CN110244724A - A kind of direction of travel control method and device and equipment based on caterpillar type robot - Google Patents
A kind of direction of travel control method and device and equipment based on caterpillar type robot Download PDFInfo
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- CN110244724A CN110244724A CN201910505089.XA CN201910505089A CN110244724A CN 110244724 A CN110244724 A CN 110244724A CN 201910505089 A CN201910505089 A CN 201910505089A CN 110244724 A CN110244724 A CN 110244724A
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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
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The direction of travel control method and device and equipment that the invention discloses a kind of based on caterpillar type robot.Wherein, the described method includes: according to the angle of the gyroscope of the caterpillar type robot of reading, calculate the direction of travel angular deviation of the caterpillar type robot, with the direction of travel angular deviation for detecting the calculated caterpillar type robot, detect whether the direction of travel angular deviation is less than preset threshold, with when detecting that the direction of travel angular deviation is no less than the preset threshold, it tables look-up to obtain the speed of travel after the caterpillar type robot corrects by the angular deviation, and manipulates the caterpillar type robot and walk by the speed of travel after the correction of the acquirement.Avoided by the closed-loop control that can be realized to the direction of travel of caterpillar type robot of tabling look-up by the above-mentioned means, can be realized using complicated floating-point operation mode, can on common single-chip microcontroller real-time control caterpillar type robot direction of travel.
Description
Technical Field
The invention relates to the technical field of tracked robots, in particular to a method, a device and equipment for controlling the walking direction based on a tracked robot.
Background
When the crawler-type robot walks for a long distance, if the walking direction has deviation, great deviation can be brought, and the wiping effect is influenced.
In the existing walking direction control scheme based on the tracked robot, a PID (Proportion integration, Integral, Differential, proportional-Integral-derivative) control mode is generally adopted, the walking angle deviation of the tracked robot measured by a gyroscope is used as a feedback quantity to perform closed-loop PID control, and according to the calculation result of the PID, the rotating speed of a track is adjusted to change the walking direction of the tracked robot until the angle error is within an allowable range.
However, the inventors found that at least the following problems exist in the prior art:
the existing walking direction control scheme based on the crawler-type robot generally adopts a PID control mode, the PID control universality is strong, but complex floating point operation is needed, and the walking direction of the crawler-type robot cannot be controlled on a common single chip microcomputer in real time.
Disclosure of Invention
In view of the above, the present invention aims to provide a method, an apparatus, and a device for controlling a traveling direction of a tracked robot, which can realize closed-loop control of the traveling direction of the tracked robot by looking up a table, avoid using a complicated floating point operation manner, and control the traveling direction of the tracked robot in real time on a common single chip.
According to one aspect of the invention, a walking direction control method based on a crawler-type robot is provided, and comprises the following steps:
controlling the crawler-type robot to walk according to the initial speed;
controlling the crawler-type robot to walk according to the initial speed, and setting the walking time of the crawler-type robot according to the specified time delay;
reading the angle of a gyroscope of the tracked robot within the set delay designated time;
calculating the angle deviation of the walking direction of the tracked robot according to the read angle of the gyroscope of the tracked robot;
detecting the calculated walking direction angle deviation of the tracked robot, and detecting whether the walking direction angle deviation is smaller than a preset threshold value;
according to the detection result of whether the angle deviation of the walking direction is smaller than a preset threshold value or not, when the detection result is that the angle deviation of the walking direction is not smaller than the preset threshold value, looking up a table according to the angle deviation to obtain the walking speed of the tracked robot after correction;
and controlling the crawler-type robot to walk according to the obtained corrected walking speed.
Wherein, according to the detection result of whether the walking direction angle deviation is smaller than a preset threshold value or not, when the detection result is that the walking direction angle deviation is not smaller than the preset threshold value, the walking speed corrected by the crawler-type robot is obtained according to the angle deviation table look-up, and the method comprises the following steps:
and controlling the crawler-type robot to walk at an initial speed according to the detection result of whether the walking direction angle deviation is smaller than a preset threshold value or not according to the detection result of whether the walking direction angle deviation is smaller than the preset threshold value or not.
Wherein the controlling the tracked robot to walk at the obtained corrected walking speed comprises:
and controlling the tracked robot to walk according to the obtained corrected walking speed in a mode of controlling and reducing the rotating speed of the right track of the tracked robot and controlling the left track of the tracked robot to recover the initial speed when the walking direction angle deviation is towards the left.
Wherein the controlling the tracked robot to walk at the obtained corrected walking speed comprises:
and controlling the tracked robot to walk according to the obtained corrected walking speed in a mode of controlling and reducing the rotating speed of the left track of the tracked robot and controlling the right track of the tracked robot to recover the initial speed when the walking direction angle deviation is towards the right.
Wherein, after the controlling the tracked robot to walk at the obtained corrected walking speed, the method further comprises:
and according to the walking path of the tracked robot, the tracked robot returns along the original path of the walking path.
According to another aspect of the present invention, there is provided a walking direction control apparatus based on a crawler robot, comprising:
the device comprises a control module, a setting module, a reading module, a calculating module, a detecting module, an obtaining module and an operating module;
the control module is used for controlling the crawler-type robot to walk according to the initial speed;
the setting module is used for controlling the crawler-type robot to walk according to the initial speed and setting the walking time of the crawler-type robot according to the specified time delay;
the reading module is used for reading the angle of the gyroscope of the tracked robot within the set delay designated time;
the calculation module is used for calculating the walking direction angle deviation of the tracked robot according to the read angle of the gyroscope of the tracked robot;
the detection module is used for detecting the calculated walking direction angle deviation of the tracked robot and detecting whether the walking direction angle deviation is smaller than a preset threshold value;
the obtaining module is used for obtaining the corrected walking speed of the tracked robot according to a table look-up of the angle deviation when the detection result is that whether the walking direction angle deviation is smaller than a preset threshold or not is detected;
and the control module is used for controlling the crawler robot to walk according to the obtained corrected walking speed.
Wherein, the control module is specifically configured to:
and controlling the crawler-type robot to walk at an initial speed according to the detection result of whether the walking direction angle deviation is smaller than a preset threshold value or not according to the detection result of whether the walking direction angle deviation is smaller than the preset threshold value or not.
Wherein, the control module is specifically configured to:
and controlling the tracked robot to walk according to the obtained corrected walking speed in a mode of controlling and reducing the rotating speed of the right track of the tracked robot and controlling the left track of the tracked robot to recover the initial speed when the walking direction angle deviation is towards the left.
Wherein, the control module is specifically configured to:
and controlling the tracked robot to walk according to the obtained corrected walking speed in a mode of controlling and reducing the rotating speed of the left track of the tracked robot and controlling the right track of the tracked robot to recover the initial speed when the walking direction angle deviation is towards the right.
Wherein, walking direction controlling means based on crawler-type robot still includes:
a return module;
and the return module is used for returning the tracked robot according to the original path of the walking path according to the walking path of the tracked robot.
According to still another aspect of the present invention, there is provided a walking direction control apparatus based on a crawler robot, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform any of the tracked robot-based walking direction control methods described above.
According to still another aspect of the present invention, there is provided a computer-readable storage medium storing a computer program which, when executed by a processor, implements the method for controlling a walking direction of a crawler-based robot according to any one of the above.
It can be found that, in the above aspect, the traveling of the crawler robot can be controlled at an initial speed, and the traveling of the crawler robot can be controlled according to the initial speed, the traveling time of the crawler robot is set according to a delay time designation time, and the angle of the gyroscope of the crawler robot can be read within the set delay time designation time, and the traveling direction angle deviation of the crawler robot can be calculated based on the read angle of the gyroscope of the crawler robot, and the calculated traveling direction angle deviation of the crawler robot can be detected, whether the traveling direction angle deviation is smaller than a preset threshold value can be detected, and when the detection result is that the traveling direction angle deviation is not smaller than the preset threshold value can be detected, the walking speed of the tracked robot after correction is obtained according to the angle deviation table lookup, the tracked robot can be controlled to walk according to the obtained walking speed after correction, closed-loop control over the walking direction of the tracked robot can be achieved through the table lookup, the complex floating point operation mode is avoided, and the walking direction of the tracked robot can be controlled on a common single chip microcomputer in real time.
Further, according to the above scheme, the walking of the tracked robot can be controlled according to the initial speed when the detection result is that whether the walking direction angle deviation is smaller than the preset threshold value or not is detected, and the advantage that the tracked robot can be controlled to return to the initial speed walking when the walking direction angle deviation of the tracked robot is within the allowable range can be achieved, and the walking direction of the tracked robot can be ensured to be within the allowable range.
Furthermore, according to the above aspect, when the angle deviation in the traveling direction is a leftward deviation, the method of controlling to reduce the rotation speed of the right track of the tracked robot and controlling the left track of the tracked robot to recover the initial speed may be used to control the tracked robot to travel at the obtained corrected traveling speed.
Furthermore, according to the above aspect, when the angle deviation in the traveling direction is a rightward deviation, the method of controlling to reduce the rotation speed of the left track of the tracked robot and controlling the right track of the tracked robot to recover the initial speed may be adopted, and the tracked robot is controlled to travel at the obtained corrected traveling speed.
Further, according to the above aspect, the tracked robot can be returned in the original path of the travel path of the tracked robot, which is advantageous in that the tracked robot can be returned in the original path.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of an embodiment of a walking direction control method based on a tracked robot in the invention;
FIG. 2 is a schematic flow chart of another embodiment of a walking direction control method based on a crawler-type robot;
FIG. 3 is a schematic structural diagram of an embodiment of a walking direction control device based on a tracked robot;
FIG. 4 is a schematic structural diagram of another embodiment of the walking direction control device based on the tracked robot;
fig. 5 is a schematic structural diagram of an embodiment of the walking direction control device based on the tracked robot.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be noted that the following examples are only illustrative of the present invention, and do not limit the scope of the present invention. Similarly, the following examples are only some but not all examples of the present invention, and all other examples obtained by those skilled in the art without any inventive work are within the scope of the present invention.
The invention provides a walking direction control method based on a tracked robot, which can realize closed-loop control of the walking direction of the tracked robot through table lookup, avoid the adoption of a complex floating point operation mode and control the walking direction of the tracked robot on a common single chip microcomputer in real time.
Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a method for controlling a walking direction of a tracked robot according to the present invention. It should be noted that the method of the present invention is not limited to the flow sequence shown in fig. 1 if the results are substantially the same. As shown in fig. 1, the method comprises the steps of:
s101: and controlling the crawler-type robot to walk according to the initial speed.
In the present embodiment, if the crawler robot is performing the variable speed motion, the speed at the beginning is referred to as the initial speed, and the present invention is not limited thereto.
S102: and controlling the crawler-type robot to walk according to the initial speed, wherein the walking time of the crawler-type robot is set according to the specified time delay.
In this embodiment, the tracked robot may include a robot carrying a tracked chassis mechanism, and the tracked mobile robot has the advantages of large traction force, difficulty in slipping, good off-road performance, and the like, and the invention is not limited thereto.
S103: and reading the angle of the gyroscope of the tracked robot within the set delay designated time.
In this embodiment, the gyroscope may be an angular motion detection device using a moment-of-momentum sensitive housing of a high-speed solid of revolution about one or two axes orthogonal to the axis of rotation with respect to the inertial space. Angular motion detection devices made using other principles may also be referred to as gyroscopes, which serve the same function, and the present invention is not limited thereto.
S104: and calculating the walking direction angle deviation of the tracked robot according to the read angle of the gyroscope of the tracked robot.
In this embodiment, the gyroscope may include a sensor that measures an angular velocity of the tracked robot, and when the gyroscope moves along with the tracked robot, the gyroscope may measure an angular velocity of the tracked robot rotating around each axis, and perform an integral operation on the angular velocity to obtain a rotation angle of the tracked robot, and may calculate an angle deviation in a traveling direction of the tracked robot according to the rotation angle, which is not limited in the present invention.
S105: and detecting the calculated walking direction angle deviation of the tracked robot, and detecting whether the walking direction angle deviation is smaller than a preset threshold value.
S106: and according to the detection result of whether the angle deviation of the walking direction is smaller than a preset threshold value or not, looking up a table according to the angle deviation to obtain the corrected walking speed of the tracked robot when the detection result is that the angle deviation of the walking direction is not smaller than the preset threshold value.
Wherein, should be based on this detection of whether this walking direction angular deviation is less than the testing result of presetting the threshold value, when this testing result detects out this walking direction angular deviation and is not less than this presetting the threshold value, look up the table according to this angular deviation and obtain the walking speed after this tracked robot corrects, can include:
according to the detection result of detecting whether the walking direction angle deviation is smaller than the preset threshold value or not, when the detection result is that the walking direction angle deviation is smaller than the preset threshold value, the walking of the tracked robot is controlled according to the initial speed, and the advantages that when the walking direction angle deviation of the tracked robot is within the allowable range, the tracked robot can be controlled to return to the initial speed walking, and the walking direction of the tracked robot can be guaranteed to be within the allowable range.
S107: and controlling the crawler-type robot to walk according to the obtained corrected walking speed.
Wherein, should control this crawler-type robot and walk according to this corrected walking speed who obtains, can include:
when the angle deviation in the walking direction is towards the left deviation, the crawler-type robot is controlled to walk according to the obtained corrected walking speed in a mode of controlling and reducing the rotating speed of the right crawler of the crawler-type robot and controlling the left crawler of the crawler-type robot to recover the initial speed, so that the advantage that the crawler-type robot can be controlled to walk according to the obtained corrected walking speed can be realized, and the closed-loop control of the walking direction of the crawler-type robot can be realized through table lookup.
Wherein, should control this crawler-type robot and walk according to this corrected walking speed who obtains, can include:
when the angle deviation in the walking direction is towards the right deviation, the crawler-type robot is controlled to walk according to the obtained corrected walking speed in a mode of controlling the left crawler belt of the crawler-type robot to reduce the rotating speed and controlling the right crawler belt of the crawler-type robot to recover the initial speed, so that the crawler-type robot can be controlled to walk according to the obtained corrected walking speed, and the closed-loop control of the walking direction of the crawler-type robot can be realized by looking up a table.
Wherein, after the tracked robot is controlled to walk at the obtained corrected walking speed, the method further comprises the following steps:
the crawler-type robot is returned to the original path of the traveling path according to the traveling path along which the crawler-type robot travels, and this is advantageous in that the crawler-type robot can be returned to the original path.
In this embodiment, three speed parameters can be adjusted in three stages according to the range of the angular deviation, and all the three speeds can be lower than the initial speed; the table look-up mode can be adjusted in three stages according to the range of the angle deviation, three speed parameters need to be adjusted, and the three speeds are all lower than the initial speed; in order to avoid back-and-forth oscillation, the rotating speed of the crawler-type robot is not adjusted too much; according to the actual situation, other multi-stage speed control can be adopted, simple occasions are even only one-stage control is adopted, namely a table look-up mode is not needed, a fixed speed can be adopted to control the walking direction of the crawler-type robot, and the method is not limited.
It can be found that, in the present embodiment, the traveling of the crawler robot can be controlled at an initial speed, and the traveling of the crawler robot can be controlled according to the initial speed, the traveling time of the crawler robot is set according to a delay time designation time, and the angle of the gyroscope of the crawler robot can be read within the set delay time designation time, and the traveling direction angle deviation of the crawler robot can be calculated based on the read angle of the gyroscope of the crawler robot, and the calculated traveling direction angle deviation of the crawler robot can be detected, whether the traveling direction angle deviation is smaller than a preset threshold value can be detected, and when the detection result is that the traveling direction angle deviation is not smaller than the preset threshold value is detected, the walking speed of the tracked robot after correction is obtained according to the angle deviation table lookup, the tracked robot can be controlled to walk according to the obtained walking speed after correction, closed-loop control over the walking direction of the tracked robot can be achieved through the table lookup, the complex floating point operation mode is avoided, and the walking direction of the tracked robot can be controlled on a common single chip microcomputer in real time.
Further, in this embodiment, the walking of the tracked robot may be controlled at the initial speed according to the detection result of whether the walking direction angle deviation is smaller than the preset threshold value or not, and when the detection result is that the walking direction angle deviation is smaller than the preset threshold value, the advantage of being able to control the tracked robot to return to the initial speed walking when the walking direction angle deviation of the tracked robot is within the allowable range, and being able to ensure that the walking direction of the tracked robot is within the allowable range.
Further, in this embodiment, when the travel direction angle deviation is a leftward deviation, the tracked robot may be controlled to travel at the obtained corrected travel speed in such a manner that the rotation speed of the right track of the tracked robot is controlled to be decreased and the left track of the tracked robot is controlled to return to the initial speed.
Further, in this embodiment, when the angular deviation in the traveling direction is a rightward deviation, the tracked robot may be controlled to travel at the obtained corrected traveling speed in such a manner that the rotation speed of the left track of the tracked robot is reduced and the right track of the tracked robot is controlled to return to the initial speed.
Referring to fig. 2, fig. 2 is a schematic flow chart of another embodiment of a method for controlling a walking direction of a tracked robot according to the present invention. In this embodiment, the method includes the steps of:
s201: and controlling the crawler-type robot to walk according to the initial speed.
As described above in S101, further description is omitted here.
S202: and controlling the crawler-type robot to walk according to the initial speed, wherein the walking time of the crawler-type robot is set according to the specified time delay.
As described above in S102, further description is omitted here.
S203: and reading the angle of the gyroscope of the tracked robot within the set delay designated time.
As described above in S103, which is not described herein.
S204: and calculating the walking direction angle deviation of the tracked robot according to the read angle of the gyroscope of the tracked robot.
As described above in S104, and will not be described herein.
S205: and detecting the calculated walking direction angle deviation of the tracked robot, and detecting whether the walking direction angle deviation is smaller than a preset threshold value.
S206: and according to the detection result of whether the angle deviation of the walking direction is smaller than a preset threshold value or not, looking up a table according to the angle deviation to obtain the corrected walking speed of the tracked robot when the detection result is that the angle deviation of the walking direction is not smaller than the preset threshold value.
As described above in S106, and will not be described herein.
S207: and controlling the crawler-type robot to walk according to the obtained corrected walking speed.
As described above in S107, and will not be described herein.
S208: and returning the tracked robot according to the original path of the walking path according to the walking path of the tracked robot.
It can be seen that in the embodiment, the tracked robot can be returned according to the walking path of the tracked robot, and the advantage that the tracked robot can be returned according to the walking path is achieved.
The invention also provides a walking direction control device based on the tracked robot, which can realize closed-loop control of the walking direction of the tracked robot through table lookup, avoid the adoption of a complex floating point operation mode and control the walking direction of the tracked robot on a common single chip microcomputer in real time.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an embodiment of a walking direction control device based on a tracked robot according to the present invention. In this embodiment, the walking direction control device 30 based on the tracked robot includes a control module 31, a setting module 32, a reading module 33, a calculating module 34, a detecting module 35, an obtaining module 36, and a manipulating module 37.
The control module 31 is used for controlling the walking of the crawler-type robot according to the initial speed.
The setting module 32 is configured to control the tracked robot to travel according to the initial speed, and set the travel time of the tracked robot according to the specified delay time.
The reading module 33 is configured to read an angle of the gyroscope of the tracked robot within the set delay designated time.
The calculating module 34 is configured to calculate a walking direction angle deviation of the tracked robot according to the read angle of the gyroscope of the tracked robot.
The detection module 35 is configured to detect the calculated travel direction angle deviation of the tracked robot, and detect whether the travel direction angle deviation is smaller than a preset threshold.
The obtaining module 36 is configured to obtain, according to a detection result of whether the detected angle deviation of the walking direction is smaller than a preset threshold, the walking speed corrected by the tracked robot according to the table lookup of the angle deviation when the detection result is that the detected angle deviation of the walking direction is not smaller than the preset threshold.
And the control module 37 is configured to control the tracked robot to travel at the obtained corrected traveling speed.
Optionally, the control module 31 may be specifically configured to:
and controlling the crawler-type robot to walk according to the initial speed when the detection result is that the angle deviation of the walking direction is smaller than the preset threshold value according to the detection result of whether the angle deviation of the walking direction is smaller than the preset threshold value or not.
Optionally, the control module 37 may be specifically configured to:
and controlling the tracked robot to travel at the obtained corrected traveling speed in a mode of controlling to reduce the rotating speed of the right track of the tracked robot and controlling the left track of the tracked robot to recover the initial speed when the traveling direction angle deviation is towards the left.
Optionally, the control module 37 may be specifically configured to:
and controlling the tracked robot to walk at the obtained corrected walking speed in a mode of controlling to reduce the rotating speed of the left track of the tracked robot and controlling the right track of the tracked robot to recover the initial speed when the walking direction angle deviation is towards the right.
Referring to fig. 4, fig. 4 is a schematic structural diagram of another embodiment of the walking direction control device based on the tracked robot in the present invention. In difference to the previous embodiment, the walking direction control device 40 based on the tracked robot in this embodiment further includes a return module 41.
The returning module 41 is configured to return the tracked robot according to the original path of the walking path according to the walking path of the tracked robot.
Each unit module of the walking direction control device 30/40 based on the tracked robot can respectively execute the corresponding steps in the above method embodiments, so the detailed description of each unit module is omitted here, and please refer to the description of the corresponding steps above.
The present invention further provides a walking direction control apparatus based on a tracked robot, as shown in fig. 5, including: at least one processor 51; and a memory 52 communicatively coupled to the at least one processor 51; the memory 52 stores instructions executable by the at least one processor 51, and the instructions are executed by the at least one processor 51 to enable the at least one processor 51 to execute the method for controlling the walking direction of the tracked robot.
Wherein the memory 52 and the processor 51 are coupled in a bus, which may comprise any number of interconnected buses and bridges, which couple one or more of the various circuits of the processor 51 and the memory 52 together. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor 51 is transmitted over a wireless medium via an antenna, which further receives the data and transmits the data to the processor 51.
The processor 51 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And the memory 52 may be used to store data used by the processor 51 in performing operations.
The present invention further provides a computer-readable storage medium storing a computer program. The computer program realizes the above-described method embodiments when executed by a processor.
It can be found that, in the above aspect, the traveling of the crawler robot can be controlled at an initial speed, and the traveling of the crawler robot can be controlled according to the initial speed, the traveling time of the crawler robot is set according to a delay time designation time, and the angle of the gyroscope of the crawler robot can be read within the set delay time designation time, and the traveling direction angle deviation of the crawler robot can be calculated based on the read angle of the gyroscope of the crawler robot, and the calculated traveling direction angle deviation of the crawler robot can be detected, whether the traveling direction angle deviation is smaller than a preset threshold value can be detected, and when the detection result is that the traveling direction angle deviation is not smaller than the preset threshold value can be detected, the walking speed of the tracked robot after correction is obtained according to the angle deviation table lookup, the tracked robot can be controlled to walk according to the obtained walking speed after correction, closed-loop control over the walking direction of the tracked robot can be achieved through the table lookup, the complex floating point operation mode is avoided, and the walking direction of the tracked robot can be controlled on a common single chip microcomputer in real time.
Further, according to the above scheme, the walking of the tracked robot can be controlled according to the initial speed when the detection result is that whether the walking direction angle deviation is smaller than the preset threshold value or not is detected, and the advantage that the tracked robot can be controlled to return to the initial speed walking when the walking direction angle deviation of the tracked robot is within the allowable range can be achieved, and the walking direction of the tracked robot can be ensured to be within the allowable range.
Furthermore, according to the above aspect, when the angle deviation in the traveling direction is a leftward deviation, the method of controlling to reduce the rotation speed of the right track of the tracked robot and controlling the left track of the tracked robot to recover the initial speed may be used to control the tracked robot to travel at the obtained corrected traveling speed.
Furthermore, according to the above aspect, when the angle deviation in the traveling direction is a rightward deviation, the method of controlling to reduce the rotation speed of the left track of the tracked robot and controlling the right track of the tracked robot to recover the initial speed may be adopted, and the tracked robot is controlled to travel at the obtained corrected traveling speed.
Further, according to the above aspect, the tracked robot can be returned in the original path of the travel path of the tracked robot, which is advantageous in that the tracked robot can be returned in the original path.
In the several embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a module or a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be substantially or partially implemented in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only a part of the embodiments of the present invention, and not intended to limit the scope of the present invention, and all equivalent devices or equivalent processes performed by the present invention through the contents of the specification and the drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A walking direction control method based on a crawler-type robot is characterized by comprising the following steps:
controlling the crawler-type robot to walk according to the initial speed;
controlling the crawler-type robot to walk according to the initial speed, and setting the walking time of the crawler-type robot according to the specified time delay;
reading the angle of a gyroscope of the tracked robot within the set delay designated time;
calculating the angle deviation of the walking direction of the tracked robot according to the read angle of the gyroscope of the tracked robot;
detecting the calculated walking direction angle deviation of the tracked robot, and detecting whether the walking direction angle deviation is smaller than a preset threshold value;
according to the detection result of whether the angle deviation of the walking direction is smaller than a preset threshold value or not, when the detection result is that the angle deviation of the walking direction is not smaller than the preset threshold value, looking up a table according to the angle deviation to obtain the walking speed of the tracked robot after correction;
and controlling the crawler-type robot to walk according to the obtained corrected walking speed.
2. The method for controlling the walking direction of the tracked robot according to claim 1, wherein the step of obtaining the corrected walking speed of the tracked robot according to the table of the angle deviation when the detection result is that the walking direction angle deviation is not smaller than the preset threshold value according to the detection result that whether the walking direction angle deviation is smaller than the preset threshold value or not comprises:
and controlling the crawler-type robot to walk at an initial speed according to the detection result of whether the walking direction angle deviation is smaller than a preset threshold value or not according to the detection result of whether the walking direction angle deviation is smaller than the preset threshold value or not.
3. The method of claim 1, wherein said manipulating said tracked robot to travel at said obtained corrected travel speed comprises:
and controlling the tracked robot to walk according to the obtained corrected walking speed in a mode of controlling and reducing the rotating speed of the right track of the tracked robot and controlling the left track of the tracked robot to recover the initial speed when the walking direction angle deviation is towards the left.
4. The method of claim 1, wherein said manipulating said tracked robot to travel at said obtained corrected travel speed comprises:
and controlling the tracked robot to walk according to the obtained corrected walking speed in a mode of controlling and reducing the rotating speed of the left track of the tracked robot and controlling the right track of the tracked robot to recover the initial speed when the walking direction angle deviation is towards the right.
5. The method of claim 1, wherein after said manipulating said tracked robot to travel at said obtained corrected travel speed, further comprising:
and according to the walking path of the tracked robot, the tracked robot returns along the original path of the walking path.
6. A walking direction control device based on a crawler-type robot is characterized by comprising:
the device comprises a control module, a setting module, a reading module, a calculating module, a detecting module, an obtaining module and an operating module;
the control module is used for controlling the crawler-type robot to walk according to the initial speed;
the setting module is used for controlling the crawler-type robot to walk according to the initial speed and setting the walking time of the crawler-type robot according to the specified time delay;
the reading module is used for reading the angle of the gyroscope of the tracked robot within the set delay designated time;
the calculation module is used for calculating the walking direction angle deviation of the tracked robot according to the read angle of the gyroscope of the tracked robot;
the detection module is used for detecting the calculated walking direction angle deviation of the tracked robot and detecting whether the walking direction angle deviation is smaller than a preset threshold value;
the obtaining module is used for obtaining the corrected walking speed of the tracked robot according to a table look-up of the angle deviation when the detection result is that whether the walking direction angle deviation is smaller than a preset threshold or not is detected;
and the control module is used for controlling the crawler robot to walk according to the obtained corrected walking speed.
7. A crawler robot-based walking direction control apparatus according to claim 6, wherein said control module is specifically configured to:
and controlling the crawler-type robot to walk at an initial speed according to the detection result of whether the walking direction angle deviation is smaller than a preset threshold value or not according to the detection result of whether the walking direction angle deviation is smaller than the preset threshold value or not.
8. The tracked-robot-based walking direction control device of claim 6, wherein said manipulation module is specifically configured to:
and controlling the tracked robot to walk according to the obtained corrected walking speed in a mode of controlling and reducing the rotating speed of the right track of the tracked robot and controlling the left track of the tracked robot to recover the initial speed when the walking direction angle deviation is towards the left.
9. The tracked-robot-based walking direction control device of claim 6, wherein said manipulation module is specifically configured to:
and controlling the tracked robot to walk according to the obtained corrected walking speed in a mode of controlling and reducing the rotating speed of the left track of the tracked robot and controlling the right track of the tracked robot to recover the initial speed when the walking direction angle deviation is towards the right.
10. The tracked-robot-based walking direction control apparatus according to claim 6, further comprising:
a return module;
and the return module is used for returning the tracked robot according to the original path of the walking path according to the walking path of the tracked robot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910505089.XA CN110244724A (en) | 2019-06-12 | 2019-06-12 | A kind of direction of travel control method and device and equipment based on caterpillar type robot |
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| CN201910505089.XA CN110244724A (en) | 2019-06-12 | 2019-06-12 | A kind of direction of travel control method and device and equipment based on caterpillar type robot |
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| CN201910505089.XA Pending CN110244724A (en) | 2019-06-12 | 2019-06-12 | A kind of direction of travel control method and device and equipment based on caterpillar type robot |
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Application publication date: 20190917 |