Unlock instant, AI-driven research and patent intelligence for your innovation.

Motion control method and device, robot and storage medium

A technology of motion control and controller, applied in the direction of non-electric variable control, control/adjustment system, two-dimensional position/channel control, etc., can solve gyroscope drift and scale factor error, robot cannot continue linear motion, encoder Unable to detect etc.

Inactive Publication Date: 2019-02-15
江苏红石信息系统集成服务有限公司
View PDF5 Cites 6 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there are drift and scale factor errors in the gyroscope. When using the gyroscope to infer the current driving angular velocity of the robot at the previous moment, the current driving direction of the robot will inevitably introduce the error generated before, forming a cumulative error. The angular velocity The error will become larger and larger as time accumulates.
[0004] In order to overcome this defect, there are also some existing technologies that use encoders to control the robot to move in a straight line. However, when the left and right wheels of the robot slip or idle, the encoder cannot detect it, and the robot cannot continue to move in a straight line.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Motion control method and device, robot and storage medium
  • Motion control method and device, robot and storage medium
  • Motion control method and device, robot and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0028] figure 1 It is a flow chart of the motion control method provided by Embodiment 1 of the present invention. This embodiment is applicable to equipment that moves through left and right wheels. This method can be executed by a motion control device that is integrated in a robot. Specifically , the method includes the following steps:

[0029] S110. Determine the movement speed deviation of the left wheel and the right wheel within the current unit time when the target device is moving.

[0030] Specifically, the target device may be a device that has a left wheel and a right wheel, and its motion state can be controlled by controlling the speed of the left wheel or the right wheel, such as a robot. In the embodiment, the target device is a robot as an example. The unit time can be set according to actual needs, for example, it can be set to 5ms. The movement speed deviation is the deviation of the speed of the left wheel and the right wheel in the current unit time.

...

Embodiment 2

[0042] figure 2 The flow chart of a motion control method provided by Embodiment 2 of the present invention is optimized on the basis of the above embodiments. Specifically, the method includes the following steps:

[0043] S210. Determine the movement speed deviation of the left wheel and the right wheel within the current unit time when the target device is moving.

[0044] In order to further clarify the determination process of the movement speed deviation, S210 is embodied as:

[0045] S2101. When the target device is moving, collect the left pulse signal of the left wheel encoder and the right pulse signal of the right wheel encoder on the target device within the current unit time.

[0046] Specifically, an encoder is a device that converts displacement into an electrical signal. In practical applications, the left wheel encoder is set on the left wheel, and the right wheel encoder is set on the right wheel. When the robot moves, the left wheel encoder and the right ...

Embodiment 3

[0068] image 3 A structural diagram of a motion control device provided by Embodiment 3 of the present invention, which can implement the motion control method described in the above embodiment, refer to image 3 , the device consists of:

[0069] The first determination module 310 is used to determine the movement speed deviation of the left wheel and the right wheel within the current unit time when the target device is moving;

[0070] An acquisition module 320, configured to acquire the yaw angular velocity of the gyroscope on the target device within a current unit of time;

[0071] The second determination module 330 is configured to determine the actual speed of the left wheel in the current unit time according to the movement speed deviation and the yaw rate;

[0072] A control module 340, configured to control the current motion state of the target device according to the actual speed.

[0073] Embodiment 3 of the present invention provides a motion control device...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a motion control method and device, a robot and a storage medium. The method includes the following steps: determining the motion velocity deviation of the left and right wheels of target equipment in the current unit time during motion; acquiring the yaw angular velocity of a gyroscope on the target equipment in the current unit time; determining the actual speed of the left wheel in the current unit time according to the motion velocity deviation and the yaw angular velocity; and controlling the current motion state of the target equipment according to the actual speed. Through the technical scheme, the problem that the target equipment cannot keep moving in a straight line in the moving process due to the single use of the left and right wheel encoder or the gyroscope in the prior art is solved, it is ensured that the target equipment can still do linear motion in a slipping state, and error is reduced.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of robot control, and in particular, to a motion control method, device, robot and storage medium. Background technique [0002] With the development of technology, robots are more and more widely used, especially the linear motion of robots is used in all walks of life. The robot deviates from the straight track, and the more it goes, the more it deviates. [0003] In order to control the robot to move in a straight line, the existing technology mainly uses gyroscopes and odometers to determine the initial position information of the straight line to be walked and the specific current position information during the walking process of the robot, and then the initial position information and the angular velocity in the current position information The difference and the vertical distance from the current position to the straight line to be walked are used to judge whether the robot...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0285
Inventor 孙广龙袁迟
Owner 江苏红石信息系统集成服务有限公司