A motion control method and device
A technology of motion control and movement, applied in the field of robotics, can solve problems such as large amount of calculation, complex deployment, and inappropriateness, and achieve the effect of improving efficiency, achieving good effect, and simple and practical logic
Active Publication Date: 2020-07-14
浙江欣奕华智能科技有限公司
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Problems solved by technology
[0002] At present, when a robot is placed in an unfamiliar environment, how to perceive the surrounding environment and carry out autonomous movement has always been an important research topic in the field of robotics. The main methods used in the prior art, such as simultaneous localization and mapping, SLAM) method, which can realize the self-positioning of the robot in an unknown environment, and build an incremental map based on its own positioning, but this method has a large amount of calculation and complex deployment, and is not suitable for some scenes with simple environments.
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[0103] The first implementation mode: if the motion mode is going straight, then go straight toward the target line until the movement reaches the preset distance threshold from the target line, then determine that the motion mode is changed to rotation, rotate according to the preset rotation direction, and after the rotation, continue Execute the step of acquiring the visual image of the current environment collected by the visual sensor.
[0104] Among them, the preset distance threshold, for example, can be set to 0.1m, that is, when the robot goes straight towards the target line, it reaches 0.1m before the target line, and it can be considered that it has reached the edge of the field, then adjust the motion mode to rotation, such as preset rotation The direction is to turn left, the robot turns left, and then continue to determine the target line based on the visual image acquired by the visual sensor, and determine the motion mode based on the target line, so that the r...
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The invention relates to the technical field of robots, in particular to a motion control method and device. The method comprises: extracting each straight line in the visual image, and respectively determining the slope of each straight line and the distance between each straight line and the visual sensor; determining a target straight line from the straight lines according to the slope of eachstraight line and the distance between each straight line and the visual sensor; and determining a motion mode according to the target straight line, and moving according to the motion mode, so that the robot can walk autonomously in the environment, the realization logic is simpler and more practical, the calculation amount and complexity are reduced, and the robot motion control efficiency is improved.
Description
technical field [0001] The present application relates to the field of robot technology, in particular to a motion control method and device. Background technique [0002] At present, when a robot is placed in an unfamiliar environment, how to perceive the surrounding environment and carry out autonomous movement has always been an important research topic in the field of robotics. The main methods used in the prior art, such as simultaneous localization and mapping, SLAM) method, which can realize the self-positioning of the robot in an unknown environment, and build an incremental map based on its own positioning, but this method has a large amount of calculation and complex deployment, and is not suitable for some scenes with simple environments. . Contents of the invention [0003] Embodiments of the present application provide a motion control method and device, so as to improve the efficiency of robot motion control and reduce complexity. [0004] The specific tech...
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IPC IPC(8): G05B19/414
CPCG05B19/4142G05B2219/34013
Inventor 朱明明王世汉刘方圆韩松杉张弥
Owner 浙江欣奕华智能科技有限公司