot, or a current control performance status of the robot to the remote control end.
  • Sending at least one of the current environment of the robot, the current mobile performance state of the robot, or the current control performance state of the robot to the remote control terminal can make the remote control terminal know the current state of the robot in time. While the robot adaptively adjusts its own motion, the remote control can adjust the robot's motion based on the information sent.
  • the method for controlling a mobile robot provided by an embodiment of the present invention is to determine at least one of the current environment of the robot, the current state of the mobile performance of the robot, or the current state of the control performance of the robot by determining the current execution state of the control instruction to adjust the state. Control instructions to adjust robot movement in real time. It can be seen that the mobile robot control method provided by the embodiment of the present invention enables the mobile robot to adaptively adjust its own motion when it enters different environments and exhibits stable maneuverability, thereby improving the control efficiency of the mobile robot and safety.
  • FIG. 3 is a schematic diagram of a mobile robot control system according to an embodiment of the present invention.
  • the mobile robot described in this embodiment may be a wheeled mobile robot, an unmanned aerial vehicle, or an unmanned ship.
  • the control system includes a mobile robot 30 and a remote control terminal 31.
  • the mobile robot 30 includes a main control terminal 301, an execution terminal 302, and a sensor 303.
  • the remote terminal 31 is used to generate a control instruction and send it to the mobile robot 30.
  • control instruction includes one or more of a speed instruction, an acceleration instruction, a position instruction, and an attitude instruction.
  • the main control terminal 301 is configured to obtain a control instruction sent by the remote control terminal 31, determine the current execution status of the control instruction, and determine the current environment of the robot and the current maneuver of the robot according to the control instruction and the current execution status of the control instruction. At least one of a performance state or a current control performance state of the robot, and the control instruction is adjusted according to at least one of an environment in which the robot is currently located, a current maneuverability state of the robot, or a current control performance state of the robot.
  • control instruction may be set in the robot in advance, and is not limited to being obtained from the remote terminal 31.
  • the main control terminal 301 obtains the current motion parameters from the sensor 303, where the motion parameters include one or more of the current speed, acceleration, position, and attitude of the robot.
  • the main control terminal 301 compares the current motion parameter with a first threshold to obtain the current environment of the robot, where the first threshold is a motion parameter corresponding to the control instruction under a standard environment.
  • the main control terminal 301 obtains the current maneuverability parameters, wherein the maneuverability parameters include one or more of the current speed and torque of the motor.
  • the main control terminal 301 compares the current maneuverability parameter with a second threshold value to obtain the current maneuverability state of the robot, wherein the second threshold value is a maneuverability parameter corresponding to the control instruction under a standard environment.
  • the main control terminal 301 obtains a current control performance parameter, where the control performance parameter includes one or more of an adjustment time and an error range.
  • the main control terminal 301 compares the current control performance parameter with a third threshold to obtain the current control performance state of the robot, wherein the third threshold is a maneuverability parameter corresponding to the control instruction under a standard environment.
  • the current environment of the robot is a standard environment
  • the current state of the robot's maneuverability is good
  • the current state of the robot's control performance is good
  • the current maneuver of the robot At least one of a performance state or a current control performance state of the robot, and adjusting the control instruction includes maintaining the control instruction unchanged.
  • the current status of the robot Adjusting the control instruction includes at least one of a maneuverability state or a current control performance state of the robot, including: reducing a current acceleration and / or speed.
  • reducing the current acceleration and / or speed includes reducing the current acceleration and speed to alleviate the vibration of the robot on the bumpy road.
  • the reducing the current acceleration and / or speed includes reducing the current acceleration so that the robot speed matches the wheel speed.
  • reducing the current acceleration and / or speed includes reducing the current acceleration and / or speed so that the robot can run slowly and steadily.
  • the execution end 302 is configured to adjust the movement of the robot according to the adjusted control instruction.
  • the execution end 302 is further configured to send a maneuverability parameter to the main control end 301, where the maneuverability parameter includes one or more of a current rotation speed and a torque of the motor.
  • the sensor 303 is configured to send a motion parameter to the main control end 301, where the motion parameter includes one or more of a robot's current speed, acceleration, position, and attitude.
  • the sensor 303 may include one or more of an accelerometer, a speedometer, a code disc, a vision sensor, a lidar, and an ultrasonic sensor.
  • the sensor 303 may be installed inside the robot or outside the robot.
  • a sensor 303 may be installed in the warehouse, and the sensor 303 sends the motion parameters of the robot to the main control terminal 301 through wireless transmission.
  • high-precision sensors can provide more accurate motion parameters for mobile robots.
  • sensors such as high-precision vision sensors have higher weight and larger volume. Installing sensor 303 outside the robot is conducive to reducing movement. The weight of the robot itself improves the portability of the mobile robot.
  • the main control terminal 301 includes a maneuverability regulator 401 and a controller 402.
  • the maneuverability adjuster 401 is specifically configured to obtain a control instruction, determine a current execution state of the control instruction, and determine a current environment of the robot, a current maneuverability status of the robot according to the control instruction and the current execution state of the control instruction, Or at least one of the current control performance state of the robot, and the control instruction is adjusted according to at least one of the current environment of the robot, the current maneuverability state of the robot, or the current control performance state of the robot.
  • the controller 402 is specifically configured to obtain an adjusted control instruction and a feedback amount, the feedback amount including one or more of a motor speed, a motor torque, a robot speed, a robot acceleration, a robot position, and a robot attitude;
  • the controller 402 is further configured to determine an input of the execution end 302 according to the adjusted control instruction and the feedback amount, so that the execution end 302 further adjusts the movement of the robot.
  • the main control terminal 301 is further configured to send at least one of the current environment of the robot, the current maneuverability status of the robot, or the current control performance status of the robot to the remote control terminal 31.
  • the remote end 31 further includes a display area.
  • the display area 501 is used to display at least one of a current environment of the robot, a current state of the robot's performance, or a current state of the control performance of the robot. It should be noted that other methods, such as voice, may be used as needed, and are not limited to the display through the display area 501.
  • the main control terminal 301 sends at least one of the current environment of the robot, the current maneuverability status of the robot, or the current control performance status of the robot to the remote control terminal 31 to facilitate the remote control terminal to know the current state of the robot in time. While the mobile robot 30 adaptively adjusts its own motion, the remote control end 31 can adjust the robot's motion according to the information sent.
  • the mobile robot control system and mobile robot provided by the embodiments of the present invention determine at least one of the current environment of the robot, the current mobility performance status of the robot, or the current control performance status of the robot by determining the current execution status of the control instruction.
  • the control instruction is adjusted to adjust the movement of the robot in real time. It can be seen that the control system and mobile robot provided by the embodiments of the present invention enable the mobile robot to adaptively adjust its own motion when it enters different environments, and exhibit stable maneuverability, thereby improving the control efficiency of the mobile robot and safety.
  • the remote terminal sends control instructions, the control instructions are a speed of 1m / s and an acceleration of 1m / s 2 ;
  • the master control terminal obtains control instructions
  • the main control terminal acquires the motion parameters collected by the sensors, that is, the actual motion speed is 0.8m / s and the acceleration is 0.5m / s 2 ;
  • the main control end obtains the maneuverability parameters from the execution end. Specifically, the actual speed and torque of each wheel are obtained through the ESC installed on each wheel, that is, the average speed of the motor is 250 rpm (revolutions per minute), and the peak torque is 150 mNm. (Millinewtons);
  • the master control terminal obtains control performance parameters, that is, the adjustment time is 1.2s, and the error range is 0.2m / s;
  • the main control end compares the motion parameters, maneuverability parameters and control performance parameters with the motion parameters, maneuverability parameters and control performance parameters on the standard road surface, and obtains that the current environment of the robot is a smooth road, and the current maneuverability of the robot and the current control of the robot Poor performance
  • the main control terminal adjusts the control instruction, and the adjusted control instruction is an acceleration of 0.5 m / s 2 ;
  • the execution end adjusts the movement of the robot according to the adjusted control instruction.
  • the remote end generates control instructions and sends them to the mobile robot, where the control instructions are a speed of 3m / s and an acceleration of 2m / s 2 ;
  • the maneuverability regulator in the master control terminal obtains control instructions
  • the maneuverability regulator obtains the movement parameters collected by the sensor, that is, the actual movement speed is 2.5m / s and the acceleration is 0.5m / s 2 ;
  • the maneuverability regulator obtains maneuverability parameters from the execution end, that is, the average speed of the motor is 1000 rpm, and the peak torque is 350 mNm;
  • the maneuverability regulator obtains the control performance parameters, that is, the adjustment time is 2.5s, and the error range is 0.5m / s;
  • the maneuverability controller compares the movement parameters, maneuverability parameters, and control performance parameters with the movement parameters, maneuverability parameters, and control performance parameters on a standard road surface, and obtains that the current environment of the robot is a smooth road. Poor current control performance;
  • the maneuverability adjuster adjusts the control instruction, and the adjusted control instruction is an acceleration of 1 m / s 2 ;
  • the mobile performance adjuster sends the adjusted control instructions to the controller
  • the controller obtains the adjusted control instruction
  • the controller obtains the feedback amount, that is, the average speed of the motor is 1200rpm, the peak torque is 400mNm, the robot speed is 3m / s, and the acceleration is 0.8m / s 2 ;
  • the controller determines the input of the execution end according to the adjusted control instruction and the feedback amount, so that the execution end further adjusts the movement of the robot.
  • 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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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
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Abstract

La présente invention, selon ses modes de réalisation, concerne un procédé de commande de robot mobile, le procédé consistant : à acquérir une instruction de commande envoyée par un terminal distant (S201); à déterminer l'état d'exécution actuel de l'instruction de commande (S202); à déterminer au moins un élément parmi l'environnement actuel d'un robot, l'état de manœuvrabilité actuel du robot et l'état de performance de commande actuel du robot en fonction de l'instruction de commande et de l'état d'exécution actuel de l'instruction de commande (S203); à régler l'instruction de commande en fonction de l'élément ou des éléments parmi l'environnement actuel d'un robot, l'état de manœuvrabilité actuel du robot et l'état de performance de commande actuel du robot, de sorte qu'un terminal d'exécution règle le déplacement du robot en fonction de l'instruction de commande réglée (S204). Les modes de réalisation selon la présente invention concernent également un système de commande de robot mobile et le robot mobile.
PCT/CN2018/103979 2018-09-04 2018-09-04 Procédé et système de commande de robot mobile, et robot mobile WO2020047746A1 (fr)

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CN201880017015.5A CN110419014A (zh) 2018-09-04 2018-09-04 移动机器人的控制方法、系统及移动机器人
PCT/CN2018/103979 WO2020047746A1 (fr) 2018-09-04 2018-09-04 Procédé et système de commande de robot mobile, et robot mobile

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CN106292699A (zh) * 2016-08-03 2017-01-04 广州极飞电子科技有限公司 无人机仿地飞行的方法、装置和无人机

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