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A motion control method and system for a remote mobile device
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A mobile device and motion control technology, applied in the field of remote operation, can solve the problem that the safety of remote mobile devices cannot be guaranteed
Active Publication Date: 2022-04-15
CHINA AEROSPACE TIMES ELECTRONICS +1
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[0003] In view of the above analysis, the embodiment of the present invention aims to provide a remote mobile device motion control method and system to solve the problem in the prior art that the safety of the remote mobile device cannot be guaranteed during the movement process due to human operation delay
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Embodiment 1
[0038] The embodiment of the present invention discloses a method for motion control of a remote mobile device, the method includes the following steps:
[0039] Obtain the distance information between the remote mobile device and the target obstacle, and send the distance information to the control terminal;
[0040] The control terminal generates a control adjustment coefficient according to the distance information, and obtains the displacement information of the control rod; according to the displacement information and the control adjustment coefficient, generates a corresponding PWM wave control signal and sends it to the remote mobile device;
[0041] The remote mobile device moves according to the PWM wave control signal.
[0042] Optionally, the above-mentioned remote mobile device is a human body following teleoperation robot; the operator controls the movement of the human body following teleoperation robot by operating the control lever.
[0043] It should be note...
Embodiment 2
[0057] The embodiment of the present invention discloses a motion control system for a remote mobile device. The system includes a distance measuring device arranged on the remote mobile device, a motor controller, a control terminal, and a control rod provided on the control terminal;
[0058] The ranging device is used to obtain distance information between the remote mobile device and the target obstacle, and send the distance information to the control terminal;
[0059] The joystick is used to generate displacement,
[0060] The control terminal is used to generate a control trimming coefficient according to the distance information, and generate a corresponding PWM wave control signal according to the displacement generated by the control rod and the control trimming coefficient, and send it to the motor controller of the remote mobile device;
[0061] The remote mobile device is used to move according to the PWM wave control signal.
[0062] It should be noted that the...
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Abstract
The invention relates to a motion control method and system for a remote mobile device, belonging to the technical field of teleoperation, and solves the problem that the safety of the remote mobile device cannot be guaranteed during the movement of the remote mobile device due to artificial operation delay in the prior art. The method includes the following steps: acquiring distance information between the remote mobile device and the target obstacle, and sending the distance information to the control terminal; the control terminal generates a control trim coefficient according to the distance information, and acquires the displacement of the control rod information; according to the displacement amount information and the control trim coefficient, a corresponding PWM wave control signal is generated and sent to the remote mobile device; the remote mobile device moves according to the PWM wave control signal. The motion control of the remote mobile device is realized, the collision of the remote mobile device with the target obstacle during the movement process caused by the delay of human operation is avoided, and the safety of the remote mobile device during the movement process is guaranteed.
Description
technical field [0001] The invention relates to the technical field of remote operation, in particular to a motion control method and system for a remote mobile device. Background technique [0002] Teleoperation is the basic means of motion control for remote mobile devices. As a typical application of remote mobile devices, teleoperation robots are usually suitable for special working environments, such as resource development, nuclear waste cleaning, detonation, high-pressure and high-risk operations, etc. It usually encounters obstacles during its operation. In order to avoid collisions with obstacles caused by human operation delays, so as to ensure its safety during movement, it is necessary to perform motion control on devices with remote movement functions such as teleoperated robots. . Contents of the invention [0003] In view of the above analysis, the embodiment of the present invention aims to provide a motion control method and system for a remote mobile dev...
Claims
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Application Information
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