WO2021217988A1 - Procédé et appareil de commande de déplacement, support de stockage, et dispositif informatique - Google Patents

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

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Publication number
WO2021217988A1
WO2021217988A1 PCT/CN2020/112377 CN2020112377W WO2021217988A1 WO 2021217988 A1 WO2021217988 A1 WO 2021217988A1 CN 2020112377 W CN2020112377 W CN 2020112377W WO 2021217988 A1 WO2021217988 A1 WO 2021217988A1
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WIPO (PCT)
Prior art keywords
actual
velocity data
ideal
data
angular velocity
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PCT/CN2020/112377
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English (en)
Chinese (zh)
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郜开开
周宸
周宝
陈远旭
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平安科技（深圳）有限公司
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Publication of WO2021217988A1 publication Critical patent/WO2021217988A1/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
    • 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
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to 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
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal

Definitions

  • This application relates to the field of artificial intelligence technology, in particular to a mobile control method, device, storage medium and computer equipment.
  • the mobile robot is a comprehensive system integrating environment perception, navigation and path planning, and movement control.
  • Mobile robots can not only accept human remote control commands, but also can make behavioral decisions autonomously according to the environment to complete designated tasks. Its main role is to assist or replace some of the dangerous, fatigue and repetitive work of human beings. It is currently widely used in long-time, high-strength, harsh environmental conditions and high-risk work areas.
  • the inventor realizes that most mobile robots driven by dual differential wheels use the left and right wheels to completely decouple the wheel speed, that is, directly decompose the linear and angular speed of the robot into the speed of the left and right wheels.
  • This approach is very simple and easy to implement, but the disadvantage is that the difference in the resistance of the left and right wheels and the difference in the dynamic response characteristics result in the difference between the actual combined speed of the left and right wheels and the expected combined speed. This difference will cause movement errors and increase The amplitude of the left and right swing during the movement.
  • this application provides a movement control method, device, storage medium, and computer equipment.
  • the main purpose is to use the actual speed data of the two-wheel movement to obtain the actual linear velocity data and the actual angular velocity data.
  • the actual angular velocity data, the ideal linear velocity data, the ideal angular velocity data, and then the two-wheel speed is corrected, so as to reduce the speed error caused by the movement, and reduce the left and right swing during the movement.
  • a method for movement control including:
  • the actual linear velocity data and the actual angular velocity data obtained by processing the acquired actual speeds of the two wheels are respectively compared with the ideal linear velocity data and the ideal angular velocity data obtained by analyzing the movement control path to obtain a comparison result;
  • a mobile control device including:
  • a generating unit configured to receive a movement control request, and generate a movement control path according to the destination coordinates carried in the request;
  • the correction unit is used to control the two wheels to move along the movement control path, and to correct the movement speed data of the two wheels in real time.
  • a storage medium stores at least one executable instruction, and the execution instruction causes a processor to perform the following steps: receiving a movement control request, and according to the request carried in the request
  • the destination coordinates generate the movement control path;
  • the actual linear velocity data and the actual angular velocity data obtained by processing the acquired two-wheel actual velocity data are respectively compared with the ideal linear velocity data and the ideal angular velocity data obtained by analyzing the movement control path,
  • a computer device which includes a processor, a memory, a communication interface, and a communication bus.
  • the processor, the memory, and the communication interface communicate with each other through the communication bus, and
  • the memory is used to store at least one executable instruction, and the executable instruction causes the processor to perform the following steps: receiving a movement control request, generating a movement control path according to the destination coordinates carried in the request;
  • the actual linear velocity data and the actual angular velocity data obtained by processing the actual wheel speed data are respectively compared with the ideal linear velocity data and ideal angular velocity data obtained by analyzing the movement control path to obtain a comparison result; according to the comparison result, the two-wheel movement
  • the speed data is modified to control the two wheels to move to the destination along the movement control path.
  • This application can use the actual speed of the two-wheel movement to obtain the actual linear velocity and the actual angular velocity.
  • the two-wheel velocity data can be corrected to reduce Speed error caused by small movement, and reduce the left and right swing produced during the movement.
  • Fig. 1 shows a flow chart of a dual mobility control method provided by an embodiment of the present application
  • FIG. 2 shows a schematic diagram of speed adjustment provided by an embodiment of the present application
  • FIG. 3 shows another schematic diagram of speed adjustment provided by an embodiment of the present application
  • FIG. 4 shows a schematic structural diagram of a mobile control device provided by an embodiment of the present application
  • Fig. 5 shows a schematic diagram of the physical structure of a computer device provided by an embodiment of the present application.
  • the technical solution of the present application can be applied to the field of artificial intelligence and/or smart city technology, which helps to improve the mobile effect of robots and realize smart life.
  • an embodiment of the present application provides a mobility control method. As shown in FIG. 1, the method includes:
  • the movement control request is parsed to obtain the destination coordinates carried in the movement control request.
  • the destination coordinates can be obtained through the Global Positioning System (GPS)
  • the obstacle coordinates can be configured in the pre-selected area, so that the obstacle can be automatically avoided when the path is generated to ensure that the movement control path is unobstructed.
  • the shortest time-consuming path can be automatically generated; in special cases, the corresponding movement path can also be configured according to the path node set by the user, for example, point A is the starting point, and B The point is the end point of the destination, and the generated movement path can be a straight path from A to B.
  • the shortest path through the point C can also be automatically generated.
  • the actual moving speed of the left and right wheels of the two-wheeled differential robot can be obtained, and the actual linear velocity algorithm and the actual angular velocity algorithm can be used to process the actual moving velocity to obtain the actual linear velocity and the actual angular velocity;
  • the movement control path can obtain the ideal angular velocity and the ideal linear velocity of the two-wheeled differential robot at each coordinate point, and compare the actual linear velocity and the actual angular velocity with the ideal linear velocity and the ideal angular velocity respectively, so as to achieve Real-time monitoring of speed to facilitate subsequent correction of speed errors.
  • the corresponding movement control path after the corresponding movement control path is generated, it can be controlled to move along the movement control path.
  • the real-time moving speed of the robot can be compared with the ideal speed, and the speed of the robot can be corrected and adjusted through the built-in correction mechanism, so that the robot can control the movement according to the configured speed.
  • the two wheels can be controlled to move along the movement control path, and the moving speed of the two wheels can be collected and corrected in real time.
  • the step 102 may specifically include: analyzing the movement control path to obtain ideal linear velocity data, ideal angular velocity data, and turning point coordinates corresponding to the straight line between the turning point and the turning point of the path .
  • the turning point may be a point on the path that needs to be controlled to move in a turning direction.
  • the coordinates corresponding to the position of the turning point in the path and the turning angle corresponding to the turning point can be obtained.
  • the corresponding ideal angular velocity data can be obtained according to the angle of rotation, so as to accurately move to the position of the rotation point and steer according to the predetermined angle.
  • the linear path information between every two turning points can also be obtained, including the length of the linear path, and the corresponding ideal linear velocity data and ideal angular velocity data, so that the robot can move along a straight line for a predetermined length Reach the next turning point.
  • the step 102 may specifically include: using a preset ideal velocity algorithm to process the ideal linear velocity data and the ideal angular velocity data to obtain the ideal straight line between the turning points and the turning points of the two wheels. Speed data.
  • the ideal linear velocity data can be obtained according to the generated movement control path.
  • the ideal linear velocity on the entire movement control path can be the same.
  • the ideal linear velocity on the entire movement control path can be 1m/ s;
  • the ideal angular velocity data can be obtained through turning point information, for example, if the turning angle at turning point a is 90°, the ideal angular velocity corresponding to the 90° turning angle can be found locally at 18 rad/s.
  • the corresponding relationship between the angle of rotation and the ideal angular velocity is pre-stored locally; and the ideal angular velocity may be zero when the linear segment moves.
  • the ideal velocity algorithm is used to process the ideal linear velocity and the ideal angular velocity as the ideal velocity of a cruise ship, so as to facilitate subsequent corrections based on the ideal velocity.
  • the step 102 may specifically further include: using a preset actual linear velocity algorithm and actual angular velocity algorithm to process the acquired two-wheel actual velocity data to obtain actual linear velocity data and actual angular velocity data.
  • the actual speed data of the two wheels may specifically include the first actual speed data v 1 and the second actual speed data v 2 , which may respectively represent the actual speed values of the left wheel and the right wheel, which can be specified by Obtained by an encoder, which can be used to convert angular displacement or linear displacement into electrical signals.
  • the actual linear velocity of the current movement can be obtained using the actual linear velocity algorithm and the actual velocity of the two wheels; the actual angular velocity of the current movement can be obtained using the actual angular velocity algorithm and the actual velocity of the two wheels.
  • the actual linear velocity and the actual angular velocity can be used as a scale for measuring the moving speed in the embodiment of the present application, and the actual linear velocity and the actual angular velocity are compared to determine whether speed correction is required.
  • the step 102 may specifically further include: comparing the actual linear velocity data and the actual angular velocity data with the ideal linear velocity data and the ideal angular velocity data, respectively.
  • the real-time linear velocity v and the real-time angular velocity w are respectively compared with the ideal linear velocity v* and the ideal angular velocity w*, and the comparison result is output. If the real-time linear velocity v is not equal to the ideal linear velocity v*, and/or the real-time angular velocity w is not equal to the ideal angular velocity w*, the two drives can be driven by a preset speed regulator. The speed of the wheels is adjusted and corrected separately.
  • the step 102 may specifically further include: if the actual linear velocity data is not equal to the ideal linear velocity data, and/or the actual angular velocity data is not equal to the ideal angular velocity data, then The actual speed data of the two wheels is corrected according to a preset correction algorithm, so that the actual linear speed data and the actual angular speed data are respectively equal to the ideal linear speed data and the ideal angular speed data.
  • ideal linear velocity, ideal angular velocity, actual linear velocity, and actual angular velocity the data of the two wheels can be corrected, so that the two wheels can travel according to the set speed and trajectory.
  • the two-wheel actual The speed data is corrected so that the actual linear velocity data and the actual angular velocity data are respectively equal to the ideal linear velocity data and the ideal angular velocity data; correspondingly, if the actual linear velocity data is equal to the ideal linear velocity If the data is equal, and the actual angular velocity data is equal to the ideal angular velocity data, then the two-wheel actual velocity data is not corrected.
  • the ideal linear velocity data and the ideal angular velocity data are processed by using a preset ideal velocity algorithm to obtain the ideal velocity data of the two wheels in a straight line at each turning point and between turning points Specifically, it may include: processing the acquired ideal linear velocity data, ideal angular velocity data, and two-wheel axle length data according to a preset ideal velocity algorithm to obtain the first ideal velocity data and the second ideal velocity data.
  • the preset ideal speed algorithm may include:
  • v 1 * can be the first ideal velocity
  • v 2 * can be the second ideal velocity
  • v * can be the ideal linear velocity
  • w * can be the ideal angular velocity
  • l can be the length of the two-wheel axle.
  • the first ideal velocity v 1 * 0.5m/s can be obtained
  • the second ideal speed v 2 * 1.5m/s
  • the first ideal speed and the second ideal speed can be used to control the speed of the robot.
  • the use of the preset actual linear velocity algorithm and actual angular velocity algorithm to process the acquired two-wheel actual velocity data to obtain actual linear velocity data and actual angular velocity data may specifically include: Use the preset actual linear velocity algorithm to process the acquired first actual velocity data and the second actual velocity data to obtain actual linear velocity data.
  • the preset actual linear velocity algorithm may include:
  • v 1 can be the first actual speed
  • v 2 can be the second actual speed
  • v can be the actual linear speed
  • the preset actual angular velocity algorithm may include:
  • v 1 can be the first actual speed
  • v 2 can be the second actual speed
  • w can be the actual angular velocity
  • l can be the length of the two-wheel axle.
  • the set correction algorithm corrects the actual speed data of the two wheels so that the actual linear velocity data and the actual angular velocity data are respectively equal to the ideal linear velocity data and the ideal angular velocity data, which may specifically include: Set the correction algorithm to process the first ideal speed, the second ideal speed, the ideal linear velocity, the ideal angular velocity, the actual linear velocity, and the actual angular velocity to obtain the first correction velocity and the second correction velocity.
  • the preset correction algorithm includes:
  • the Is the first modified speed the Is the second modified velocity
  • v 1 * is the first ideal velocity
  • v 2 * is the second ideal velocity
  • v * is the ideal linear velocity
  • w * is the ideal angular velocity
  • v is the actual linear velocity
  • w is the actual angular velocity.
  • the first actual velocity v 1 is 1m/s
  • the second actual velocity v 2 is 2m/s
  • the ideal linear velocity v * is 1m/s
  • the ideal angular velocity is 0
  • the actual linear velocity is 1.5m/s
  • the actual angular velocity 2rad/s you can get the first correction speed 1.75m/s
  • the second correction speed It is 0.75m/s, and then the two-wheel speed is corrected and controlled.
  • the use of the preset actual linear velocity algorithm and actual angular velocity algorithm to process the acquired two-wheel actual velocity data to obtain actual linear velocity data and actual angular velocity data may specifically include: Analyze the pulse signal recorded by the encoder arranged on the two wheels, convert the pulse signal into the displacement data of the two-wheel movement; determine the quotient of the time difference between the displacement data and the pulse signal as the actual speed of the two-wheel movement.
  • the corresponding actual speed data can be obtained through an encoder arranged on the two wheels.
  • the encoder can be used to record pulse signals to convert the displacement of the two wheels into electrical signals, and then pass the corresponding Decoding, converting the electrical signal into displacement data, using the displacement data and the time difference between adjacent pulse signals as the movement time, and correspondingly obtain the actual speed of the two-wheel movement.
  • the correcting the actual speed data of the two wheels may specifically further include: using a first motor and a second motor respectively arranged on the two wheels, according to the first motor and the second motor.
  • the corrected speed data and the second corrected speed data correct the speed of the two wheels.
  • the real-time speed correction of the two wheels can be completed through two closed-loop control loops.
  • the upper closed-loop loop may be a linear velocity closed-loop control loop
  • the lower closed-loop loop may be Angular velocity closed-loop control loop
  • ideal linear velocity and ideal angular velocity data can come from the navigation and movement control module, the actual linear velocity and angular velocity feedback value can be calculated according to the encoder pulse feedback of the left and right wheels
  • the upper linear velocity closed-loop control loop can adjust the speed of the left and right wheels so that the linear velocity error approaches zero
  • the lower angular velocity closed-loop control loop can adjust the left and right wheel speeds so that the angular velocity error approaches zero.
  • the control frame calculates the speed of the left and right wheels in real time according to the speed limit error and the angular speed error, and controls the speed of the left and right wheels accordingly.
  • the control method works in real time during the movement of the robot, controls the linear velocity and angular velocity of the robot in real time, and can adapt to various combinations of linear velocity and angular velocity without special processing for special circumstances.
  • the embodiment of the present application comprehensively considers the decomposition relationship and coupling relationship of the left and right wheels, and treats the synthesized speed as a closed loop quantity to ensure that the error between the synthesized speed of the left and right wheels and the expected speed is minimized to the greatest extent.
  • the model is used to correct the speed difference or angle offset caused by these factors.
  • the closed-loop adjustment mechanism is cleverly used to continuously adjust the linear velocity and angular velocity error during the movement to ensure the minimum error between the actual velocity and the desired velocity.
  • omni-directional movement can be realized without large offset, the accuracy of the displacement trajectory is ensured, and the final positioning accuracy and the smoothness of the movement curve can be improved.
  • the step 102 may specifically further include: parsing the movement control path to obtain the angle data corresponding to the transit point of the path; and retrieving the angle data in a local pre-established database The corresponding ideal angular velocity data.
  • the method further includes establishing a database locally, which stores the angle data, the ideal angular velocity data, and the corresponding relationship between the angle and the ideal angular velocity, so as to The angle data can quickly find the corresponding ideal angular velocity data, thereby improving the speed of data feedback.
  • an embodiment of the present application provides a movement control device.
  • the device includes: a generation unit 21, a comparison unit 22, and a correction unit 23,
  • the generating unit 21 may be configured to receive a movement control request, and generate a movement control path according to the destination coordinates carried in the request;
  • the comparison unit 22 may be used to compare the actual linear velocity data and the actual angular velocity data obtained by processing the acquired two-wheel actual velocity data with the ideal linear velocity data and the ideal angular velocity data obtained by analyzing the movement control path. ;
  • the correction unit 23 may be used to control the two wheels to move along the movement control path, and to correct the movement speed data of the two wheels in real time.
  • the comparison unit 22 includes:
  • the analysis module 221 can be used to analyze the movement control path to obtain ideal linear velocity data, ideal angular velocity data, and turning point coordinates corresponding to the straight line between the turning point and the turning point of the path;
  • the first processing module 222 may be used to process the ideal linear velocity data and the ideal angular velocity data by using a preset ideal velocity algorithm to obtain the ideal velocity data of the two wheels in a straight line at each turning point and between turning points;
  • the second processing module 223 may be used to process the acquired two-wheel actual speed data by using the preset actual linear velocity algorithm and actual angular velocity algorithm to obtain actual linear velocity data and actual angular velocity data;
  • the comparison module 224 may be used to compare the actual linear velocity data and the actual angular velocity data with the ideal linear velocity data and the ideal angular velocity data, respectively, to obtain a comparison result;
  • the correction module 225 may be used to correct the actual speed data of the two wheels according to the comparison result and the preset correction algorithm, so that the actual linear speed data and the actual angular speed data are respectively compared with the ideal linear speed data and the total speed data.
  • the ideal angular velocity data are equal;
  • the first processing module 222 may be specifically configured to process the acquired ideal linear velocity data, ideal angular velocity data, and two-wheel axle length data according to a preset ideal velocity algorithm to obtain the first ideal velocity data.
  • the ideal speed algorithm includes:
  • the first processing module 222 may also be specifically used to process the acquired ideal linear velocity data, ideal angular velocity data, and two-wheel axle length data according to a preset ideal velocity algorithm to obtain second ideal velocity data.
  • Set the ideal speed algorithm also includes:
  • v 1 * is the first ideal velocity
  • v 2 * is the second ideal velocity
  • v * is the ideal linear velocity
  • w * is the ideal angular velocity
  • l is the length of the double-wheel axle.
  • the second processing module 223 may be specifically configured to use a preset actual linear velocity algorithm to process the acquired first actual velocity data and second actual velocity data to obtain actual linear velocity data.
  • the preset actual linear velocity Algorithms including:
  • v 1 is the first actual speed
  • v 2 is the second actual speed
  • v is the actual linear speed
  • the second processing module 223 may also be specifically used to process the acquired first actual speed data, second actual speed data, and two-wheel axle length data using a preset actual angular velocity algorithm to obtain actual angular velocity data.
  • Set the actual angular velocity algorithm including:
  • v 1 is the first actual speed
  • v 2 is the second actual speed
  • w is the actual angular speed
  • l is the length of the two-wheel axle.
  • the correction module 225 can be specifically used to perform calculations on the first ideal velocity data, the second ideal velocity data, the ideal linear velocity data, the ideal angular velocity data, the actual linear velocity data, and the actual angular velocity data according to a preset correction algorithm. After processing, the first corrected speed data and the second corrected speed data are obtained, and the preset correction algorithm includes:
  • the second processing module 223 may also be specifically used to analyze the pulse signal recorded by the encoder arranged on the two wheels, and convert the pulse signal into the displacement data of the movement of the two wheels;
  • the second processing module 223 may also be specifically configured to determine the quotient of the time difference between the displacement data and the pulse signal as the actual speed data of the two-wheel movement.
  • the correction module 225 may also be specifically used to correct the speed of the first moving wheel according to the first correction speed data through the first motor arranged on the two wheels.
  • the correction module 225 may also be used to correct the speed of the second moving wheel according to the second correction speed data through a second motor arranged on the two wheels.
  • the analysis module 221 may be specifically configured to analyze the movement control path to obtain the angle data corresponding to the transit point of the path;
  • the parsing module 221 may also be specifically used to retrieve ideal angular velocity data corresponding to the angle data in a locally pre-established database.
  • an embodiment of the present application also provides a storage medium in which at least one executable instruction is stored, and the execution instruction causes the processor to perform the following steps:
  • the control request is to generate a movement control path according to the destination coordinates carried in the request;
  • the actual linear velocity data and the actual angular velocity data obtained by processing the acquired two-wheel actual velocity data are respectively compared with the ideals obtained by analyzing the movement control path.
  • the linear velocity data and the ideal angular velocity data are compared to obtain a comparison result;
  • the two-wheel movement speed data is corrected according to the comparison result to control the two wheels to move to the destination along the movement control path.
  • the storage medium involved in the present application may be a computer-readable storage medium, and the storage medium, such as a computer-readable storage medium, may be non-volatile or volatile.
  • an embodiment of the present application also provides a computer device.
  • the processor 31, the communication interface 32, and the memory 33 communicate with each other through the communication bus 34.
  • the communication interface 34 is used to communicate with other devices, such as network elements such as user terminals or other servers.
  • the processor 31 is configured to execute a program, and specifically can execute relevant steps in the above-mentioned movement control method embodiment.
  • the program may include program code, and the program code includes computer operation instructions.
  • the processor 31 may be a central processing unit CPU, or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.
  • ASIC Application Specific Integrated Circuit
  • the one or more processors included in the terminal may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.
  • the memory 33 is used to store programs.
  • the memory 33 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), for example, at least one disk memory.
  • the program can specifically be used to make the processor 31 perform the following operations: receive a movement control request, and generate a movement control path according to the destination coordinates carried in the request; use the actual linear velocity data obtained by processing the acquired two-wheel actual velocity data , The actual angular velocity data are respectively compared with the ideal linear velocity data and the ideal angular velocity data obtained by analyzing the movement control path to obtain a comparison result; according to the comparison result, the two-wheel movement speed data is corrected to control the two-wheel movement along the The movement control path moves to the destination.
  • the present application it is possible to receive a movement control request, and generate a movement control path according to the destination coordinates carried in the request; use the actual linear velocity data and the actual angular velocity data obtained by processing the acquired two-wheel actual velocity data respectively Compare with the ideal linear velocity data and ideal angular velocity data obtained by analyzing the movement control path to obtain a comparison result; according to the comparison result, correct the two-wheel movement speed data to control the two wheels to move toward the destination along the movement control path.
  • the actual speed data of the two-wheel movement can be used to obtain the actual linear velocity and the actual angular velocity.
  • the two-wheel velocity can be corrected to reduce The speed error caused by the movement, and reduce the left and right swing produced during the movement.
  • modules or units or components in the embodiments can be combined into one module or unit or component, and in addition, they can be divided into multiple sub-modules or sub-units or sub-components. Except that at least some of such features and/or processes or units are mutually exclusive, any combination can be used to compare all the features disclosed in this specification (including the accompanying claims, abstract and drawings) and any method or methods disclosed in this manner or All the processes or units of the equipment are combined. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract and drawings) may be replaced by an alternative feature providing the same, equivalent or similar purpose.
  • the various component embodiments of the present application may be implemented by hardware, or by software modules running on one or more processors, or by a combination of them.
  • a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in the embodiments of the present application.
  • This application can also be implemented as a device or device program (for example, a computer program and a computer program product) for executing part or all of the methods described herein.
  • Such a program for implementing the present application may be stored on a computer-readable medium, or may have the form of one or more signals.
  • Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

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

Abstract

Procédé et appareil de commande de déplacement, support de stockage et dispositif informatique, se rapportant au domaine technique de l'intelligence artificielle. L'invention vise à utiliser des données de vitesse réelle de deux roues en mouvement afin d'obtenir des données de vitesse linéaire réelle et des données de vitesse angulaire réelle, de manière à corriger les données de vitesse des deux roues, ce qui permet de réduire les erreurs de vitesse, et de réduire les oscillations vers la gauche et vers la droite pendant le processus de déplacement. Le procédé de commande consiste : à recevoir une demande de commande de déplacement, et à produire un trajet de commande de déplacement en fonction des coordonnées d'une destination acheminée dans la demande (101) ; à traiter les données de vitesse réelle acquises des deux roues afin d'obtenir des données de vitesse linéaire réelle et des données de vitesse angulaire réelle, à comparer les données de vitesse linéaire réelle et les données de vitesse angulaire réelle, respectivement, avec des données de vitesse linéaire idéales et des données de vitesse angulaire idéales obtenues au moyen de l'analyse du trajet de commande de déplacement, et à acquérir un résultat de la comparaison (102) ; et à corriger les données de vitesse de déplacement des deux roues en fonction du résultat de la comparaison, et à commander le déplacement des deux roues vers la destination le long du trajet de commande de déplacement (103). L'invention peut être mise en œuvre dans une commande de déplacement
PCT/CN2020/112377 2020-04-28 2020-08-31 Procédé et appareil de commande de déplacement, support de stockage, et dispositif informatique WO2021217988A1 (fr)

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