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A servo control method, device, computer equipment and storage medium

A technology of servo control and center position, which is applied in the field of devices, computer equipment and storage media, and servo control methods, and can solve problems such as image errors, many interference factors, and numerous calculation data.

Active Publication Date: 2021-11-12
福勤智能科技(昆山)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The principle of the above scheme is image error. Therefore, it has certain requirements for lighting, target position and environmental conditions, and there are many calculation data and many interference factors.

Method used

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  • A servo control method, device, computer equipment and storage medium
  • A servo control method, device, computer equipment and storage medium
  • A servo control method, device, computer equipment and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0031] figure 1 It is a schematic flow chart of a servo control method provided in Embodiment 1 of the present invention. This method is applicable to the situation where the mobile robot is servo-controlled so that the mobile robot moves below the target support. The method can be controlled by the servo control device To execute, wherein the device can be implemented by software and / or hardware, and generally integrated on a computer device, which can be a third-party computer device, or a computer device installed inside the mobile robot.

[0032] like figure 1 As shown, a servo control method provided by Embodiment 1 of the present invention includes the following steps:

[0033] S110. When the target bracket is detected by the ranging sensor installed on the mobile robot, acquire a set of data points collected by the ranging sensor.

[0034] Wherein, the set of data points is a set of data points on the target support.

[0035] In this embodiment, the mobile robot may ...

Embodiment 2

[0061] image 3 It is a schematic flowchart of a servo control method provided by Embodiment 2 of the present invention, and this Embodiment 2 is optimized on the basis of the above-mentioned embodiments. In this embodiment, according to the distance error, the included angle error and the position error of the mobile robot, the servo control is performed on the mobile robot, which is further embodied as: according to the control strategy, the included angle error Process to obtain the control parameters of the mobile robot; according to the conversion matrix corresponding to the world coordinate system to the robot coordinate system and the position error of the mobile robot, determine the error unit vector of the position error of the mobile robot in the robot coordinate system; Process the distance error according to the control strategy to obtain a lateral error control coefficient for the lateral movement of the mobile robot; The theoretical moving speed vector of the ro...

Embodiment 3

[0088] Figure 4 It is a schematic structural diagram of a servo control device provided by Embodiment 3 of the present invention. This device is applicable to the situation where a mobile robot performs servo control so that the mobile robot moves below the target support. The device can be controlled by software and / or Implemented by hardware and generally integrated on computer equipment.

[0089] like Figure 4 As shown, the device includes: an acquisition module 310 , a first determination module 320 , a second determination module 330 and a control module 340 .

[0090] The acquiring module 310 is configured to acquire a set of data points collected by the ranging sensor when the target bracket is detected by the ranging sensor installed on the mobile robot, and the set of data points is the data on the target bracket set of points;

[0091] The first determination module 320 is configured to determine the center position coordinates of the center point of the target ...

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Abstract

The invention discloses a servo control method, device, computer equipment and storage medium. Including: when the target bracket is detected by the ranging sensor installed on the mobile robot, the data point set collected by the ranging sensor is obtained; according to the data point set, the center position coordinates of the center point of the target bracket in the world coordinate system are determined ; Determine the distance error of the vertical distance from the geometric center point of the mobile robot to the center line of the mobile robot, the center line of the mobile robot and The angle error of the angle formed by the center line of the target bracket and the position error of the mobile robot; according to the distance error, the angle error and the position error of the mobile robot, the servo control of the mobile robot is performed. The method can identify the target support at any angle and perform effective and accurate servo control on the mobile robot.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of measurement control, and in particular to a servo control method, device, computer equipment and storage medium. Background technique [0002] Generating motion and controlling the motion of objects for some purpose is one of the most important activities of our species. Servo control is an effective control of changes in the position, speed and acceleration of objects, and is one of the control methods to achieve high-precision parameters in industrial production. [0003] The common servo control method of mobile robots is visual servo control. A visual servo control is to establish a visual control system based on image information feedback, use the visual servo unit to perceive the external environment, and use image errors to track the target object and guide the movement. The robot moves according to the instructions issued by the control unit. [0004] The principle of t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0257
Inventor 张清源林淦斌叶航
Owner 福勤智能科技(昆山)有限公司