Control method of spherical object launching structure

Abstract

The invention provides a spherical object launching structure control method, and belongs to the technical field of launching control, and the method comprises the steps: obtaining a first distance between a launching structure and a target position in response to a launching instruction; determining the required target launching speed and launching angle according to the first distance and a pre-constructed mathematical model; the mathematical model is obtained by fitting the launching speed and the launching angle required under different distances; and driving the launching structure according to the target launching speed and the launching angle so as to launch the spherical object to the target position. The method has the advantages that the first distance between the transmitting structure and the target position is obtained in real time by responding to the transmitting instruction, and it is ensured that adjustment is conducted based on the latest distance information before transmitting each time; meanwhile, the required target launching speed and launching angle can be intelligently calculated according to different distances based on the pre-constructed mathematical model, the operation complexity is simplified, the launching accuracy is improved, the launching operation time is shortened, and the launching efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of launch control technology, and in particular to a control method for a spherical object launch structure. Background Art

[0002] The spherical object launching structure is a mechanical device used to launch spherical or nearly spherical objects, and is widely used in various fields, including but not limited to entertainment facilities, educational experiments, and scientific research.

[0003] Traditional spherical object launching structures usually need to move to a predetermined position before they can be launched at a specific speed and angle to project the spherical object to the target position. The launch speed and angle cannot be adaptively adjusted when the position changes, which limits the flexibility and adaptability of the launch structure in different application scenarios. The functional design is relatively simple, mainly focusing on achieving basic launch functions, but lacks precise control of parameters such as launch speed and angle.

[0004] In addition, due to the lack of precise control of the launch parameters, the traditional spherical object launching structure often cannot ensure the success rate of the spherical object launch during operation. Due to the instability of the launch speed and angle, the spherical object may not reach the target position accurately, or even if it reaches it, it may not meet the preset standards, which not only reduces work efficiency, but also seriously affects the user experience. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a control method for a spherical object launching structure.

[0006] The technical problem solved by the present invention can be achieved by adopting the following technical solutions:

[0007] A control method for a spherical object launching structure, comprising:

[0008] Responding to the launch instruction, acquiring a first distance between the launch structure and the target location;

[0009] Determining the target launch speed and target launch angle required by the launch structure according to the first distance and a pre-constructed mathematical model; wherein the mathematical model is fitted based on the launch speed and launch angle required at different distances between the launch structure and the target position;

[0010] The launching structure is driven according to the target launching speed and the target launching angle to launch the spherical object to the target position.

[0011] Preferably, before acquiring the first distance between the launch structure and the target position in response to the launch instruction, the method further includes:

[0012] Initializing the launching structure so that the flywheel of the launching structure rotates at a preset initial speed; at the same time, detecting and tracking the target position.

[0013] Preferably, the detecting and tracking the target position comprises:

[0014] Detecting the target position within the field of view;

[0015] When the target position is not detected within the field of view, rotating the field of view until the target position is found; and

[0016] After the target position is searched, the target position is tracked.

[0017] Preferably, it also includes: triggering a transmission instruction;

[0018] The trigger transmission instruction includes:

[0019] When the launching structure is in an autonomous mode, automatically triggering the launching instruction;

[0020] When the launch structure is in the control mode, it monitors whether an external launch control instruction is received, and triggers the launch instruction when the external launch control instruction is received.

[0021] Preferably, the acquiring a first distance between the launch structure and the target position in response to the launch instruction comprises:

[0022] Using a visual module to acquire a visual image including the target location;

[0023] Preprocessing the visual image to obtain a preprocessed visual image;

[0024] Extracting features from the preprocessed visual image to obtain corresponding feature data;

[0025] Acquire the coordinates of the target position in the visual image from the feature data, and calculate the angle between the target position and the visual module according to the coordinates;

[0026] The first distance is calculated based on the angle and a geometric model constructed based on the vision module and the target position.

[0027] Preferably, the angle is calculated using the following formula:

[0028]

[0029] Wherein, tx represents the horizontal offset value of the center point of the plane where the target position is located within the visual module perspective; ty represents the vertical offset value of the center point of the plane where the target position is located within the visual module perspective; FOV represents the visual field of the visual module; VGA represents the resolution pixel of the visual module; θ 视 represents the angle between the target position and the visual module;

[0030] The first distance is calculated by the following formula:

[0031]

[0032] Wherein, H represents the height of the target position from the ground; h represents the height of the visual module from the ground; and X represents the first distance between the emitting structure and the target position.

[0033] Preferably, after calculating the first distance, the method further includes: performing error compensation on the first distance;

[0034] The error compensation for the first distance comprises:

[0035] Based on the first distance, a corresponding distance compensation value is obtained from a pre-constructed distance error compensation database; wherein the distance error compensation database stores compensation values ​​corresponding to the launch structure and the target position at different distances;

[0036] Error compensation is performed on the first distance according to the acquired distance compensation value.

[0037] Preferably, the step of constructing the mathematical model comprises:

[0038] Collecting data to be fitted; the data to be fitted includes the launch speed and launch angle required at different distances between the launch structure and the target position;

[0039] Preprocessing the data to be fitted to obtain preprocessed data to be fitted; the preprocessing includes removing abnormal data;

[0040] The constructor equation is used to fit the pre-processed data to be fitted to obtain a fitting model;

[0041] Check whether the accuracy of the fitting model meets the standard, and if it does not meet the standard, perform error compensation on the launch speed and the launch angle in the data to be fitted, and then re-fit until it meets the standard, and output the fitting model that meets the standard as the mathematical model.

[0042] Preferably, driving the launching structure according to the target launching speed and the target launching angle comprises:

[0043] Controlling a drive motor of the launch structure using the target launch speed and the target launch angle as target expectations;

[0044] Determining whether the rotation speed and rotation angle of the drive motor meet the target expectations;

[0045] When it is determined that the target expectation is not achieved, the drive motor is controlled according to a preset control strategy; wherein the preset control strategy is a motor control signal output based on a voltage compensation signal based on a Kalman filter, a PID control signal based on the difference between the real-time position feedback of the drive motor and the target expectation, and a feedforward compensation coefficient.

[0046] Preferably, the motor control signal is:

[0047]

[0048] Wherein, Error represents the difference between the real-time position feedback of the drive motor and the target expectation; t represents time; Kf represents the feedforward compensation value, which is used to overcome the friction of the motor to overcome the external environment; Kp represents the proportional adjustment constant; Ki represents the integral adjustment constant; Kd represents the differential adjustment constant; V 补偿 Represented as a voltage compensation signal based on Kalman filtering.

[0049] Preferably, launching the spherical object to the target location comprises:

[0050] After the flywheel of the launching structure reaches the target launching speed and the back plate reaches the target launching angle, the conveying mechanism delivers the spherical object to the launching structure;

[0051] The flywheel launches the spherical object to the target location.

[0052] Preferably, the current distribution priority of the flywheel is greater than the current distribution priority of the backplate; the current distribution priority of the backplate is greater than that of the transmission mechanism.

[0053] The advantages or beneficial effects of the technical solution of the present invention are:

[0054] The present invention can ensure that calculation and adjustment are performed based on the latest distance information before each launch by responding to the launch instruction and acquiring the first distance between the launch structure and the target position in real time; at the same time, based on the pre-constructed mathematical model, the required target launch speed and launch angle can be intelligently calculated according to the different distances between the launch structure and the target position, thereby simplifying the complexity of manual operation, improving the accuracy of launching spherical objects to the target position, shortening the launch operation time, and improving the launch efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a flow chart of a control method of a spherical object launching structure in a preferred embodiment of the present invention;

[0056] Figure 2 A schematic diagram of a process for obtaining a first distance between a launch structure and a target position in a preferred embodiment of the present invention;

[0057] Figure 3 A schematic diagram of a geometric model constructed based on a visual module and a target position in a preferred embodiment of the present invention;

[0058] Figure 4 A schematic diagram of a process for obtaining a first distance between a launch structure and a target position in a preferred embodiment of the present invention;

[0059] Figure 5 A schematic diagram of a process of performing error compensation on a first distance in a preferred embodiment of the present invention;

[0060] Figure 6 A schematic flow chart of the steps of constructing a mathematical model in a preferred embodiment of the present invention;

[0061] Figure 7 A schematic diagram of a flow chart of driving a launching structure according to a target launching speed and a target launching angle in a preferred embodiment of the present invention;

[0062] Figure 8 This is a schematic diagram of the principle of PID control + feedforward control in a preferred embodiment of the present invention;

[0063] Fig. 9 A schematic diagram of the process flow of linkage control in a preferred embodiment of the present invention;

[0064] Fig.10 The figure is a schematic diagram of the overall flow of a control method for a spherical object launching structure in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0065] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0066] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0067] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0068] See also Figures 1 to 10 In a preferred embodiment of the present invention, based on the above problems existing in the prior art, a control method for a spherical object launching structure is provided, comprising:

[0069] S100, acquiring a first distance between a launch structure and a target position in response to a launch instruction;

[0070] S200, determining a target launch speed and a target launch angle required by the launch structure according to the first distance and a pre-built mathematical model; wherein the mathematical model is obtained by fitting based on the launch speed and the launch angle required at different distances between the launch structure and the target position;

[0071] S300, driving the launching structure according to the target launching speed and the target launching angle to launch the spherical object to the target position.

[0072] Specifically, the traditional spherical object launching structure has a relatively simple function and needs to be moved to a predetermined position before launching. When the position changes, the launching speed and angle cannot be adjusted adaptively, which limits its flexibility and adaptability. In this embodiment, when a launch instruction is received, the received launch instruction is responded to to obtain the real-time distance between the launching structure and the target position, which is recorded as the first distance. Then, a pre-built mathematical model is called, which is obtained based on a large amount of experimental data fitting, reflecting the relationship between the launching speed and the launching angle required at different distances between the launching structure and the target position. The above-mentioned first distance obtained in real time is used as input, and the corresponding target launching speed and target launching angle are calculated by the mathematical model. After determining the target launching speed and target launching angle, a control signal will be sent to the launching structure, and the launching structure will be controlled to adjust to the corresponding state according to the specified speed and angle according to the control signal, so as to ensure that the spherical object can fly according to the predetermined trajectory and finally reach the target position.

[0073] Specifically, the launch structure is installed on the mobile vehicle, and the position of the launch structure changes as the mobile vehicle moves. Through the above scheme, the present invention performs calculations and adjustments based on the latest distance information before each launch, which can achieve precise control of the launch of spherical objects, improve the success rate and efficiency of the launch, and also enhance the user experience.

[0074] As a preferred embodiment, the invention further comprises:

[0075] Initialize the launching structure so that the flywheel of the launching structure rotates at a preset initial speed; at the same time, detect and track the target position.

[0076] Specifically, in this embodiment, after the launch structure machine is powered on, the launch structure machine is first initialized, for example, including but not limited to the initialization of the controller and the actuator; then, the initialization setting program starts to run on the launch structure, and the flywheel corresponding to the drive motor in the launch structure rotates according to the preset initial speed, ensuring that the flywheel can provide stable power output during the subsequent launch process.

[0077] The preset initial speed is lower than the speed in the normal launch mode. The drive motor on the flywheel enters a low-speed rotation state according to the preset initial speed, so as to drive the flywheel to enter a low-speed rotation state.

[0078] At the same time, the target position is detected in real time. Once the target position is detected, the tracking mode is immediately activated. By continuously receiving updated information on the target position, the distance change between the launch structure and the target can be tracked in real time.

[0079] Furthermore, the spherical article includes a spherical object or an approximately spherical object.

[0080] The target position refers to the point in space where the spherical object is expected to reach or be aimed at.

[0081] Furthermore, a pan-tilt is installed on the mobile vehicle. The transmitting structure is installed on the pan-tilt, and a visual module is also arranged on the pan-tilt. The pan-tilt supports the up and down lifting function and the rotation function of the transmitting structure and the visual module, wherein the rotation includes horizontal rotation (left and right rotation) and vertical rotation (up and down rotation).

[0082] The vision module includes a high-definition camera, a visual sensor, and corresponding image processing hardware. The high-definition camera has a wide-angle lens and high resolution to ensure a wide field of view and capture clear images. The visual sensor uses built-in visual algorithms to perform real-time image acquisition and processing to achieve target recognition, distance measurement, and motion tracking.

[0083] As a preferred implementation, detecting and tracking the target position includes:

[0084] Detect the target position within the field of view;

[0085] When the target position is not detected within the field of view, the field of view is rotated until the target position is found; and

[0086] After the target location is searched, the target location is tracked.

[0087] Specifically, in this embodiment, the visual module on the gimbal starts to detect the current position. If the target position is not within the field of view of the camera on the visual module, the gimbal will enter the automatic cruise mode.

[0088] In the automatic cruise mode, the gimbal (including the launch structure and vision module thereon) rotates 0-360 degrees until the target position is found.

[0089] After detecting the target position, the gimbal will track the target position. During the movement of the mobile car, the launch structure on the gimbal will always aim at the area where the target position is located.

[0090] As a preferred implementation, the method further includes: triggering a transmission instruction;

[0091] The trigger launch instructions include:

[0092] When the launch structure is in autonomous mode, the launch command is automatically triggered;

[0093] When the launch structure is in the control mode, it monitors whether an external launch control instruction is received, and triggers the launch instruction when the external launch control instruction is received.

[0094] Specifically, after the launch structure is initialized, it enters a standby state, waiting for the launch command to be triggered.

[0095] Furthermore, after the transmitting structure is initialized, it may also include: mode selection.

[0096] Specifically, the emission modes of the emission structure include the following for selection:

[0097] Control mode; or

[0098] Autonomous mode.

[0099] In the mode selection step, the operator can select any one of the above two emission modes as needed.

[0100] When the launch structure is in the operation mode, the operator can use the handle or the operation button on the computer to operate and control the launch structure on the whole machine. When the launch button or command is triggered, the response steps of the launch command shown in the above S100-S300 are executed.

[0101] When the launch structure is in automatic mode, the launch structure automatically triggers the launch command without the need for key operation, that is, the response steps of the launch command are automatically executed.

[0102] As a preferred embodiment, wherein Figure 2 As shown, in response to the launch instruction, acquiring a first distance between the launch structure and the target position includes:

[0103] S101, using a visual module to acquire a visual image containing a target position;

[0104] First, the area where the target location is located is imaged through a visual module (such as a high-definition camera) installed on the gimbal to capture a visual image containing the target location. The visual module must ensure that the image is captured under appropriate viewing angles and lighting conditions to obtain high-quality visual images.

[0105] S102, preprocessing the visual image to obtain a preprocessed visual image;

[0106] After the visual image is collected, the image is preprocessed to eliminate noise, enhance target features, and improve image quality.

[0107] S103, extracting features from the preprocessed visual image to obtain corresponding feature data;

[0108] In the feature extraction stage, the pre-processed visual image is subjected to feature extraction based on the pre-trained feature extraction model. Deep learning technology is used to improve the accuracy and response speed of target recognition and provide accurate target positioning information for the launch structure.

[0109] The feature extraction model is trained through a large amount of labeled image data and can learn the feature representation of the target location in different situations.

[0110] Specifically, the training process of the feature extraction model includes the following steps:

[0111] First, for the characteristics of the current position, take photos and collect data at different positions and conditions to collect various visual images of the target position. These images should cover the target under different lighting conditions, different angles, and different degrees of occlusion to ensure that the model can adapt to various actual environments.

[0112] Then, the collected data is preprocessed; wherein the preprocessing step may include sample data removal of abnormal images, that is, automatically detecting and removing abnormal images caused by equipment failure, light changes or object occlusion, and only retaining normal and clear visual image data.

[0113] The above preprocessing steps also include data enhancement and data labeling. Data enhancement increases the diversity of training samples and improves the generalization ability of the model by rotating, scaling, translating, flipping, and other operations on the original image. Then the target position in the image is accurately labeled, usually using a rectangular box, polygon, etc. to circle the target position, and generate the corresponding label file. These label files will be used to supervise the training process of the model.

[0114] Next, a deep learning network is constructed, such as a deep residual network (ResNet), a visual geometry group network (VGG), an inception network (Inception) and / or an efficient network (EfficientNet).

[0115] The deep learning model is trained using the preprocessed image data and the corresponding label files. During the training process, the model will learn how to extract useful feature representations from the input image and optimize the recognition accuracy of the target location by continuously adjusting the model parameters.

[0116] After the model training is completed, the model is evaluated using an independent test data set. Based on the evaluation results, the model can be further optimized and adjusted to improve the recognition accuracy and robustness of the model.

[0117] The feature extraction model is pre-trained based on deep learning technology, which enables the visual module to identify the target location faster, while reducing the transmitted data flow, effectively improving resource utilization.

[0118] S104, obtaining the coordinates of the target position in the visual image from the feature data, and calculating the angle between the target position and the visual module according to the coordinates;

[0119] After the camera's internal data processing, the pixel coordinates (tx, ty) of the target position in the image are obtained as the current coordinates (tx, ty) of the target position;

[0120] According to the coordinates, the angle θ between the target position and the visual sensor is calculated 视 , which is calculated using the following formula (1):

[0121]

[0122] Wherein, tx represents the horizontal offset value of the center point of the plane where the target position is located within the camera's field of view;

[0123] ty represents the vertical offset value of the center point of the plane where the target position is located within the camera's field of view;

[0124] FOV represents the field of view of the camera, which is a hardware parameter of the camera. The embodiment of the present invention takes the field of view of 51.2 as an example.

[0125] VGA represents the resolution pixel of the camera (width or height, depending on the camera configuration). The embodiment of the present invention takes the camera resolution pixel as 480 as an example;

[0126] θ 视Represents the angle between the target position and the vision sensor.

[0127] S105, calculating a first distance according to the angle and a geometric model constructed based on the vision module and the target position.

[0128] Calculate θ 视 Afterwards, the geometric model of the launch structure and the target position is constructed, such as Figure 3 As shown, the geometric model takes the center point of the launch structure (i.e. the center point of the ball launch) as the coordinate origin, the horizontal axis of the launch direction of the launch structure toward the target position is the positive direction of the X-axis, and the vertical upward direction is the positive direction of the Y-axis.

[0129] The first distance X from the launch structure to the target position can be calculated by the geometric model, which is calculated using the following formula (2):

[0130]

[0131] Among them, arctan represents the inverse tangent function;

[0132] H represents the height of the target position from the ground;

[0133] h represents the height of the visual module’s camera from the ground;

[0134] X represents a first distance between the transmitting structure and the target location.

[0135] As a preferred embodiment, wherein Figure 4 As shown, it also includes:

[0136] S106, performing error compensation on the first distance.

[0137] Specifically, in this embodiment, after the real-time distance (ie, the first distance) from the launch structure to the target position is calculated, error compensation may be performed on the real-time distance to further improve the accuracy and reliability of the distance.

[0138] Furthermore, since long-distance transmission is easily affected by current and voltage, resulting in inaccurate transmission distance, a distance threshold can be preset in an embodiment of the present invention, and error compensation is performed for the first distance exceeding the preset distance threshold; no error compensation is required for the first distance that does not exceed the preset distance threshold.

[0139] As a preferred embodiment, wherein Figure 5 As shown, performing error compensation on the first distance includes:

[0140] S1061, obtaining a corresponding distance compensation value from a pre-built distance error compensation database based on the first distance; wherein the distance error compensation database stores compensation values ​​corresponding to different distances between the launch structure and the target position;

[0141] S1062: Perform error compensation on the first distance according to the acquired distance compensation value.

[0142] Specifically, in this embodiment, the distance compensation value can be obtained by matching from a distance error compensation database according to the first distance acquired in real time.

[0143] Furthermore, the process of constructing the distance error compensation database includes the following steps:

[0144] The visual ranging algorithm of the above steps S101-S105 is used to calculate the first distance X; and the actual distance from the launch structure to the target position is measured at this time;

[0145] When the launch structure is kept at the same height from the ground, multiple sets of different first distances X and corresponding actual distances are obtained;

[0146] Then, by comparing the measured actual distance with the calculated first distance X, data analysis is performed on the differences, and corresponding data is fitted to form a fitted distance error compensation database.

[0147] During the launch process, the first distance X calculated based on the visual ranging algorithm is used as the input value, and the distance compensation value corresponding to the first distance X is found from the distance error compensation database. By adding the form of error compensation, the distance from the center of the final launch structure to the target point is obtained, and the error can reach the millimeter level.

[0148] Further, the first distance after compensation X=X+Xc;

[0149] Wherein, Xc represents the distance compensation value.

[0150] The distance compensation value may be a fixed error compensation value; or an error compensation value that varies according to different distances, such as a compensation method using univariate linear regression, i.e., Xc=W*X, where W is the compensation coefficient and is a positive value, i.e., the longer the first distance, the greater the distance compensation value. It may also be obtained by direct matching from the above distance error compensation database.

[0151] Specifically, if the transmitting structures are located at different positions at the same height but have the same first distance, that is, on the same latitude line centered on the transmitting structure, the distance compensation value is the same.

[0152] When the transmitting structure is at different heights, the corresponding distance compensation values ​​may be different even though the first distance is the same. Furthermore, the above-mentioned distance error compensation database may also store the height of the transmitting structure (i.e., the height from the ground) and the distance compensation values ​​corresponding to different first distances when the transmitting structure is at different heights. During the transmitting process, the corresponding distance compensation value is obtained by matching the first distance calculated in real time with the height at which the current transmitting structure is located.

[0153] Preferably, the distance error compensation database may further include multiple sub-databases, each of which is used to store distance compensation values ​​corresponding to different first distances when the transmitting structure is at the same height, and different sub-databases correspond to different heights of the transmitting structure. During the transmitting process, a sub-database of a corresponding height is obtained according to the current height of the transmitting structure, and then the sub-database is applied to obtain a corresponding distance compensation value from the sub-database according to the first distance calculated in real time.

[0154] As a preferred embodiment, wherein Figure 6 As shown, the steps of constructing the mathematical model include:

[0155] A1, collecting data to be fitted; the data to be fitted include the launch speed and launch angle required at different distances between the launch structure and the target position;

[0156] First, it is necessary to collect the raw data of the launch speed and launch angle required at different distances between the launch structure and the target location. These data can be obtained through experimental measurement, simulation or historical data collection.

[0157] A2, preprocessing the data to be fitted to obtain preprocessed data to be fitted; the preprocessing includes removing abnormal data;

[0158] The collected data to be fitted are preprocessed to eliminate or reduce noise and outliers in the data. The preprocessing steps may include but are not limited to abnormal data removal, data cleaning, data standardization or normalization.

[0159] Abnormal data removal preprocessing identifies and removes points that significantly deviate from the normal data distribution through constraints. These points may be caused by measurement errors, equipment failures or other unforeseen reasons.

[0160] Data cleaning preprocessing can remove duplicate data, handle missing values, or fill in reasonable alternative values.

[0161] Standardize or normalize the data so that all features have the same scale to eliminate dimensional differences between different features.

[0162] A3, constructing a function equation to fit the preprocessed data to be fitted to obtain a fitting model;

[0163] The data was fitted by constructing a quadratic function equation, and a curve was generated in Matlab software to check the correlation of the model data.

[0164] A4, checking whether the accuracy of the fitting model meets the standard, and if it does not meet the standard, respectively compensating the errors of the launch speed and the launch angle in the fitting data, and then refitting until it meets the standard, and outputting the fitting model that meets the standard as the mathematical model.

[0165] During the specific implementation process, it was found that long-distance transmission is easily affected by current and voltage, resulting in inaccurate transmission distance. By adding error compensation items to the transmission speed and angle exceeding a certain distance, the precise transmission speed and distance of long-distance transmission were obtained. Finally, through continuous transmission tests, it was found that after model calculation, the transmission success rate reached more than 90%.

[0166] Furthermore, the error compensation items of the launch speed and angle can be obtained in the same way as the above distance compensation. That is, when the launch structure is at the same height, the theoretical values ​​of the target launch speed and angle corresponding to different distances are calculated by the above mathematical model, but in the actual test process, it is found that the actual launch speed and angle at the same first distance have a certain error with the theoretical value. The difference between the theoretical value and the actual launch speed and angle is collected, and then the launch speed and angle database is established for compensation.

[0167] The height position of the launch structure is adjusted, and at each height position, a launch speed and angle database is established in the same manner as described above to compensate for the launch speed and angle.

[0168] The launch speed and angle database includes the error compensation items of the launch speed and the error compensation items of the launch angle corresponding to different first distances when the launch structure is at different heights.

[0169] In actual application, based on the first distance between the launch structure and the target position collected in real time by the camera, the speed and angle error compensation items that match the height of the launch structure and the first distance item are obtained from the launch speed and angle database.

[0170] As a preferred embodiment, wherein Figure 7 As shown, the launching structure driven according to the target launching speed and the target launching angle includes:

[0171] S301, controlling a drive motor of a launch structure with a target launch speed and a target launch angle as target expectations;

[0172] S302, determining whether the speed and rotation angle of the driving motor meet the target expectations;

[0173] S303, when it is determined that the target expectation is not achieved, the drive motor is controlled according to a preset control strategy; wherein the preset control strategy is a motor control signal output based on a voltage compensation signal based on a Kalman filter, a PID control signal based on the difference between the real-time position feedback of the drive motor and the target expectation, and a feedforward compensation coefficient.

[0174] Furthermore, the method further includes: S304, launching the spherical object to the target position when it is determined that the target expectation is reached.

[0175] Specifically, in this embodiment, after calculating the target launch speed required by the flywheel and the target launch angle required by the backplate based on the mathematical model, they are converted into the required rotation speed of the drive motor on the flywheel and the angle value of rotation required by the drive motor on the backplate; then, the control motor starts to rotate, and by reading and feeding back the real-time speed of the drive motor on the flywheel and the rotation angle of the drive motor on the backplate in real time, the speed and rotation angle of the control motor are controlled based on PID control and feedforward control, forming a closed-loop control method to achieve the set target value.

[0176] The speed and rotation angle of the motor in the launching structure are controlled by combining PID control with feedforward control, and the voltage of the entire loop is adjusted and feedforward compensated through the Kalman filter, thereby achieving precise control of the launching structure drive motor and improving the launching accuracy and stability of spherical objects.

[0177] like Figure 8 The schematic diagram of the principle of PID control + feedforward control is shown. It includes: PID controller, Kalman filter, drive motor and encoder. The input end of the PID controller is connected to the target expectation, that is, the target launch speed and target launch angle determined based on the mathematical model; the Kalman filter outputs voltage compensation to the output end of the PID controller; the output of the PID controller is superimposed with the voltage compensation output by the Kalman filter and then output to the drive motor to control the rotation of the motor; an encoder is installed on the drive motor, and the real-time position of the motor is obtained through the encoder and fed back to the input end of the PID controller.

[0178] Furthermore, in addition to the proportional (KP), integral (KI), and differential (KD) links in the PID controller, KF is also added to overcome the friction of the motor in the external environment, so that the flywheel in the launching structure can reach the target launching speed faster and the back plate can rotate to the target launching angle faster.

[0179] In the motor control process, the speed of the drive motor is first controlled through the proportional, integral, and differential links in the PID controller, and feedforward control is added to the output of the drive motor (the real-time position of the motor is fed back to the input of the PID controller through the encoder), and KF is added to overcome the friction of the motor to overcome the external environment; then a predictive voltage compensation is added in the form of Kalman filtering to make the output of the motor smoother. The motor control signal of the final drive motor is calculated using the following formula (3):

[0180]

[0181] Where Error represents the difference between the target expectation and the real-time position fed back by the drive motor; t represents time; Kf represents the feedforward compensation value, which is used to overcome the friction of the motor in the external environment; Kp represents the proportional adjustment constant; Ki represents the integral adjustment constant; Kd represents the differential adjustment constant; V 补偿 Represented as a voltage compensation signal based on Kalman filtering.

[0182] As a preferred embodiment, wherein Fig. 9 As shown, launching the spherical object to the target location includes:

[0183] After the flywheel of the launching structure reaches the target launching speed and the back plate reaches the target launching angle, the conveying mechanism delivers the spherical object to the launching structure;

[0184] The flywheel launches the spherical object to the target location.

[0185] As a preferred embodiment, the current distribution priority of the flywheel is higher than that of the backplate; and the current distribution priority of the backplate is higher than that of the transmission mechanism.

[0186] Specifically, after determining that the launch command is triggered, the flywheel is controlled to rotate to the target launch speed, and the back plate is adjusted to the target launch angle; then the transmission mechanism sends the spherical object to the launch structure, and launches the spherical object to the target position.

[0187] In this linkage control process, the current is distributed and controlled through the current control loop, with the current being distributed to the flywheel first, then to the backboard, and finally to the ball delivery link, thus achieving rational utilization of resources. After current control distribution, the original 12V fully charged lead-acid battery could only be used for 15 minutes, but now it can be used for 20 minutes.

[0188] Specifically, in this embodiment, the current allocation priority refers to the priority of the current size, specifically the priority of the current allocation ratio. When the output is certain, output allocation is given priority to certain important structures, and after their needs are met, the current output is allocated to other mechanisms.

[0189] For example, for some important structures in the launching process of the launching structure, such as the flywheel, back plate and transmission mechanism, the flywheel, back plate and transmission mechanism will distribute current. In the ball sending link, the current distribution ratio of the transmission mechanism is higher than that of the flywheel and back plate. The current distribution is optimized according to the actual working conditions and load conditions to improve the efficiency and stability of the system.

[0190] Furthermore, in the embodiment of the present invention, the mobile vehicle is in a stationary state during the period from when the launch instruction is triggered to when the spherical object is launched.

[0191] The advantages or beneficial effects of adopting the above technical solution are: the present invention can ensure that calculations and adjustments are performed based on the latest distance information before each launch by responding to the launch instruction and obtaining the first distance between the launch structure and the target position in real time; at the same time, based on the pre-constructed mathematical model, the required target launch speed and launch angle can be intelligently calculated according to the different distances between the launch structure and the target position, thereby simplifying the complexity of manual operation, improving the accuracy of launching spherical objects to the target position, shortening the launch operation time, and improving the launch efficiency.

[0192] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the contents of this specification and illustrations should be included in the protection scope of the present invention.

Claims

1. A control method for a spherical object launching structure, characterized in that: include: Responding to the launch instruction, acquiring a first distance between the launch structure and the target location; Determining the target launch speed and target launch angle required by the launch structure according to the first distance and a pre-constructed mathematical model; wherein the mathematical model is obtained by fitting the launch speed and launch angle required at different distances between the launch structure and the target position; The launching structure is driven according to the target launching speed and the target launching angle to launch the spherical object to the target position.

2. The control method of the spherical object launching structure according to claim 1, characterized in that: Also includes: Initializing the launching structure so that the flywheel of the launching structure rotates at a preset initial speed; At the same time, the target position is detected and tracked.

3. The control method of the spherical object launching structure according to claim 2, characterized in that: The detecting and tracking the target position comprises: Detecting the target position within the field of view; When the target position is not detected within the field of view, rotating the field of view until the target position is found; and After the target position is searched, the target position is tracked.

4. The control method of the spherical object launching structure according to claim 1, characterized in that: Also includes: Trigger the launch command; The trigger transmission instruction includes: When the launching structure is in an autonomous mode, automatically triggering the launching instruction; When the launch structure is in the control mode, it monitors whether an external launch control instruction is received, and triggers the launch instruction when the external launch control instruction is received.

5. The control method of the spherical object launching structure according to claim 1, characterized in that: The acquiring a first distance between the launch structure and the target position in response to the launch instruction comprises: Using a visual module to acquire a visual image including the target location; Preprocessing the visual image to obtain a preprocessed visual image; Extracting features from the preprocessed visual image to obtain corresponding feature data; Acquire the coordinates of the target position in the visual image from the feature data, and calculate the angle between the target position and the visual module according to the coordinates; The first distance is calculated based on the angle and a geometric model constructed based on the vision module and the target position.

6. The control method of the spherical object launching structure according to claim 1, characterized in that: The angle is calculated using the following formula: Wherein, tx represents the horizontal offset value of the center point of the plane where the target position is located within the visual module perspective; ty represents the vertical offset value of the center point of the plane where the target position is located within the visual module perspective; FOV represents the visual field of the visual module; VGA represents the resolution pixel of the visual module; θ 视 represents the angle between the target position and the visual module; The first distance is calculated by the following formula: Wherein, H represents the height of the target position from the ground; h represents the height of the visual module from the ground; and X represents the first distance between the emitting structure and the target position.

7. The control method of the spherical object launching structure according to claim 1, characterized in that: Also includes: performing error compensation on the first distance; The error compensation for the first distance comprises: Based on the first distance, a corresponding distance compensation value is obtained from a pre-constructed distance error compensation database; wherein the distance error compensation database stores compensation values ​​corresponding to the launch structure and the target position at different distances; Error compensation is performed on the first distance according to the acquired distance compensation value.

8. The control method of the spherical object launching structure according to claim 1, characterized in that: The steps of constructing the mathematical model include: Collecting data to be fitted; the data to be fitted includes the launch speed and launch angle required at different distances between the launch structure and the target position; Preprocessing the data to be fitted to obtain preprocessed data to be fitted; the preprocessing includes removing abnormal data; The constructor equation is used to fit the pre-processed data to be fitted to obtain a fitting model; Check whether the accuracy of the fitting model meets the standard, and if it does not meet the standard, perform error compensation on the launch speed and the launch angle in the data to be fitted, and then re-fit until it meets the standard, and output the fitting model that meets the standard as the mathematical model.

9. The control method of the spherical object launching structure according to claim 1, characterized in that: The driving of the launching structure according to the target launching speed and the target launching angle comprises: Controlling a drive motor of the launch structure using the target launch speed and the target launch angle as target expectations; Determining whether the rotation speed and rotation angle of the drive motor meet the target expectations; When it is determined that the target expectation is not achieved, the drive motor is controlled according to a preset control strategy; wherein the preset control strategy is a motor control signal output based on a voltage compensation signal based on a Kalman filter, a PID control signal based on the difference between the real-time position feedback of the drive motor and the target expectation, and a feedforward compensation coefficient.

10. The control method of the spherical object launching structure according to claim 9, characterized in that: The motor control signal is: Wherein, Error represents the difference between the real-time position feedback of the drive motor and the target expectation; t represents time; Kf represents the feedforward compensation value, which is used to overcome the friction of the motor to overcome the external environment; Kp represents the proportional adjustment constant; Ki represents the integral adjustment constant; Kd represents the differential adjustment constant; V 补偿 Represented as a voltage compensation signal based on Kalman filtering.

11. The control method of the spherical object launching structure according to claim 1, characterized in that: The launching of the spherical object to the target position comprises: After the flywheel of the launching structure reaches the target launching speed and the back plate reaches the target launching angle, the conveying mechanism delivers the spherical object to the launching structure; The flywheel launches the spherical object to the target location.

12. The control method of the spherical object launching structure according to claim 11, characterized in that: The current distribution priority of the flywheel is higher than the current distribution priority of the back plate; the current distribution priority of the back plate is higher than the transmission mechanism.

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