CN110678822A - Control method and device of mobile robot and mobile robot system - Google Patents
Control method and device of mobile robot and mobile robot system Download PDFInfo
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Abstract
The invention discloses a control method and a control device of a mobile robot and a mobile robot system, wherein the method comprises the following steps: acquiring a motion track of a target object, wherein the target object is a following object of a mobile robot; and controlling the mobile robot to move according to the motion track. According to the technical scheme provided by the invention, the motion trail of the target object is obtained, the mobile robot is controlled to move according to the motion trail, and the success rate and the robustness of the mobile robot for following the target object moving in the complex environment are improved when the mobile robot moves according to the motion trail because the motion trail is generated by the movement of the target object. Meanwhile, the track planning method of the mobile robot in the following mode is provided, the track planning difficulty of the mobile robot can be effectively reduced, and the probability of successful obstacle avoidance of the mobile robot is improved.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a mobile robot control method and device and a mobile robot system.
Background
Currently, a mobile robot can track and follow a target object. For example, the unmanned aerial vehicle may determine a target object (e.g., a user, an automobile, etc.) as a tracking object and follow the target object, and during the following, may photograph the target object.
However, in some cases, the target object moves in a complex environment, such as a forest or an indoor environment, and the trajectory planning of the mobile robot is difficult when the mobile robot follows the target object; in addition, the target object may not be tracked due to some problems (e.g., occlusion of an obstacle, communication interruption, etc.), resulting in a failure of the mobile robot to follow the target object.
Disclosure of Invention
The invention provides a control method and a control device of a mobile robot and a mobile robot system, which are used for improving the success rate and the robustness of the mobile robot for following a target object moving in a complex environment and reducing the track difficulty of the mobile robot in a tracking mode.
A first aspect of the present invention is to provide a method for controlling a mobile robot, including:
acquiring a motion track of a target object, wherein the target object is a following object of a mobile robot;
and controlling the mobile robot to move according to the motion track.
A second aspect of the present invention is directed to a control device for a mobile robot, including:
a memory for storing a computer program;
a processor for executing the computer program stored in the memory to implement: acquiring a motion track of a target object, wherein the target object is a following object of a mobile robot; and controlling the mobile robot to move according to the motion track.
A third aspect of the present invention is to provide a control device for a mobile robot, including:
the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring a motion track of a target object, and the target object is a following object of the mobile robot;
and the control module is used for controlling the mobile robot to move according to the motion track.
A fourth aspect of the present invention is to provide a computer-readable storage medium having stored therein program instructions for implementing the control method of the mobile robot described above.
A fifth aspect of the present invention is to provide a mobile robot system, including:
a mobile robot;
the control device according to the second aspect is a control device for controlling the mobile robot.
According to the control method and device for the mobile robot and the mobile robot system, the mobile robot is controlled to move according to the motion track by acquiring the motion track of the target object. Because the motion trail is generated by the movement of the target object, when the mobile robot moves according to the motion trail, the success rate and the robustness of the mobile robot for following the target object moving in the complex environment are improved. Meanwhile, the track planning method of the mobile robot in the following mode is provided, the track planning difficulty of the mobile robot can be effectively reduced, and the probability of successful obstacle avoidance of the mobile robot is improved.
Drawings
Fig. 1 is a schematic flowchart of a control method for a mobile robot according to an embodiment of the present invention;
fig. 2 is a first schematic diagram illustrating relative positions of a target object and a mobile robot when the mobile robot moves according to a motion trajectory according to an embodiment of the present invention;
fig. 3 is a schematic diagram two illustrating relative positions of a target object and a mobile robot when the mobile robot moves according to a motion trajectory according to the embodiment of the present invention;
fig. 4 is a schematic flow chart of controlling the mobile robot to move according to the motion trajectory according to the embodiment of the present invention;
fig. 5 is a schematic diagram illustrating comparison of effects in an XY plane before and after filtering the motion trajectory according to the embodiment of the present invention;
fig. 6 is a first schematic flowchart of a process of acquiring a motion trajectory of a target object according to an embodiment of the present invention;
fig. 7 is a schematic flowchart of a second process for obtaining a motion trajectory of a target object according to an embodiment of the present invention;
fig. 8 is a schematic flow chart illustrating controlling the moving speed of the mobile robot according to the embodiment of the present invention;
fig. 9 is a schematic flow chart illustrating a process of controlling the moving speed of the mobile robot according to the current track distance and the preset track distance according to the embodiment of the present invention;
fig. 10 is a schematic flow chart illustrating a process of controlling the moving speed of the mobile robot according to the current track distance, the preset track distance, and the historical speed according to the embodiment of the present invention;
fig. 11 is a schematic diagram illustrating an effect of a relative distance between a mobile robot and a target object according to an embodiment of the present invention;
fig. 12 is a schematic view of an effect of a motion trajectory of the mobile robot and a motion trajectory of the target object in the XY plane according to the embodiment of the present invention;
fig. 13 is a schematic structural diagram of a control device of a mobile robot according to an embodiment of the present invention;
fig. 14 is a schematic structural diagram of a control device of another mobile robot according to an embodiment of the present invention;
fig. 15 is a schematic structural diagram of a mobile robot system according to an embodiment of the present invention;
fig. 16 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below may be combined with each other without conflict between the embodiments.
Fig. 1 is a schematic flowchart of a control method for a mobile robot according to an embodiment of the present invention; referring to fig. 1, the present embodiment provides a control method of a mobile robot, which can improve the success rate and robustness of the mobile robot in following a target object moving in a complex environment. Meanwhile, the track planning method of the mobile robot in the following mode is provided, the track planning difficulty of the mobile robot can be effectively reduced, and the probability of successful obstacle avoidance of the mobile robot is improved. Specifically, the control method may include:
s101: acquiring a motion track of a target object, wherein the target object is a following object of the mobile robot;
the mobile robot may be a device that moves by means of a self-configured power system, wherein the mobile robot may include one or more of a ground mobile robot (e.g., an unmanned automobile, etc.), an underwater or water-surface robot (e.g., an unmanned ship), and an unmanned aerial vehicle. In the present embodiment, the mobile robot is schematically illustrated as an unmanned aerial vehicle, and it is understood that the unmanned aerial vehicle in the section described later herein may be replaced with a mobile robot. The target object may be a following object of the mobile robot, i.e. in the following mode, the mobile robot tracks the target object and follows the target object, i.e. moves following the target object. Wherein, the target object is a human body object, an animal or other movable objects.
Further, as shown in fig. 2, in the following mode, the target object 201 may be in a moving state, and the mobile robot 202 may acquire the motion trajectory 203 of the target object 201, that is, the motion trajectory 203 of the target object 201 at the historical time. Here, the motion trajectory 203 of the target object 201 may include position information of the target object 201 at different times during the movement, and the mobile robot 202 may acquire the position information periodically or non-periodically, the position information constituting the motion trajectory 203 of the target object 201.
S102: and controlling the mobile robot to move according to the motion track.
Specifically, with continued reference to fig. 2, after acquiring the motion trajectory 203 of the target object 201, the mobile robot 202 may control the mobile robot 202 to move according to the motion trajectory 203, that is, the mobile robot 202 determines the motion trajectory of the target object 201 as its own motion trajectory and moves according to the motion trajectory 203 of the target object 201.
In some embodiments, when the target object cannot be tracked, the mobile robot is controlled to move according to the motion track.
Specifically, the mobile robot acquires a movement trajectory of the target object, that is, acquires a movement trajectory of the target object at a historical time. In the following mode, that is, in the process of following the target object by the mobile robot, when the mobile robot cannot track the target object, that is, when the mobile robot cannot determine the position information of the target object, the processor of the mobile robot may control the mobile robot to move according to the acquired motion trajectory, that is, according to the motion trajectory of the acquired historical time of the target object.
As shown in fig. 3, the target object 201 may move in a complex environment, in which there may be one or more obstacles 204 as shown in fig. 3, and the trajectory planned according to the trajectory of the mobile robot in the following mode in the prior art may hit the obstacle 204 when the mobile robot 201 moves along the trajectory. In the embodiment of the invention, the acquired motion track 203 of the target object 201 is used as the motion track of the mobile robot 202, so that the mobile robot 202 does not collide with the obstacle 204 in the moving process, a track planning method of the mobile robot in the following mode is provided, and the difficulty of track planning is reduced.
In addition, because the motion trail 203 is generated by the target object 201, the mobile robot 202 moves according to the motion trail 203 of the target object 201, and the target object 201 can be ensured to be within the tracking range of the mobile robot 202 to the greatest extent, so that the success rate and the robustness of the mobile robot for following the target object moving in a complex environment can be improved. For example, referring to fig. 3, the target object 201 moves toward the target object 205 as shown in the figure, and the mobile robot 202 moves toward the mobile robot 206 as shown in the figure according to the motion trajectory 203 of the target object 201, during the moving process, the mobile robot 202 cannot track the target object 201 due to the obstruction of the obstacle 204, however, when the mobile robot 202 moves to the position shown by the mobile robot 206 as shown in the figure as the mobile robot 202 moves according to the motion trajectory 203 of the target object 201, even if the target object 201 moves to the position shown by the target object 205 as shown in the figure, the target object 205 will be within the tracking range of the mobile robot 206 again, so that the success rate and robustness of the mobile robot 206 in following the target object 205 moving in the complex environment can be improved.
According to the control method of the mobile robot provided by the embodiment, the motion trail of the target object is obtained, and the mobile robot is controlled to move according to the motion trail, and because the motion trail is generated by the movement of the target object, when the mobile robot moves according to the motion trail, the success rate and the robustness of the following of the mobile robot on the target object moving in the complex environment are improved. Meanwhile, the track planning method of the mobile robot in the following mode is provided, the track planning difficulty of the mobile robot can be effectively reduced, and the probability of successful obstacle avoidance of the mobile robot is improved.
Fig. 4 is a schematic view of a flow chart for controlling a mobile robot to move according to a motion trajectory according to an embodiment of the present invention, and fig. 5 is a schematic view of comparison of effects before and after filtering the motion trajectory in an XY plane according to the embodiment of the present invention. On the basis of the foregoing embodiment, as can be seen by referring to fig. 4 to 5, in this embodiment, a specific implementation process of controlling the mobile robot to move according to the motion trajectory is not limited, and a person skilled in the art may set the implementation process according to a specific design requirement, and preferably, the controlling the mobile robot to move according to the motion trajectory in this embodiment may include:
s401: filtering the motion trail;
in general, the acquired motion trajectory data of the target object includes high frequency components, such as
In fig. 5, the motion trajectory L1 is rough in the motion trajectory L1 having a high frequency component, and in this case, if the mobile robot is controlled according to the motion trajectory L1, the mobile robot itself tends to oscillate, and the posture of the mobile robot greatly fluctuates, and if the mobile robot is provided with an imaging device, a captured image in the imaging device also fluctuates. Therefore, the filtering operation can be performed on the high frequency component in the motion trajectory. Specifically, the obtained motion trajectory may be input to a filter for filtering, so as to obtain a filtered trajectory. Wherein, the filter can adopt a Butterworth filter, a Chebyshev filter or other types of low-pass filters. As the motion trajectory L2 in fig. 5, the motion trajectory L2 after the filtering process is smoother.
S402: and controlling the mobile robot to move according to the motion trail after the filtering processing.
After the motion trail is filtered, the mobile robot can be controlled to move according to the motion trail after filtering, so that the mobile robot is effectively guaranteed to move according to a smoother trail, and the stability and reliability of the control method are further improved.
Fig. 6 is a first schematic flowchart of a process of acquiring a motion trajectory of a target object according to an embodiment of the present invention; fig. 7 is a schematic flowchart illustrating a second process of obtaining a motion trajectory of a target object according to an embodiment of the present invention. On the basis of the above embodiments, as can be seen by referring to fig. 6 to 7, the specific acquisition mode of the motion trajectory of the target object is not limited in this embodiment, and those skilled in the art can set the motion trajectory according to specific design requirements. One way in which this can be achieved is: the mobile robot may include a photographing device including: a camera, a video camera, a terminal with a camera, or other devices with a shooting function, etc.; at this time, acquiring the motion trajectory of the target object may include:
s601: acquiring an image of a target object through a shooting device;
s602: and acquiring the motion trail of the target object according to the image.
Specifically, the camera may output an image of the target object, and the processor of the mobile robot may acquire the image of the target object, and further, may acquire images of multiple frames of the target object, and the processor of the mobile robot may acquire the motion trajectory of the target object according to the images.
An implementation of obtaining a motion trajectory of a target object according to an image is described as follows: the processor of the mobile robot can acquire the position of the target object in the image, determine the orientation of the target object relative to the mobile robot according to the position information of the target object in the image and the shooting posture of the shooting device, determine the position information of the target object relative to the mobile robot according to the orientation and the horizontal distance between the target object and the mobile robot, and finally determine the position information of the target object according to the position information of the target object relative to the mobile robot and the position information of the mobile robot. After the position information of the target object is determined, the motion track of the target object can be determined.
For the specific acquisition mode of the motion trajectory of the target object, another achievable mode is as follows: acquiring the motion trajectory of the target object may include:
s701: acquiring motion data sent by a control terminal carried by a target object;
s702: and obtaining the motion trail of the target object according to the motion data.
Specifically, the target object may carry a control terminal, wherein the control terminal includes one or more of a remote controller, a smart phone, a tablet computer, and a wearable device (watch, bracelet). The control terminal comprises a motion sensor, wherein the motion sensor can sense the motion of a target object and output the motion data of the target object. Wherein the motion data may include at least one of position information, velocity information, and acceleration information. The control terminal can send the motion data to the mobile robot, and after the mobile robot obtains the motion data, the mobile robot can determine the position information of the target object according to the motion data, so that the motion track of the target object can be obtained.
By any of the above manners for obtaining the motion trail of the target object, the motion trail of the target object can be accurately and effectively obtained, and the accuracy and reliability of the control method can be further ensured.
On the basis of the foregoing embodiment, with continued reference to fig. 8-12, in this embodiment, during the process that the mobile robot moves according to the motion trajectory, the method further includes: and controlling the moving speed of the mobile robot so that the track distance between the mobile robot and the target object is a preset track distance, wherein the track distance between the mobile robot and the target object is the track length between the mobile robot and the target object on the motion track.
Specifically, in the process that the mobile robot moves according to the motion trajectory of the target object, the processor of the mobile robot may control the moving speed of the mobile robot in real time so that the distance between the target object and the mobile robot on the motion trajectory is a preset trajectory distance, where the preset trajectory distance is an ideal distance that should be kept between the mobile robot and the target object on the motion trajectory. The distance between the target object and the mobile robot on the motion trail is the preset trail distance, which can be understood as that the distance between the target object and the mobile robot on the motion trail is approximately equal to the preset trail distance.
In some embodiments, the preset trajectory distance is a distance between the target object and the mobile robot when the mobile robot enters the following mode. Specifically, when the user controls the mobile robot to enter the following mode, that is, the mobile robot is controlled to start following the target object, the mobile robot may obtain a distance between the target object and the mobile robot, and determine the preset trajectory distance according to the distance. For example, the distance may be directly determined as the preset track distance.
In some embodiments, the preset trajectory distance is acquired from a control terminal of the mobile robot by detecting an operation of a user. Specifically, a user can set the track length between the mobile robot and the target object on the motion track by operating the control terminal, the control terminal can determine the track length between the mobile robot and the target object on the motion track according to the detected operation and send the determined track length to the mobile robot, and the mobile robot determines the track length as a preset track distance.
In some embodiments, the predetermined trajectory distance is a fixed value and is embedded in the program code of the processor of the mobile robot.
Further, when controlling the moving speed of the mobile robot, the following steps may be included:
s801: acquiring a current track distance between the mobile robot and a target object at the current moment;
specifically, the mobile robot may obtain, in real time, a current track distance between the mobile robot and the target object at the current time, where the current track distance may refer to a track length between the mobile robot and the target object on the motion track at the current time. For example, the processor of the mobile robot may obtain position information of the mobile robot at the current time and position information of the target object at the current time, determine the position of the mobile robot at the current time on the motion trajectory of the target object according to the position information of the mobile robot, determine the position of the target object at the current time on the motion trajectory of the target object according to the position information of the target object, and then determine the current trajectory distance between the mobile robot and the target object at the current time according to the position of the mobile robot on the motion trajectory and the position of the target object on the motion trajectory.
S802: and controlling the moving speed of the mobile robot according to the current track distance and the preset track distance.
Specifically, after the current track distance is acquired, the moving speed of the mobile robot can be controlled according to the current track distance and the preset track distance.
The controlling the moving speed of the mobile robot according to the current track distance and the preset track distance may include the following feasible implementation manners:
one possible implementation is: and determining the error between the current track distance and the preset track distance, and controlling the moving speed of the mobile robot according to the difference.
Specifically, the method includes the steps of generating a speed control instruction for controlling the mobile robot according to an error between a current track distance and a preset track distance of a processor of the mobile robot, and controlling the moving speed of the mobile robot according to the speed control instruction. Wherein, after the track distance error is obtained, a closed-loop control algorithm (e.g. PID algorithm) may be used to generate the control command.
Another possible implementation:
s901: acquiring historical speed of a target object at a historical position point on a motion track, wherein the historical position point is a position point of the mobile robot on the motion track at the current moment;
s902: and controlling the moving speed of the mobile robot according to the current track distance, the preset track distance and the historical speed.
Specifically, in order to improve the following stability of the mobile robot to the target object, when the historical speed of the target object at the historical position point on the motion trajectory is high, the moving speed of the mobile robot at the historical position point should be high; when the historical speed of the target object at the historical position point on the motion trajectory is small, the moving speed of the mobile robot at the historical position point should be small. The historical position points are the position points of the mobile robot on the motion trail at the current moment. Therefore, when the moving speed of the mobile robot at the current time is controlled, the historical speed of the target object at the historical position point on the motion trail can be acquired, the historical speed is used as a control quantity for controlling the moving speed of the mobile robot, and the moving speed of the mobile robot is controlled according to the historical speed, the current trail distance and the preset trail distance. And generating a speed control instruction according to the historical speed, the current track distance and the preset track distance, and controlling the moving speed of the mobile robot according to the speed control instruction.
Further, the controlling the moving speed of the mobile robot according to the current track distance, the preset track distance and the historical speed may include:
s1001: acquiring target potential field function information according to the current track distance, the preset track distance and a preset track distance error between the mobile robot and a target object;
specifically, the target potential field function information obtained in this step is a control quantity for controlling the moving speed of the mobile robot, wherein the target potential field function information is used as the control quantity for controlling the moving speed of the mobile robot so that the track distance between the mobile robot and the target object on the motion track is within a range approximately close to the preset track distance, wherein the range is determined according to the preset track distance and a preset track distance error between the mobile robot and the target object. If the current track distance is smaller than the minimum value of the range, the track distance between the mobile robot and the target object on the motion track is relatively small, and when the moving speed of the mobile robot is controlled according to the target potential field function information, the mobile robot is instructed to reduce the moving speed so as to increase the track distance between the mobile robot and the target object. If the current track distance is larger than the maximum value of the range, the track distance between the mobile robot and the target object on the motion track is larger, and when the moving speed of the mobile robot is controlled according to the target potential field function information, the mobile robot is instructed to increase the moving speed so as to reduce the track distance between the mobile robot and the target object. If the current track distance is within the range, the current track distance is considered to be approximately equal to the preset track distance, and at this time, when the moving speed of the mobile robot is controlled according to the target potential field function information, the moving speed of the mobile robot can be indicated to be unchanged. Specifically, target potential field function information is acquired according to a current track distance, a preset track distance and a preset track distance error between the mobile robot and a target object by using the following formula:
wherein, FtarIs the target potential field function information, d is the current track distance, ddesTo preset track distance, dcorThe preset track distance error between the mobile robot and the target object is obtained.
In addition, referring to FIG. 11, at d<ddes-dcorWhen, for example: for example, in fig. 11, in the time period of 0-2s, it is illustrated that the current trajectory distance between the mobile robot and the target object is small, and d is>ddes+dcorWhen, for example: when the distance of the trajectory between the mobile robot and the target object is large as about 10s in fig. 11, d is a large distancedes-dcor<d<ddes+dcorWhen, for example: as illustrated in fig. 11 at a time period of 2s-8s, the trajectory distance between the mobile robot and the target object is substantially equal to the preset trajectory distance.
Further, in order to make the distance between the target object and the mobile robot on the motion track approximately equal to the preset track distance, when the track distance between the mobile robot and the target object is small, the target potential field function information F is obtainedtarLess than 0, the moving speed may be reduced to move the mobile robot toward a direction away from the target object, which may increase the trajectory distance between the mobile robot and the target object. Target potential field function information F when the track distance between the mobile robot and the target object is largetarAbove 0, the moving speed may be increased to move the mobile robot toward a direction close to the target object, which may reduce the trajectory distance between the mobile robot and the target object. In summary, if the current track distance is not within the range, that is, the current track distance does not substantially equal to the preset track distance, the track distance between the mobile robot and the target object can be timely and effectively adjusted under the action of the target potential field function information.
S1002: determining track point potential field function information according to a preset track distance;
the trajectory point potential field function information is another control quantity for controlling the moving speed of the mobile robot, and is used for controlling or adjusting the trajectory distance of the mobile robot behind the target object on the moving trajectory when the mobile robot moves according to the moving trajectory of the target object, as shown in fig. 12, a curve T in the drawing is the moving trajectory of the target object, and a curve M in the drawing is the moving trajectory of the mobile robot, so that it can be seen that the moving trajectory of the mobile robot lags behind the moving trajectory of the target object in time. When the method is applied specifically, the preset track distance can be directly determined as track point potential field function information; namely: ftarj＝ddesWherein F istarjAs information on the potential field function of the locus points, ddesIs a preset track distance.
S1003: carrying out weighted operation on the target potential field function information, the track point potential field function information and the historical speed to obtain a speed control instruction;
after the target potential field function information, the track point potential field function information and the historical speed are obtained, weighting operation can be performed on the target potential field function information, the track point potential field function information and the historical speed, and the following formula can be referred specifically, so that a speed control instruction can be obtained:
Vcmd＝w1Ftar+w2Ftarj+w3Vfeed
wherein, VcmdFor speed control command, w1Is a preset weight coefficient, F, corresponding to the target potential field function informationtarAs information of the target potential field function, w2For the preset weight coefficient, F, corresponding to the track point potential field function informationtarjAs information on the potential field function of the locus points, w3A predetermined weight coefficient, V, corresponding to the historical speedfeedIs the historical speed.
The speed control instruction obtained by the formula comprehensively considers the influence of various factors (distance factor and speed factor between the mobile robot and the target object) in the process of following the target object by the mobile robot, thereby ensuring the accuracy and reliability of obtaining the speed control instruction.
S1004: and controlling the moving speed of the mobile robot according to the speed control command.
After the speed control instruction is acquired, the moving speed of the mobile robot can be controlled according to the speed control instruction, so that the mobile robot can stably and reliably track the target object.
Further, in order to improve the practicability of the control method, in this embodiment, in the process that the mobile robot moves according to the motion trajectory, the method may further include: and controlling the moving speed of the mobile robot so that the linear distance between the mobile robot and the target object is within a preset linear distance range.
Specifically, the moving track of the target object may be relatively curved, and in order to ensure that the mobile robot has a safe distance from the target object to ensure that the mobile robot does not collide with the target object, the moving speed of the mobile robot may be controlled so that the linear distance between the mobile robot and the target object is within a preset linear distance range. The linear distance range is preset, and a person skilled in the art may set a specific numerical range according to specific design requirements, for example, the linear distance range may be greater than or equal to 2 meters, and when it is determined that the linear distance between the mobile robot and the target object at the current moment is less than 2 meters, the moving speed of the mobile robot needs to be reduced to increase the linear distance between the mobile robot and the target object.
Fig. 13 is a schematic structural diagram of a control device of a mobile robot according to an embodiment of the present invention, and referring to fig. 13, the embodiment provides a control device of a mobile robot, which can execute the control method of a mobile robot described above, wherein the mobile robot may be an unmanned aerial vehicle; specifically, the control device may include:
a memory 1301 for storing a computer program;
a processor 1302 for executing the computer program stored in the memory 1301 to implement: acquiring a motion track of a target object, wherein the target object is a following object of the mobile robot; and controlling the mobile robot to move according to the motion track.
When the processor 1302 controls the mobile robot to move according to the motion trajectory, the processor 1302 is specifically configured to perform: filtering the motion trail; and controlling the mobile robot to move according to the motion trail after the filtering processing.
In addition, for a specific acquisition mode of the motion trail of the target object, one achievable mode is as follows: the mobile robot includes a camera, and at this time, when the processor 1302 acquires the motion trajectory of the target object, the processor 1302 may be configured to perform: acquiring an image of a target object through a shooting device; and acquiring the motion trail of the target object according to the image. Another way that can be achieved is: after the processor 1302 obtains the motion trajectory of the target object, the processor 1302 may be configured to perform: acquiring motion data sent by a control terminal carried by a target object; and obtaining the motion trail of the target object according to the motion data.
Further, during the moving of the mobile robot according to the motion trajectory, the processor 1302 is further configured to:
and controlling the moving speed of the mobile robot so that the track distance between the mobile robot and the target object is a preset track distance, wherein the track distance between the mobile robot and the target object is the track length between the mobile robot and the target object on the motion track. Wherein the preset track distance is acquired from a control terminal of the mobile robot by detecting the operation of the user.
When the processor 1302 controls the moving speed of the mobile robot, the processor is specifically configured to: acquiring a current track distance between the mobile robot and a target object at the current moment; and controlling the moving speed of the mobile robot according to the current track distance and the preset track distance.
When the processor 1302 controls the moving speed of the mobile robot according to the current track distance and the preset track distance, the method is specifically configured to: acquiring historical speed of a target object at a historical position point on a motion track, wherein the historical position point is a position point of the mobile robot on the motion track at the current moment; and controlling the moving speed of the mobile robot according to the current track distance, the preset track distance and the historical speed.
Specifically, when the processor 1302 controls the moving speed of the mobile robot according to the current track distance, the preset track distance and the historical speed, the processor is specifically configured to: acquiring target potential field function information according to the current track distance, the preset track distance and a preset track distance error between the mobile robot and a target object; determining track point potential field function information according to a preset track distance; carrying out weighted operation on the target potential field function information, the track point potential field function information and the historical speed to obtain a speed control instruction; and controlling the moving speed of the mobile robot according to the speed control command.
Further, during the moving of the mobile robot according to the motion trajectory, the processor 1302 is further configured to: and controlling the moving speed of the mobile robot so that the linear distance between the mobile robot and the target object is within a preset linear distance range.
The control device of the mobile robot provided in this embodiment can be used to execute the method corresponding to the embodiment in fig. 1 to 12, and the specific execution manner and the beneficial effects thereof are similar and will not be described again here.
Fig. 14 is a schematic structural diagram of a control device of another mobile robot according to an embodiment of the present invention; referring to fig. 14, the present embodiment provides a control apparatus of a mobile robot, which may perform the control method of the mobile robot, wherein the mobile robot may be an unmanned aerial vehicle; specifically, the control device may include:
the acquisition module 1401: the system comprises a motion track acquisition module, a motion detection module, a motion analysis module and a control module, wherein the motion track acquisition module is used for acquiring a motion track of a target object, and the target object is a following object of the mobile robot;
and a control module 1402, configured to control the mobile robot to move according to the motion trajectory.
The obtaining module 1401 and the control module 1402 in the control apparatus of a mobile robot provided in this embodiment can be used to execute the methods corresponding to the embodiments in fig. 1 to 12, and the specific execution manner and beneficial effects are similar, and are not described again here.
Still another aspect of the present embodiment provides a computer-readable storage medium having stored therein program instructions for implementing the control method of a mobile robot described above.
Fig. 15 is a schematic structural diagram of a mobile robot system according to an embodiment of the present invention, and fig. 16 is a schematic structural diagram of an unmanned aerial vehicle system according to an embodiment of the present invention, and as can be seen with reference to fig. 15 to 16, the present embodiment provides a mobile robot system, including:
a mobile robot 1501;
the control device 1502 is used to control the mobile robot 1501.
Here, the mobile robot 1501 may be an unmanned aerial vehicle, and the control device 1502 may be provided on the unmanned aerial vehicle.
With particular reference to fig. 16 for the structure of the unmanned aerial vehicle system, the unmanned aerial vehicle system 1600 includes: an unmanned aerial vehicle 1601 and the above-mentioned control device 1602, the unmanned aerial vehicle 1601 includes fuselage and driving system, and the driving system includes at least one of following: the electric motor 1607, the propeller 1606 and the electronic speed regulator 1617, and the power system is arranged on the fuselage and used for providing flight power; the control device 1602 may be disposed on the body, and the implementation manner and specific principle of the control device 1602 are consistent with those of the control apparatus of the above embodiments, and are not described herein again.
In some embodiments, the control device 1602 may be embodied as a flight controller communicatively coupled to the power system for controlling the flight of the unmanned aerial vehicle 1601.
In addition, as shown in fig. 16, the unmanned aerial vehicle 1601 further includes: the system comprises a sensing system 1608, a communication system 1610, a supporting device 1603 and a shooting device 1604, wherein the supporting device 1603 can be a cloud deck specifically, and the communication system 1610 is used for communicating with a control terminal on the ground specifically.
The technical solutions and the technical features in the above embodiments may be used alone or in combination in case of conflict with the present disclosure, and all embodiments that fall within the scope of protection of the present disclosure are intended to be equivalent embodiments as long as they do not exceed the scope of recognition of those skilled in the art.
In the embodiments provided in the present invention, it should be understood that the disclosed related devices and methods can be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. With this understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer processor 101(processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (24)
1. A method for controlling a mobile robot, comprising:
acquiring a motion track of a target object, wherein the target object is a following object of a mobile robot;
and controlling the mobile robot to move according to the motion track.
2. The method of claim 1, wherein controlling the mobile robot to move according to the motion profile comprises:
filtering the motion trail;
and controlling the mobile robot to move according to the motion trail after the filtering processing.
3. The method according to claim 1 or 2, wherein the mobile robot comprises a camera, and the acquiring the motion track of the target object comprises:
acquiring an image of the target object through the shooting device;
and acquiring the motion trail of the target object according to the image.
4. The method according to claim 1 or 2, wherein the obtaining of the motion trajectory of the target object comprises:
acquiring motion data sent by a control terminal carried by the target object;
and acquiring the motion trail of the target object according to the motion data.
5. The method according to any one of claims 1-4, wherein during the movement of the mobile robot according to the motion trajectory, the method further comprises:
and controlling the moving speed of the mobile robot so that the track distance between the mobile robot and the target object is a preset track distance, wherein the track distance between the mobile robot and the target object is the track length between the mobile robot and the target object on the motion track.
6. The method of claim 5, wherein controlling the speed of movement of the mobile robot comprises:
acquiring the current track distance between the mobile robot and a target object at the current moment;
and controlling the moving speed of the mobile robot according to the current track distance and a preset track distance.
7. The method of claim 6, wherein controlling the moving speed of the mobile robot according to the current track distance and a preset track distance comprises:
acquiring historical speed of the target object at a historical position point on the motion trail, wherein the historical position point is a position point of the mobile robot on the motion trail at the current moment;
and controlling the moving speed of the mobile robot according to the current track distance, the preset track distance and the historical speed.
8. The method of claim 7, wherein controlling the moving speed of the mobile robot based on the current trajectory distance, a preset trajectory distance, and a historical speed comprises:
acquiring target potential field function information according to the current track distance, a preset track distance and a preset track distance error between the mobile robot and a target object;
determining track point potential field function information according to the preset track distance;
carrying out weighting operation on the target potential field function information, the track point potential field function information and the historical speed to obtain a speed control instruction;
and controlling the moving speed of the mobile robot according to the speed control instruction.
9. The method according to any one of claims 5 to 8, wherein the preset trajectory distance is acquired from a control terminal of the mobile robot by detecting an operation of a user.
10. The method according to any one of claims 1-9, wherein during the movement of the mobile robot according to the motion trajectory, the method further comprises:
and controlling the moving speed of the mobile robot so that the linear distance between the mobile robot and the target object is within a preset linear distance range.
11. The method according to any one of claims 1-10, wherein the mobile robot is an unmanned aerial vehicle.
12. A control device for a mobile robot, comprising:
a memory for storing a computer program;
a processor for executing the computer program stored in the memory to implement:
acquiring a motion track of a target object, wherein the target object is a following object of a mobile robot;
and controlling the mobile robot to move according to the motion track.
13. The apparatus of claim 12, wherein the processor is configured to, when controlling the mobile robot to move according to the motion trajectory, specifically:
filtering the motion trail;
and controlling the mobile robot to move according to the motion trail after the filtering processing.
14. The apparatus according to claim 12 or 13, wherein the mobile robot comprises a camera, and the processor is configured to, when acquiring the motion trajectory of the target object:
acquiring an image of the target object through the shooting device;
and acquiring the motion trail of the target object according to the image.
15. The apparatus according to claim 12 or 13, wherein the processor, when obtaining the motion trajectory of the target object, is specifically configured to:
acquiring motion data sent by a control terminal carried by the target object;
and acquiring the motion trail of the target object according to the motion data.
16. The apparatus of any one of claims 12-15, wherein the processor is further configured to, during the movement of the mobile robot according to the motion profile:
and controlling the moving speed of the mobile robot so that the track distance between the mobile robot and the target object is a preset track distance, wherein the track distance between the mobile robot and the target object is the track length between the mobile robot and the target object on the motion track.
17. The apparatus of claim 16, wherein the processor, when controlling the speed of movement of the mobile robot, is configured to:
acquiring the current track distance between the mobile robot and a target object at the current moment;
and controlling the moving speed of the mobile robot according to the current track distance and a preset track distance.
18. The apparatus according to claim 17, wherein the processor is configured to, when controlling the moving speed of the mobile robot according to the current track distance and the preset track distance, specifically:
acquiring historical speed of the target object at a historical position point on the motion trail, wherein the historical position point is a position point of the mobile robot on the motion trail at the current moment;
and controlling the moving speed of the mobile robot according to the current track distance, the preset track distance and the historical speed.
19. The apparatus of claim 18, wherein the processor is configured to, when controlling the moving speed of the mobile robot according to the current track distance, the preset track distance, and the historical speed, specifically:
acquiring target potential field function information according to the current track distance, a preset track distance and a preset track distance error between the mobile robot and a target object;
determining track point potential field function information according to the preset track distance;
carrying out weighting operation on the target potential field function information, the track point potential field function information and the historical speed to obtain a speed control instruction;
and controlling the moving speed of the mobile robot according to the speed control instruction.
20. The apparatus of any one of claims 16-19, wherein the preset trajectory distance is obtained from a control terminal of the mobile robot by detecting an operation of a user.
21. The apparatus of any one of claims 12-20, wherein the processor is further configured to, during the movement of the mobile robot according to the motion profile:
and controlling the moving speed of the mobile robot so that the linear distance between the mobile robot and the target object is within a preset linear distance range.
22. The apparatus of any one of claims 12-21, wherein the mobile robot is an unmanned aerial vehicle.
23. A computer-readable storage medium characterized in that a program instruction for implementing the control method of a mobile robot according to any one of claims 1 to 11 is stored therein.
24. A mobile robotic system, comprising:
a mobile robot;
the control device of any one of claims 12-22, being adapted to control the mobile robot.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/096647 WO2020019113A1 (en) | 2018-07-23 | 2018-07-23 | Method for controlling mobile robot, device, and mobile robot system |
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| CN110678822A true CN110678822A (en) | 2020-01-10 |
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| CN201880031518.8A Pending CN110678822A (en) | 2018-07-23 | 2018-07-23 | Control method and device of mobile robot and mobile robot system |
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| WO (1) | WO2020019113A1 (en) |
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