Six-degree-of-freedom synchronous control method and system based on base-station-free positioning
By using multimodal sensor data fusion and distributed control commands, the positioning accuracy problem of six-degree-of-freedom synchronous control in environments without network coverage was solved, achieving high-precision and adaptive synchronous control.
Patent Information
- Application Number
- CN202511880384.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-13
- Publication Date
- 2026-02-24
AI Technical Summary
Traditional six-degree-of-freedom synchronous control systems experience a decrease in positioning accuracy in environments without network coverage, which affects the synchronous control effect.
A multimodal sensor module is used to collect spatial pose data of the vehicle and six-degree-of-freedom actuators in real time. High-precision synchronous control is achieved through distributed control commands and incremental adjustment mechanisms. This includes data fusion from inertial measurement units, vision sensors, and laser ranging modules, combined with Kalman filtering algorithms and CAN bus transmission.
It achieves high-precision pose measurement and adaptive adjustment in base station-free environments, adapting to actuator wear and load changes, thereby improving the accuracy and robustness of synchronous control.
Smart Images
Figure CN121560049A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of vehicle attitude control technology, specifically to a six-degree-of-freedom synchronous control method and system based on base station-free positioning. Background Technology
[0002] Six-degree-of-freedom motion platforms are widely used in flight simulators, ship simulators, industrial robots, precision manufacturing and other fields because they can achieve precise control of six degrees of freedom in space (X, Y, Z translation and Rx, Ry, Rz rotation).
[0003] Traditional six-degree-of-freedom synchronous control systems rely on base station positioning technologies, such as GPS and cell tower positioning. However, in environments without network coverage, such as special areas, accurate positioning cannot be achieved, leading to a decrease in synchronous control accuracy and consequently affecting the synchronous control effect of multiple actuators.
[0004] Therefore, there is an urgent need for a six-degree-of-freedom synchronization control method and system that does not rely on base station positioning, has strong anti-interference capabilities, high synchronization accuracy, and excellent adaptive capabilities. Summary of the Invention
[0005] The technical problem to be solved by the present invention is to overcome the above-mentioned technical defects and provide a six-degree-of-freedom synchronous control method and system based on base station-free positioning with high positioning accuracy, reliable command transmission, and adaptive adjustment.
[0006] To solve the above-mentioned technical problems, the technical solution provided by the present invention is: a six-degree-of-freedom synchronization control method based on base station-free positioning, comprising the following steps:
[0007] S1: Deploy multiple sets of six-degree-of-freedom actuators to the vehicle;
[0008] S2: Real-time spatial pose data of the vehicle and the real-time position of the six-degree-of-freedom actuators are collected by the multimodal sensor module and transmitted to the control unit;
[0009] S3: Based on the real-time position and attitude data of the six-degree-of-freedom actuator obtained in S2, perform synchronous control strategy calculation and output the position and attitude deviations of the six-degree-of-freedom actuator;
[0010] S4: Generate corresponding distributed control commands based on the obtained position and attitude deviations, and output them to the corresponding six-degree-of-freedom actuators;
[0011] S5: Real-time acquisition of motion state data of the six-degree-of-freedom actuator, including comparison of actual position, actual attitude and target attitude;
[0012] S6: Perform dynamic adjustment control commands based on the comparison results in S5. When the comparison difference of any parameter exceeds the threshold, trigger the incremental adjustment mechanism to correct the joint drive parameters in the control commands.
[0013] S7: Repeat S2-S7 until the vehicle reaches the target posture.
[0014] Preferably, the six-degree-of-freedom actuator in S1 is interconnected with the vehicle data, including a wired communication unit and a wireless communication unit.
[0015] Preferably, the multimodal sensor module in S2 includes an inertial measurement unit, a vision sensor, and a laser ranging module;
[0016] The spatial pose data includes translation data in the X, Y, and Z directions and rotation data in the Rx, Ry, and Rz directions.
[0017] Preferably, the multimodal sensor module in S2 includes an inertial measurement unit, a vision sensor, and a laser ranging module;
[0018] The spatial pose data includes translation data in the X, Y, and Z directions and rotation data in the Rx, Ry, and Rz directions.
[0019] Preferably, the distributed control command in S4 includes the joint angle, movement speed and driving torque parameters of the actuator;
[0020] The distributed control commands are transmitted to the drive systems of each six-degree-of-freedom actuator via the CAN bus.
[0021] Preferably, the incremental adjustment in S6 includes establishing an online self-tuning model for the joint drive parameters and optimizing the parameters based on the gradient descent method;
[0022] In S6, the threshold is set into three sets of thresholds according to the degree of environmental interference, which correspond to low, medium and high respectively.
[0023] Another aspect of the present invention discloses a six-degree-of-freedom synchronous control system, comprising a distributed execution unit, a communication unit, a multimodal sensing unit, a control unit, and a data processing unit;
[0024] The control unit includes a processor and a memory, used to perform synchronous control strategy calculation and control instruction generation;
[0025] The multimodal sensing unit integrates an inertial measurement unit, a vision sensor, a laser ranging module, and an environmental interference acquisition unit to collect pose data, motion state data, and environmental interference data.
[0026] The communication module includes a wired communication unit and a wireless communication unit to interconnect the six-degree-of-freedom actuator with the vehicle.
[0027] The data processing unit performs noise reduction and format standardization processing on the pose data, motion state data and environmental interference data collected by the multimodal sensing unit.
[0028] Preferably, the memory stores historical operating data, threshold parameters, and control strategy models.
[0029] The advantages of this invention compared with the prior art are as follows: This invention does not rely on external base stations. Through redundant acquisition and data fusion of multimodal sensor modules, high-precision pose measurement is achieved in base station-free environments. The incremental adjustment mechanism can adapt to dynamic working conditions such as actuator wear and load changes in real time. Parameter optimization can be completed without manual intervention. It has strong adaptability and is suitable for multiple application scenarios. Attached Figure Description
[0030] Figure 1 This is a structural diagram of the patent title of this invention.
[0031] Figure 2 This is a flowchart illustrating the six-degree-of-freedom synchronous control method. Detailed Implementation
[0032] The present invention will now be described in further detail with reference to the accompanying drawings.
[0033] Combined with appendix Figure 1-2 As shown, this invention achieves precise synchronous control of multiple six-degree-of-freedom actuators in a base station-free environment through multimodal sensing acquisition, hierarchical synchronous control strategy, distributed command transmission, and closed-loop control logic of dynamic incremental adjustment.
[0034] include:
[0035] The actuators are deployed in multiple sets of six-degree-of-freedom actuators at the target operating parts of the vehicle. Each set of actuators establishes a wired + wireless dual data interconnection with the vehicle. The wired communication unit ensures the stability of data transmission, while the wireless communication unit serves as a redundant backup to avoid control interruption caused by a single communication link failure.
[0036] Multimodal data acquisition is achieved through a multimodal sensor module that integrates an inertial measurement unit (IMU), a vision sensor, and a laser ranging module. This module collects two types of core data in real time: the spatial pose data of the vehicle and the real-time position data of each of the six-degree-of-freedom actuators. The collected data is initially filtered and then transmitted to the control unit via a communication unit.
[0037] The synchronous control strategy is calculated by the control unit receiving data and processing it through a layered strategy of "data fusion layer + control calculation layer". The data fusion layer uses the Kalman filter algorithm to suppress noise and fuse information in the redundant data collected by multimodal sensors, remove abnormal data, and output high-precision unified pose and position data. The control calculation layer compares the fused data with the vehicle target attitude parameters based on the preset kinematic model and calculates the position and attitude deviations of each actuator.
[0038] Distributed control command generation and transmission: Based on the above results, the control unit generates distributed control commands. The commands include the target values of joint angles, motion speed parameters, and driving torque parameters of each actuator. The commands are transmitted to the drive systems of each actuator via the CAN bus to ensure the real-time performance and consistency of the command transmission.
[0039] In practical applications, the comparison frequency should be kept consistent with the data acquisition frequency for motion state feedback comparison.
[0040] The control command is dynamically adjusted. The control unit adjusts the control command dynamically according to the comparison difference: if the comparison difference does not exceed the corresponding threshold, the current control command is maintained; if the comparison difference of any parameter exceeds the threshold, the incremental adjustment mechanism is immediately triggered to iteratively optimize parameters such as joint angle, movement speed, and driving torque until the comparison difference returns to the threshold range.
[0041] Repeat the above steps until the deviation between the actual attitude of the vehicle and the target attitude meets the preset accuracy requirements, thereby completing the closed-loop control.
[0042] This invention includes:
[0043] The system comprises a multimodal sensing unit, a distributed execution unit, a communication unit, a control unit, and a data processing unit, wherein:
[0044] The distributed execution unit consists of several groups of six-degree-of-freedom actuators. Each group of actuators integrates a joint drive module, a real-time position feedback module, and an attitude perception module. It responds to distributed control commands to complete three-dimensional translation and three-dimensional rotation movements, and transmits the actual motion state data back to the control unit and data processing unit in real time.
[0045] The communication unit includes a wired communication unit and a wireless communication unit. The CAN bus is used as the main transmission link for control commands and automatically switches to wireless communication when wired communication is interrupted.
[0046] The control unit includes a processor and a memory. The processor is responsible for executing core logic such as synchronous control strategy calculation, distributed control instruction generation, and dynamic adjustment mechanism triggering. The memory stores historical running data and supports offline data traceability and model iterative optimization.
[0047] The data processing unit integrates a data preprocessing module and a format standardization module. The data preprocessing module uses a combination algorithm of Kalman filtering and median filtering to reduce noise in the data collected by the multimodal sensing unit, remove impulse noise and random noise, and perform format conversion to facilitate rapid parsing and calculation by the control unit.
[0048] The multimodal sensing unit integrates an inertial measurement unit, a vision sensor, a laser ranging module, and an environmental interference acquisition unit. It comprehensively collects the pose data, motion state data, and interference data of the vehicle and actuator, providing data support for control strategy calculation and threshold matching.
[0049] In practical implementation:
[0050] In the specific implementation process, the system first deploys multiple sets of six-degree-of-freedom actuators to the vehicle, and collects spatial pose data and the real-time position of the six-degree-of-freedom actuators in real time through a multi-modal sensor module;
[0051] The data processing unit performs noise reduction and standardization on the collected data before transmitting it to the control unit;
[0052] The control unit performs synchronous control strategy calculation based on the data fusion layer and the control calculation layer to generate distributed control commands.
[0053] Control commands are transmitted to the drive systems of each six-degree-of-freedom actuator via the CAN bus, driving the six-degree-of-freedom actuators to move.
[0054] The system collects motion state data of the six-degree-of-freedom actuator in real time, compares it with the target posture, and dynamically adjusts control commands to ensure precise synchronous control of the six-degree-of-freedom actuator.
[0055] The contents not described in detail in this specification are existing technologies known to those skilled in the art.
[0056] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0057] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0058] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.
Claims
1. A six-degree-of-freedom synchronous control method based on base station-free positioning, characterized in that: Includes the following steps: S1: Deploy multiple sets of six-degree-of-freedom actuators to the vehicle; S2: Real-time spatial pose data of the vehicle and the real-time position of the six-degree-of-freedom actuators are collected by the multimodal sensor module and transmitted to the control unit; S3: Based on the real-time position and attitude data of the six-degree-of-freedom actuator obtained in S2, perform synchronous control strategy calculation and output the position and attitude deviations of the six-degree-of-freedom actuator; S4: Generate corresponding distributed control commands based on the obtained position and attitude deviations, and output them to the corresponding six-degree-of-freedom actuators; S5: Real-time acquisition of motion state data of the six-degree-of-freedom actuator, including comparison of actual position, actual attitude and target attitude; S6: Perform dynamic adjustment control commands based on the comparison results in S5. When the comparison difference of any parameter exceeds the threshold, trigger the incremental adjustment mechanism to correct the joint drive parameters in the control commands. S7: Repeat S2-S7 until the vehicle reaches the target posture.
2. The six-degree-of-freedom synchronization control method based on base station-free positioning according to claim 1, characterized in that: The six-degree-of-freedom actuator in S1 is interconnected with the vehicle data, including a wired communication unit and a wireless communication unit.
3. The six-degree-of-freedom synchronization control method based on base station-free positioning according to claim 1, characterized in that: The multimodal sensor module in S2 includes an inertial measurement unit, a vision sensor, and a laser ranging module. The spatial pose data includes translation data in the X, Y, and Z directions and rotation data in the Rx, Ry, and Rz directions.
4. The six-degree-of-freedom synchronization control method based on base station-free positioning according to claim 1, characterized in that: The synchronous control strategy in S3 includes a data fusion layer and a control solution layer; The data fusion layer performs noise suppression and information fusion on multimodal sensor data based on the Kalman filter algorithm; The control solution layer calculates and outputs the deviation parameters.
5. The six-degree-of-freedom synchronization control method based on base station-free positioning according to claim 1, characterized in that: The distributed control command in S4 includes the joint angle, movement speed and driving torque parameters of the actuator; The distributed control commands are transmitted to the drive systems of each six-degree-of-freedom actuator via the CAN bus.
6. The six-degree-of-freedom synchronization control method based on base station-free positioning according to claim 1, characterized in that: The incremental adjustment in S6 includes establishing an online self-tuning model for joint drive parameters and optimizing the parameters based on the gradient descent method; In S6, the threshold is set into three sets of thresholds according to the degree of environmental interference, which correspond to low, medium and high respectively.
7. A six-degree-of-freedom synchronous control system for use in any one of the synchronous control methods described in claims 1-6, characterized in that: It includes a distributed execution unit, a communication unit, a multimodal sensing unit, a control unit, and a data processing unit; The control unit includes a processor and a memory, used to perform synchronous control strategy calculation and control instruction generation; The multimodal sensing unit integrates an inertial measurement unit, a vision sensor, a laser ranging module, and an environmental interference acquisition unit to collect pose data, motion state data, and environmental interference data. The communication module includes a wired communication unit and a wireless communication unit to interconnect the six-degree-of-freedom actuator with the vehicle. The data processing unit performs noise reduction and format standardization processing on the pose data, motion state data and environmental interference data collected by the multimodal sensing unit.
8. The six-degree-of-freedom synchronous control system according to claim 7, characterized in that: The memory stores historical operating data, threshold parameters, and control strategy models.