Robot path generation model parameter determination method, path generation method and mobile platform

Abstract

This application discloses a method for determining the parameters of a robot path generation model, a path generation method, and a mobile platform. The method for determining the parameters of the path generation model is applied to a mobile platform, which includes a mobile mechanism. The method includes: constructing a path generation model based on the mobile platform, the path generation model including parameters to be tuned corresponding to the mobile mechanism; obtaining parameter setting instructions and parsing the instructions to obtain the operating parameters corresponding to the mobile mechanism; controlling the operation of the mobile mechanism according to the operating parameters and inputting the operating parameters into the path generation model to generate a calculated path for the mobile platform; obtaining the feedback path of the mobile platform during the control of the mobile mechanism; and tuning the parameters to be tuned based on the calculated path and the feedback path to obtain a parameter-determined path generation model, thereby compensating for path deviations caused by installation errors of the mobile mechanism and improving the positioning and navigation accuracy of the mobile platform.

Description

Technical Field

[0001] This application relates to the field of mobile platform control, and in particular to a method for determining parameters of a robot path generation model, a path generation method, and a mobile platform. Background Technology

[0002] Mobile platforms are gradually replacing some manual tasks, such as intelligent transport vehicles, automated patrol vehicles, and robots. Mobile platforms, like robots, can generate movement paths based on the output of their mobile mechanisms, and are therefore widely used in positioning and navigation scenarios.

[0003] However, during the installation of the mobile mechanism on the mobile platform, there may be installation errors, making it difficult to accurately calibrate the relevant parameters of the mobile mechanism. These parameters will greatly affect the accuracy of the mobile platform in generating the mobile path, and thus affect the intelligence and accuracy of the mobile platform's positioning and navigation. Summary of the Invention

[0004] This application provides a method for determining parameters of a robot path generation model, a path generation method, and a mobile platform, aiming to accurately determine the parameters of the path generation model, compensate for path deviations caused by installation errors of the mobile mechanism, and improve the positioning and navigation accuracy of the mobile platform.

[0005] In a first aspect, this application provides a parameter determination method for a robot path generation model, applied to a mobile platform, the mobile platform including a mobile mechanism, the method comprising:

[0006] A path generation model is constructed based on the mobile platform. The path generation model includes the parameters to be tuned corresponding to the mobile mechanism.

[0007] Obtain the parameter setting instructions and parse them to obtain the corresponding operating parameters of the moving mechanism;

[0008] The operation of the mobile mechanism is controlled according to the operating parameters, and the operating parameters are input into the path generation model to generate the calculation path of the mobile platform;

[0009] During the operation of the mobile mechanism, the feedback path of the mobile platform is obtained;

[0010] Based on the calculation path and feedback path, the parameters to be tuned are tuned to obtain the parameter tuning path generation model.

[0011] In some implementations, the mobile platform is equipped with a detection device to obtain the feedback path of the mobile platform, including:

[0012] Point cloud data is acquired using a detection device;

[0013] The pose variables of the detection device are obtained from point cloud data;

[0014] Obtain the relative installation position of the detection device on the mobile platform;

[0015] The feedback path of the mobile platform is generated based on the relative installation position and pose variables of the detection device.

[0016] In some implementations, the point cloud data includes point cloud data at time corresponding to preset times, wherein there are at least two preset times;

[0017] The pose variables of the detection device are obtained from the point cloud data, including:

[0018] The time-period pose variables of the detection device are obtained from the point cloud data of adjacent preset times.

[0019] The pose variables are determined based on the pose variables over time periods.

[0020] In some implementations, parameter tuning is performed on the parameters to be tuned based on the calculation path and the feedback path, including:

[0021] An error model is established based on the calculation path and the feedback path. The error model is used to output the path error of the calculation path and the feedback path.

[0022] The parameters to be tuned are tuned so that the path error output by the error function is within the preset error range.

[0023] In some embodiments, the moving mechanism includes a first steering wheel and a second steering wheel spaced apart, and the parameters to be adjusted include a first parameter to be adjusted corresponding to the first steering wheel and a second parameter to be adjusted corresponding to the second steering wheel;

[0024] The runtime parameters are input into the path generation model to generate the computation path for the mobile platform, including:

[0025] The travel vector of the mobile platform at multiple moments is determined based on the first parameter to be tuned, the second parameter to be tuned, and the operating parameters.

[0026] The calculation path is generated based on the driving vectors at multiple times.

[0027] In some implementations, the first parameter to be adjusted includes the first mounting angle parameter and the first mounting position parameter of the first steering wheel, and the second parameter to be adjusted includes the second mounting angle parameter and the second mounting position parameter of the second steering wheel.

[0028] The velocity vectors of the mobile platform at multiple moments are determined based on the first parameter to be tuned, the second parameter to be tuned, and the operating parameters, including:

[0029] The center tilt angle of the mobile platform at multiple moments is determined based on the first installation angle parameter, the first installation position parameter, the second installation angle parameter, the second installation position parameter, and the operating parameters.

[0030] The travel vector of the mobile platform at multiple moments is determined based on the center tilt angle, the first installation angle parameter, the first installation position parameter, the second installation angle parameter, the second installation position parameter, and the operating parameters.

[0031] In some implementations, the operating parameters include a first input angle of the first steering wheel at multiple times and a second input angle of the second steering wheel at multiple times;

[0032] The center tilt angle of the mobile platform at multiple moments is determined based on the first installation angle parameter, the first installation position parameter, the second installation angle parameter, the second installation position parameter, and the operating parameters, including:

[0033] The first output angle of the corresponding first steering wheel is determined based on the first input angle and the first installation angle parameters.

[0034] The second output angle of the corresponding second steering wheel is determined based on the second input angle and the second installation angle parameters.

[0035] The center tilt angle of the mobile platform at multiple moments is determined based on the first output angle, the second output angle, the first installation position parameter, and the second installation position parameter.

[0036] In some implementations, the operating parameters also include a first input speed of the first steering wheel at multiple times and a second input speed of the second steering wheel at multiple times;

[0037] The travel vector of the mobile platform at multiple moments is determined based on the center tilt angle, first installation angle parameter, first installation position parameter, second installation angle parameter, second installation position parameter, and operating parameters, including:

[0038] The travel speed of the mobile platform is determined based on the first output angle, the second output angle, the first input speed, the second input speed, and the center tilt angle.

[0039] The steering speed of the mobile platform is determined based on the first output angle, the second output angle, the travel speed, the first installation angle parameter, the first installation position parameter, the second installation angle parameter, the second installation position parameter, and the center tilt angle.

[0040] The travel vector of the mobile platform is determined based on the travel speed and steering speed.

[0041] Secondly, embodiments of this application also provide a path generation method applied to a mobile platform, the method comprising:

[0042] Receive motion commands and call the parameter-determined path generation model according to the motion commands. The parameter-determined path generation model is generated using the above-mentioned robot path generation model parameter determination method.

[0043] Parse motion commands to obtain the corresponding mechanism operation parameters of the moving mechanism;

[0044] The operation of the mobile mechanism is controlled according to the mechanism's operating parameters, and the mechanism's operating parameters are input into the parameter-defined path generation model to generate the output path of the mobile platform.

[0045] Thirdly, embodiments of this application also provide a mobile platform, the mobile platform comprising:

[0046] Platform entity;

[0047] The mobile mechanism is connected to the main platform.

[0048] Memory, used to store computer programs; and

[0049] The processor is used to retrieve a computer program stored in memory to execute any of the above-mentioned robot path generation model parameter determination methods, or to implement the above-mentioned path generation methods.

[0050] This application provides a method for determining the parameters of a robot path generation model, a path generation method, and a mobile platform. The method and path generation method are applied to a mobile platform, which includes a mobile mechanism. The method for determining the parameters of a robot path generation model includes: constructing a path generation model based on the mobile platform, the path generation model including parameters to be tuned corresponding to the mobile mechanism; obtaining parameter setting instructions and parsing the instructions to obtain the operating parameters corresponding to the mobile mechanism; controlling the operation of the mobile mechanism according to the operating parameters and inputting the operating parameters into the path generation model to generate a calculated path for the mobile platform; obtaining the feedback path of the mobile platform during the control of the mobile mechanism; and tuning the parameters to be tuned based on the calculated path and the feedback path to obtain a parameter-determined path generation model, thereby compensating for path deviations caused by installation errors of the mobile mechanism and improving the intelligence and accuracy of the mobile platform's positioning and navigation. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0052] Figure 1 This is a scenario diagram illustrating the robot path generation model parameter determination method and path generation method provided in the embodiments of the present invention;

[0053] Figure 2 This is a structural block diagram of the control component provided in an embodiment of the present invention;

[0054] Figure 3 This is a flowchart illustrating the parameter determination method for the robot path generation model provided in an embodiment of the present invention;

[0055] Figure 4 This is a schematic diagram of the bottom structure of the moving mechanism provided in an embodiment of the present invention;

[0056] Figure 5 This is a flowchart illustrating the step of generating a computational path in the parameter determination method for a robot path generation model provided in this embodiment of the invention.

[0057] Figure 6 This is a schematic diagram of a mobile mechanism path generation scenario provided in an embodiment of the present invention;

[0058] Figure 7 This is a flowchart illustrating the step of obtaining the feedback path in the parameter determination method for the robot path generation model provided in this embodiment of the invention.

[0059] Figure 8 This is a flowchart illustrating the path generation method provided in an embodiment of the present invention;

[0060] Figure label:

[0061] 100. Mobile platform; 110. Platform body; 120. Mobile mechanism; 121. First steering wheel; 122. Second steering wheel; 130. Control component; 131. Processor; 132. Memory; 133. Bus; 140. Detection device. Detailed Implementation

[0062] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0063] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0064] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0065] The embodiments of this application provide a method for determining the parameters of a robot path generation model, a path generation method, and a mobile platform. The method for determining the parameters of a robot path generation model and the path generation method can be applied to a mobile platform, aiming to accurately determine the parameters of the path generation model, compensate for path deviations caused by installation errors of the mobile mechanism, and improve the intelligence and accuracy of the mobile platform's positioning and navigation.

[0066] Please see Figure 1 , Figure 1 This is a schematic diagram of the robot path generation model parameter determination method and path generation method provided in the embodiments of the present invention.

[0067] like Figure 1 As shown, the mobile platform 100 includes a platform body 110, a mobile mechanism 120, and a control component 130. The mobile mechanism 120 is connected to the platform body 110, and the control component 130 is electrically connected to the mobile mechanism 120 to support the operation of the entire mobile platform 100. The robot path generation model parameter setting method and path generation method can be applied to the mobile platform. The mobile platform 100 refers to a device that can move automatically, such as an intelligent transport vehicle, an automated guided vehicle, or a robot.

[0068] It should be noted that, Figure 1 The scenarios described are only used to explain the UAV decision model training method and usage method provided in the embodiments of this application, but do not constitute a specific limitation on the application scenarios of the UAV decision model training method and usage method provided in the embodiments of this application.

[0069] Please see Figure 2 , Figure 2 This is a schematic block diagram of a control component provided in an embodiment of this application.

[0070] like Figure 2 As shown, the control component 130 includes a processor 131 and a memory 132, which are connected via a bus 133, such as an I2C (Inter-integrated Circuit) bus.

[0071] Specifically, processor 131 provides computing and control capabilities. Processor 131 can be a Central Processing Unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0072] Specifically, the memory 132 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0073] Those skilled in the art will understand that Figure 2 The structure shown is merely a block diagram of the control component structure related to the embodiments of this application, and does not constitute a limitation on the control component applied to the embodiments of this application. The specific control component may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0074] The processor is used to run computer programs stored in memory, and when executing the computer programs, implements any of the UAV decision model training methods and UAV decision model usage methods provided in the embodiments of this application.

[0075] In some embodiments, processor 131 is configured to run a computer program stored in memory 132, and to perform the following steps when executing the computer program:

[0076] A path generation model is constructed based on the mobile platform. The path generation model includes the parameters to be tuned corresponding to the mobile mechanism.

[0077] Obtain the parameter setting instructions and parse them to obtain the corresponding operating parameters of the moving mechanism;

[0078] The operation of the mobile mechanism is controlled according to the operating parameters, and the operating parameters are input into the path generation model to generate the calculation path of the mobile platform;

[0079] During the operation of the mobile mechanism, the feedback path of the mobile platform is obtained;

[0080] Based on the calculation path and feedback path, the parameters to be tuned are tuned to obtain the parameter tuning path generation model.

[0081] In some embodiments, the mobile platform is equipped with a detection device, and the processor 131, when acquiring the feedback path of the mobile platform, includes:

[0082] Point cloud data is acquired using a detection device;

[0083] The pose variables of the detection device are obtained from point cloud data;

[0084] Obtain the relative installation position of the detection device on the mobile platform;

[0085] The feedback path of the mobile platform is generated based on the relative installation position and pose variables of the detection device.

[0086] In some implementations, the point cloud data includes point cloud data corresponding to preset times, wherein there are at least two preset times. When the processor 131 obtains the pose variables of the detection device based on the point cloud data, it includes:

[0087] The time-period pose variables of the detection device are obtained from the point cloud data of adjacent preset times.

[0088] The pose variables are determined based on the pose variables over time periods.

[0089] In some implementations, when the processor 131 performs parameter tuning on the parameters to be tuned based on the calculation path and the feedback path, it includes:

[0090] An error model is established based on the calculation path and the feedback path. The error model is used to output the path error of the calculation path and the feedback path.

[0091] The parameters to be tuned are tuned so that the path error output by the error function is within the preset error range.

[0092] In some embodiments, the moving mechanism includes a first steering wheel and a second steering wheel spaced apart. The parameters to be tuned include a first parameter to be tuned corresponding to the first steering wheel and a second parameter to be tuned corresponding to the second steering wheel. When the processor 131 inputs the running parameters into the path generation model to generate the calculation path of the moving platform, it includes:

[0093] The travel vector of the mobile platform at multiple moments is determined based on the first parameter to be tuned, the second parameter to be tuned, and the operating parameters.

[0094] The calculation path is generated based on the driving vectors at multiple times.

[0095] In some implementations, the first parameter to be tuned includes a first mounting angle parameter and a first mounting position parameter of the first steering wheel, and the second parameter to be tuned includes a second mounting angle parameter and a second mounting position parameter of the second steering wheel. When the processor 131 determines the velocity vector of the mobile platform at multiple moments based on the first parameter to be tuned, the second parameter to be tuned, and the operating parameters, it includes:

[0096] The center tilt angle of the mobile platform at multiple moments is determined based on the first installation angle parameter, the first installation position parameter, the second installation angle parameter, the second installation position parameter, and the operating parameters.

[0097] The travel vector of the mobile platform at multiple moments is determined based on the center tilt angle, the first installation angle parameter, the first installation position parameter, the second installation angle parameter, the second installation position parameter, and the operating parameters.

[0098] In some implementations, the operating parameters include a first input angle of the first steering wheel at multiple times and a second input angle of the second steering wheel at multiple times. When the processor 131 determines the center tilt angle of the mobile platform at multiple times based on the first installation angle parameter, the first installation position parameter, the second installation angle parameter, the second installation position parameter, and the operating parameters, it includes:

[0099] The first output angle of the corresponding first steering wheel is determined based on the first input angle and the first installation angle parameters.

[0100] The second output angle of the corresponding second steering wheel is determined based on the second input angle and the second installation angle parameters.

[0101] The center tilt angle of the mobile platform at multiple moments is determined based on the first output angle, the second output angle, the first installation position parameter, and the second installation position parameter.

[0102] In some embodiments, the operating parameters also include a first input speed of the first steering wheel at multiple times and a second input speed of the second steering wheel at multiple times. When the processor 131 determines the travel vector of the mobile platform at multiple times based on the center tilt angle, the first mounting angle parameter, the first mounting position parameter, the second mounting angle parameter, the second mounting position parameter, and the operating parameters, it includes:

[0103] The travel speed of the mobile platform is determined based on the first output angle, the second output angle, the first input speed, the second input speed, and the center tilt angle.

[0104] The steering speed of the mobile platform is determined based on the first output angle, the second output angle, the travel speed, the first installation angle parameter, the first installation position parameter, the second installation angle parameter, the second installation position parameter, and the center tilt angle.

[0105] The travel vector of the mobile platform is determined based on the travel speed and steering speed.

[0106] In some implementations, the processor 131 performs the following steps when executing a computer program:

[0107] Receive motion commands and call the parameter-determined path generation model according to the motion commands. The parameter-determined path generation model is generated using the above-mentioned robot path generation model parameter determination method.

[0108] Parse motion commands to obtain the corresponding mechanism operation parameters of the moving mechanism;

[0109] The operation of the mobile mechanism is controlled according to the mechanism's operating parameters, and the mechanism's operating parameters are input into the parameter-defined path generation model to generate the output path of the mobile platform.

[0110] The following section will explain the specific steps of applying the robot path generation model parameter setting method and the path generation method to the control components of a mobile platform, based on the working principle of the control components.

[0111] Please see Figure 3 , Figure 3 This is a flowchart illustrating the parameter determination method for the robot path generation model provided in an embodiment of the present invention.

[0112] like Figure 3 As shown, the parameter determination method for the robot path generation model specifically includes steps S21 to S25:

[0113] Step S21: Construct a path generation model based on the mobile platform. The path generation model includes the parameters to be tuned corresponding to the mobile mechanism.

[0114] The control component constructs a path generation model based on the mobile platform and its moving mechanism. This path generation model includes the parameters to be tuned corresponding to the moving mechanism. Specifically, the control component controls the operation of the moving mechanism based on the input operating parameters, and the path generation model outputs the calculated path of the mobile platform based on the operating parameters and the parameters to be tuned when the control component controls the moving mechanism according to the operating parameters.

[0115] Please see Figure 4 , Figure 4 This is a schematic diagram of the bottom structure of the moving mechanism provided in an embodiment of the present invention.

[0116] like Figure 4As shown, in some embodiments, the bottom of the moving mechanism 120 is provided with a first steering wheel 121, a second steering wheel 122, and a driven wheel 123 at intervals. The first steering wheel 121 and the second steering wheel 122 can rotate at their corresponding relative positions and can rotate at any angle relative to the initial direction of travel of the first steering wheel 121 or the second steering wheel 122. There are one or more driven wheels 123, which can rotate at their corresponding relative positions to assist in supporting the moving mechanism 120. The parameters to be adjusted include a first parameter to be adjusted corresponding to the first steering wheel 121 and a second parameter to be adjusted corresponding to the second steering wheel 122.

[0117] In some implementations, the first parameter to be adjusted includes the first installation angle parameter and the first installation position parameter of the first steering wheel, and the second parameter to be adjusted includes the second installation angle parameter and the second installation position parameter of the second steering wheel.

[0118] Specifically, the first installation angle parameter represents the installation angle a1 of the first steering wheel 121, that is, the first installation position parameter represents the installation position of the first steering wheel 121, the second installation angle parameter represents the installation angle a2 of the second steering wheel 122, and the second installation position parameter represents the installation position of the second steering wheel 122.

[0119] It is understandable that the installation angle a1 of the first steering wheel 121 is the angle between the initial travel direction T1 of the first steering wheel 121 and the central axis M of the moving mechanism; the installation angle a2 of the second steering wheel 122 is the angle between the initial travel direction T2 of the second steering wheel 122 and the central axis M of the moving mechanism.

[0120] Specifically, the installation positions of the first steering wheel 121 and the second steering wheel 122 include, but are not limited to: the angle between the steering wheel connecting line N between the first steering wheel 121 and the second steering wheel 122 and the axis of the moving mechanism M, the distance L1 between the first steering wheel 121 and the center O of the moving mechanism, and the distance L2 between the first steering wheel 122 and the center O of the moving mechanism. Specifically, the steering wheel connecting line N is set as a line segment connecting the center of the first steering wheel 121 and the center of the second steering wheel 122, and the center O of the moving mechanism is set as the intersection of the steering wheel connecting line N and the axis of the moving mechanism M.

[0121] Step S22: Obtain the parameter setting instruction and parse the parameter setting instruction to obtain the corresponding operating parameters of the moving mechanism.

[0122] The control component can obtain parameter setting instructions through a terminal device that is connected to the control component, and parse the parameter setting instructions to obtain the corresponding operating parameters of the moving mechanism. The operating parameters include the first input angle of the first steering wheel at multiple times and the second input angle of the second steering wheel at multiple times. The operating parameters also include the first input speed of the first steering wheel at multiple times and the second input speed of the second steering wheel at multiple times.

[0123] like Figure 4 As shown, it can be understood that the first input angle is the angle by which the control component controls the first steering wheel 121 to rotate relative to the initial direction of travel T1 of the first steering wheel 121, and the second input angle is the angle by which the control component controls the second steering wheel to rotate relative to the initial direction of travel T2 of the second steering wheel. To further understand, the initial direction of travel T1 of the first steering wheel is the direction of travel of the first steering wheel when the first input angle is 0 degrees, and the initial direction of travel T2 of the second steering wheel is the direction of travel of the second steering wheel when the second input angle is 0 degrees.

[0124] Step S23: Control the operation of the moving mechanism according to the operating parameters, and input the operating parameters into the path generation model to generate the calculation path of the moving platform.

[0125] Specifically, the operating parameters include at least a first input angle and a first input speed of the first steering wheel at multiple moments, and a second input angle and a second input speed of the second steering wheel at multiple moments. The control component controls the operation of the first steering wheel based on the first input angle and the first input speed corresponding to the multiple moments, and controls the operation of the second steering wheel based on the second input angle and the second input speed corresponding to the multiple moments, thereby driving the mobile platform. The control component also inputs the above-mentioned operating parameters into the path generation model to generate the computational path of the mobile platform.

[0126] like Figure 1 , Figure 5 As shown, the mobile mechanism 100 includes a first steering wheel 121 and a second steering wheel 122 spaced apart. The parameters to be tuned include a first parameter to be tuned corresponding to the first steering wheel 150 and a second parameter to be tuned corresponding to the second steering wheel 160. In step S23, the operation parameters are input into the path generation model to generate the calculation path of the mobile platform, specifically including steps S231-S232:

[0127] Step S231: Determine the travel vector of the mobile platform at multiple times based on the first parameter to be tuned, the second parameter to be tuned, and the operating parameters;

[0128] Step S232: Generate a calculation path based on the driving vectors at multiple times.

[0129] The control component determines the travel vectors of the mobile platform at multiple times based on the first parameter to be tuned, the second parameter to be tuned, and the operating parameters, and then generates a calculation path based on the travel vectors at multiple times.

[0130] Specifically, generating a calculation path based on driving vectors at multiple times can be achieved by inputting the driving vectors at multiple times and their corresponding time order into a preset integral model for integration to obtain the calculation path.

[0131] In some implementations, based on operating parameters including a first input angle of the first steering wheel at multiple times and a second input angle of the second steering wheel at multiple times, the center tilt angle of the mobile platform at multiple times is determined according to a first installation angle parameter, a first installation position parameter, a second installation angle parameter, a second installation position parameter, and operating parameters, including:

[0132] The first output angle of the corresponding first steering wheel is determined based on the first input angle and the first installation angle parameters.

[0133] The second output angle of the corresponding second steering wheel is determined based on the second input angle and the second installation angle parameters.

[0134] The center tilt angle of the mobile platform at multiple moments is determined based on the first output angle, the second output angle, the first installation position parameter, and the second installation position parameter.

[0135] like Figure 4 As shown, specifically, the first input angle is the angle by which the control component controls the first steering wheel 121 to rotate relative to the initial direction of travel T1 of the first steering wheel 121, and the first output angle is the actual angle by which the first steering wheel 121 rotates relative to the central axis M of the moving mechanism. It can be understood that the first input angle can be compensated according to the installation angle a1 of the first steering wheel 121 to obtain the first output angle of the first steering wheel.

[0136] Specifically, the second input angle is the angle at which the control component controls the second steering wheel 122 to rotate relative to the initial direction of travel T2 of the second steering wheel 122, and the second output angle is the actual angle at which the second steering wheel 122 rotates relative to the central axis M of the moving mechanism. It can be understood that the second input angle can be compensated according to the installation angle a2 of the second steering wheel 122 to obtain the second output angle of the second steering wheel.

[0137] Furthermore, the first output angle of the corresponding first steering wheel, determined based on the first input angle and the first installation angle parameters, and the second output angle of the corresponding second steering wheel, determined based on the second input angle and the second installation angle parameters, can be obtained through the following formula:

[0138] b1′=b1-a1

[0139] b2′=b2-a2

[0140] Wherein, b1 is the first input angle of the first steering wheel, b1′ is the first output angle of the first steering wheel, a1 is the installation angle a1 of the first steering wheel 121, b2 is the second input angle of the second steering wheel, b2′ is the second output angle of the second steering wheel, and a2 is the installation angle a2 of the second steering wheel 122.

[0141] By compensating for the first input angle and the second input angle according to the first installation angle parameter, the first output angle of the actual rotation of the first steering wheel relative to the central axis of the moving mechanism and the second output angle of the actual rotation of the second steering wheel relative to the central axis of the moving mechanism can be accurately obtained.

[0142] After obtaining the first output angle and the second output angle, the control component determines the center tilt angle of the mobile platform at multiple moments based on the first output angle, the second output angle, the first installation position parameter, and the second installation position parameter.

[0143] Please see Figure 6 , Figure 6 This is a schematic diagram of a mobile mechanism path generation scenario provided in an embodiment of the present invention.

[0144] like Figure 6 As shown, specifically, the center tilt angle β of the mobile platform at any given moment is the angle between the direction of the actual travel speed V of the platform's center O at that moment and the line N connecting the steering wheel. The center tilt angle of the mobile platform can be obtained through the following geometric relationship:

[0145]

[0146] Based on the above geometric relationship, the angle between the actual displacement direction of the center of the mobile platform at any given moment and the line connecting the steering wheel can be determined as the center tilt angle.

[0147] In some implementations, the operating parameters also include a first input speed of the first steering wheel at multiple times and a second input speed of the second steering wheel at multiple times. The travel vector of the mobile platform at multiple times is determined based on the center tilt angle, a first mounting angle parameter, a first mounting position parameter, a second mounting angle parameter, a second mounting position parameter, and the operating parameters, including:

[0148] The travel speed of the mobile platform is determined based on the first output angle, the second output angle, the first input speed, the second input speed, and the center tilt angle.

[0149] The steering speed of the mobile platform is determined based on the first output angle, the second output angle, the travel speed, the first installation angle parameter, the first installation position parameter, the second installation angle parameter, the second installation position parameter, and the center tilt angle.

[0150] The travel vector of the mobile platform is determined based on the travel speed and steering speed.

[0151] like Figure 6As shown, specifically, the first input speed corresponding to the first steering wheel 121 can be represented by V1, the second input speed corresponding to the second steering wheel 122 can be represented by V2, and the actual travel speed of the center O of the moving platform at any given time can be represented by V. After this, the control component determines the travel speed V of the moving platform based on the first output angle b1′, the second output angle b2′, the first input speed V1, the second input speed V2, and the center tilt angle β of the moving platform, which can be expressed by the following formula:

[0152]

[0153] It is understandable that the travel speed of the mobile platform at any given moment is the numerical value of the actual travel speed of the mobile platform at that moment.

[0154] After determining the travel speed of the mobile platform using the above formula, the steering speed of the mobile platform is determined based on the first output angle, the second output angle, the travel speed, the first installation position parameter, the first installation position parameter, the second installation angle parameter, the second installation position parameter, and the center tilt angle.

[0155] like Figure 6 As shown, specifically, the first installation position parameter includes the distance L1 from the first steering wheel 121 to the center O of the moving mechanism, while the second installation position parameter includes the distance L2 from the second steering wheel 122 to the center O of the moving mechanism. The steering speed ω of the moving platform is determined based on the distance L1 from the first steering wheel 121 to the center O of the moving mechanism, the distance L2 from the second steering wheel 122 to the center O of the moving mechanism, the first output angle b1′, the second output angle b2′, the travel speed V, and the center tilt angle. This can be expressed by the following formula:

[0156]

[0157] The steering speed of the mobile platform can be determined using the above formula, and then the travel vector of the mobile platform can be determined based on the travel speed and steering speed.

[0158] Determining the travel vector of the mobile platform based on the travel speed and steering speed specifically includes: determining the travel angle of the mobile platform at multiple moments based on the steering speed, and determining the travel vector of the mobile platform at multiple moments based on the travel angle and travel speed of the mobile platform at multiple moments. The travel vector of the mobile platform includes the travel angle and travel speed of the mobile platform at the corresponding moment.

[0159] It is understandable that the steering speed of a mobile platform represents the rate and direction of change of its driving angle in a real environment. Therefore, integrating the steering speeds at multiple adjacent moments can accurately obtain the driving angle of the mobile platform at the corresponding moment. Thus, the driving angle and driving speed can be combined and represented as the driving vector of the mobile platform, and the calculated path of the mobile platform can be obtained further based on the driving vector.

[0160] Step S24: During the operation of the mobile mechanism, obtain the feedback path of the mobile platform.

[0161] like Figure 1 , Figure 7 As shown, the mobile platform 100 is equipped with a detection device 140 electrically connected to the control component 130, and is used to detect point cloud data of the environment in which the mobile platform 100 is located. The detection device 140 may specifically be a radar detection device or other device capable of acquiring point cloud data. In step S24, obtaining the feedback path of the mobile platform specifically includes steps S241-S244:

[0162] Step S241: Acquire point cloud data using a detection device;

[0163] Step S242: Obtain the pose variables of the detection device based on the point cloud data;

[0164] Step S243: Obtain the relative installation position of the detection device on the mobile platform;

[0165] Step S244: Generate the feedback path of the mobile platform based on the relative installation position and pose variables of the detection device.

[0166] Specifically, the control mechanism acquires point cloud data through the detection device, obtains the pose variables of the detection device based on the point cloud data, obtains the relative installation position of the detection device on the mobile platform, and generates the feedback path of the mobile platform based on the relative installation position and pose variables of the detection device.

[0167] It is understandable that the relative installation position of the detection device on the mobile platform is preset and fixed. Therefore, during the process of moving the mobile platform by driving the mobile mechanism, a relatively accurate feedback path can be generated based on the relative installation position and pose variables of the detection device as a reference for parameter tuning.

[0168] In some implementations, the point cloud data includes point cloud data at time corresponding to preset times, wherein there are at least two preset times;

[0169] The pose variables of the detection device are obtained from the point cloud data, including:

[0170] The time-period pose variables of the detection device are obtained from the point cloud data of adjacent preset times.

[0171] The pose variables are determined based on the pose variables over time periods.

[0172] Specifically, the detection component can detect the environment according to a preset time to obtain the time point cloud data corresponding to the preset time. The detection component can also detect the environment according to a preset acquisition frequency to obtain the time point cloud data corresponding to the preset time. The point cloud data includes the time point cloud data corresponding to the preset time. There are at least two preset times. The control device obtains the time period pose variable of the detection device between the two preset times based on the time point cloud data adjacent to the preset times. Then, based on at least one time period pose variable, the control device determines the pose variable of the detection device during the operation of the control moving mechanism.

[0173] In some implementations, the control device obtains the time-period pose variables of the detection device between the two preset times based on the time point cloud data adjacent to the preset times. Specifically, this includes: inputting the time point cloud data adjacent to the preset times into a preset pose model to obtain the time-period pose variables between the two preset times. The pose model can be trained using the ICP algorithm (Iterative Closest Point) so that the pose model generates the time-period pose variables of the detection device based on the time point cloud data of the two adjacent preset times.

[0174] During the operation of the mobile mechanism, point cloud data is collected multiple times, and the pose variables of the corresponding time period are obtained based on the point cloud data. This makes the pose variables of the detection component more accurate, thereby improving the accuracy of subsequent parameter tuning.

[0175] Step S25: Based on the calculation path and feedback path, perform parameter tuning on the parameters to be tuned to obtain the parameter tuning path generation model.

[0176] In some implementations, parameter tuning is performed on the parameters to be tuned based on the calculation path and the feedback path, including:

[0177] An error model is established based on the calculation path and the feedback path. The error model is used to output the path error of the calculation path and the feedback path.

[0178] The parameters to be tuned are tuned so that the path error output by the error function is within the preset error range.

[0179] Specifically, an error model is established based on the computation path and the feedback path. The error model is used to output the path error between the computation path and the feedback path. The error model can be expressed as:

[0180]

[0181] Where J is the path error output by the error model, min is the minimum value of the subsequent formulas, k is the order of the corresponding computation path and feedback path, n is the number of corresponding computation paths and feedback paths, and S k For the k-th feedback path, R k This is the kth computation path.

[0182] Based on the obtained error model, the parameters to be tuned are tuned to ensure that the path error output by the error function is within a preset error range. Specifically, the parameter tuning based on the obtained error model includes: performing nonlinear optimization on the parameters to be tuned in the error model, and using the value of the parameter to be tuned when the path error output by the error function is within the preset error range as the tuning value of the parameter to be tuned, thereby completing the parameter tuning.

[0183] The parameters to be tuned in the path generation model are set to the tuned values ​​obtained through the parameter tuning steps, thus obtaining the parameter-fixed path generation model.

[0184] Please see Figure 8 , Figure 8 This is a flowchart illustrating the path generation method provided in an embodiment of the present invention.

[0185] like Figure 7 As shown, this application embodiment also provides a path generation method, applied to a mobile platform equipped with a moving mechanism. The path generation method specifically includes steps S31-S33:

[0186] Step S31: Receive motion commands and call the parameter-determined path generation model according to the motion commands, wherein the parameter-determined path generation model is generated using the above-mentioned robot path generation model parameter determination method;

[0187] Step S32: Parse the motion command to obtain the mechanism operation parameters corresponding to the moving mechanism;

[0188] Step S33: Control the operation of the mobile mechanism according to the mechanism operation parameters, and input the mechanism operation parameters into the parameter-defined path generation model to generate the output path of the mobile platform.

[0189] The mobile mechanism receives motion commands and invokes a parameter-determined path generation model based on these commands. This model is generated using the parameter-determined method described above for robot path generation. After invoking the parameter-determined path generation model, the motion commands are parsed to obtain the corresponding mechanism operation parameters. The mobile mechanism is then controlled based on these parameters, and these parameters are input into the parameter-determined path generation model to generate the output path for the mobile platform.

[0190] Specifically, the mobile mechanism is equipped with a first steering wheel and a second steering wheel. The mechanism's operating parameters include the first input angle and first input speed of the first steering wheel at multiple times, and the second input angle and second input speed of the second steering wheel at multiple times. The above-mentioned mechanism operating parameters are input into the calibrated fixed-parameter path generation model, so as to accurately generate the output path of the mobile platform through the fixed-parameter path generation model, thereby compensating for the path deviation caused by the installation error of the mobile mechanism and improving the intelligence and accuracy of the mobile platform's positioning and navigation.

[0191] In summary, this application provides a robot path generation model parameter setting method, a path generation method, and a mobile platform. The robot path generation model parameter setting method and the path generation method are applied to a mobile platform, which includes a mobile mechanism. The robot path generation model parameter setting method includes: constructing a path generation model based on the mobile platform, the path generation model including parameters to be tuned corresponding to the mobile mechanism; obtaining parameter setting instructions and parsing the instructions to obtain the operating parameters corresponding to the mobile mechanism; controlling the operation of the mobile mechanism according to the operating parameters and inputting the operating parameters into the path generation model to generate a calculated path for the mobile platform; obtaining the feedback path of the mobile platform during the control of the mobile mechanism's operation; and tuning the parameters to be tuned based on the calculated path and the feedback path to obtain a parameter-set path generation model to compensate for path deviations caused by installation errors of the mobile mechanism. Furthermore, the mobile platform receives motion instructions and calls the parameter-set path generation model generated by the above-mentioned robot path generation model parameter setting method according to the motion instructions, parses the motion instructions to obtain the mechanism operating parameters corresponding to the mobile mechanism, controls the operation of the mobile mechanism according to the mechanism operating parameters, and inputs the mechanism operating parameters into the parameter-set path generation model to generate an output path for the mobile platform, thereby improving the intelligence and accuracy of the mobile platform's positioning and navigation.

[0192] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0193] It should also be understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, herein, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0194] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific implementations of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for determining parameters of a robot path generation model, applied to a mobile platform, the mobile platform including a moving mechanism, the moving mechanism including a first steering wheel and a second steering wheel spaced apart, characterized in that, The method includes: A path generation model is constructed based on the mobile platform. The path generation model includes parameters to be tuned corresponding to the mobile mechanism. The parameters to be tuned include a first parameter to be tuned corresponding to the first steering wheel and a second parameter to be tuned corresponding to the second steering wheel. Obtain the parameter setting instruction and parse the parameter setting instruction to obtain the operating parameters corresponding to the moving mechanism; The operation of the mobile mechanism is controlled according to the operating parameters, and the operating parameters are input into the path generation model to generate the calculation path of the mobile platform; During the operation of the mobile mechanism, the feedback path of the mobile platform is obtained; Based on the calculation path and the feedback path, the parameters to be tuned are tuned to obtain a parameter-fixing path generation model; The step of inputting the running parameters into the path generation model to generate the computation path of the mobile platform includes: The travel vector of the mobile platform at multiple times is determined based on the first parameter to be tuned, the second parameter to be tuned, and the operating parameters. The computational path is generated based on the driving vectors at multiple times.

2. The method according to claim 1, characterized in that, The mobile platform is equipped with a detection device, and the process of obtaining the feedback path of the mobile platform includes: Point cloud data is acquired using the aforementioned detection device; The pose variables of the detection device are obtained based on the point cloud data; Obtain the relative installation position of the detection device on the mobile platform; The feedback path of the mobile platform is generated based on the relative installation position of the detection device and the pose variable.

3. The method according to claim 2, characterized in that, The point cloud data includes point cloud data corresponding to preset times, wherein there are at least two preset times; The step of obtaining the pose variables of the detection device based on the point cloud data includes: The time-period pose variables of the detection device are obtained based on the point cloud data of the time adjacent to the preset time. The pose variable is determined based on the pose variable during the time period.

4. The method according to claim 3, characterized in that, The step of tuning the parameter to be tuned according to the calculation path and the feedback path includes: An error model is established based on the calculation path and the feedback path, and the error model is used to output the path error between the calculation path and the feedback path; The parameters to be tuned are tuned so that the path error output by the error model is within a preset error range.

5. The method according to claim 1, characterized in that, The first parameter to be adjusted includes the first installation angle parameter and the first installation position parameter of the first steering wheel; the second parameter to be adjusted includes the second installation angle parameter and the second installation position parameter of the second steering wheel. The step of determining the velocity vector of the mobile platform at multiple moments based on the first parameter to be tuned, the second parameter to be tuned, and the operating parameters includes: The center tilt angle of the mobile platform at multiple moments is determined based on the first installation angle parameter, the first installation position parameter, the second installation angle parameter, the second installation position parameter, and the operating parameters. The travel vector of the mobile platform at multiple moments is determined based on the center tilt angle, the first installation angle parameter, the first installation position parameter, the second installation angle parameter, the second installation position parameter, and the operating parameters.

6. The method according to claim 5, characterized in that, The operating parameters include the first input angle of the first steering wheel at multiple times and the second input angle of the second steering wheel at multiple times; The step of determining the center tilt angle of the mobile platform at multiple moments based on the first installation angle parameter, the first installation position parameter, the second installation angle parameter, the second installation position parameter, and the operating parameters includes: The first output angle corresponding to the first steering wheel is determined based on the first input angle and the first installation angle parameter. The second output angle corresponding to the second steering wheel is determined based on the second input angle and the second installation angle parameter. The center tilt angle of the mobile platform at multiple moments is determined based on the first output angle, the second output angle, the first installation position parameter, and the second installation position parameter.

7. The method according to claim 6, characterized in that, The operating parameters also include the first input speed of the first steering wheel at multiple times and the second input speed of the second steering wheel at multiple times; Determining the travel vector of the mobile platform at multiple moments based on the center tilt angle, the first installation angle parameter, the first installation position parameter, the second installation angle parameter, the second installation position parameter, and the operating parameters includes: The travel speed of the mobile platform is determined based on the first output angle, the second output angle, the first input speed, the second input speed, and the center tilt angle. The steering speed of the mobile platform is determined based on the first output angle, the second output angle, the driving speed, the first installation angle parameter, the first installation position parameter, the second installation angle parameter, the second installation position parameter, and the center tilt angle. The travel vector of the mobile platform is determined based on the travel rate and the steering speed.

8. A path generation method, applied to a mobile platform, characterized in that, The method includes: The robot receives motion commands and invokes a parameter-determined path generation model according to the motion commands, wherein the parameter-determined path generation model is generated using the parameter-determined method for robot path generation model according to any one of claims 1 to 7. Parse the motion command to obtain the mechanism operation parameters corresponding to the moving mechanism; The operation of the mobile mechanism is controlled according to the mechanism's operating parameters, and the mechanism's operating parameters are input into the parameter-defined path generation model to generate the output path of the mobile platform.

9. A mobile platform, characterized in that, The mobile platform includes: Platform entity; A mobile mechanism, which is connected to the platform body; Memory, used to store computer programs; and A processor is configured to retrieve a computer program stored in the memory to execute the robot path generation model parameter determination method as described in any one of claims 1 to 7, or to implement the path generation method as described in claim 8.

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