CN110730705A - Drift control method and device of ground remote-controlled robot and ground remote-controlled robot - Google Patents

Drift control method and device of ground remote-controlled robot and ground remote-controlled robot Download PDF

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Publication number
CN110730705A
CN110730705A CN201880037081.9A CN201880037081A CN110730705A CN 110730705 A CN110730705 A CN 110730705A CN 201880037081 A CN201880037081 A CN 201880037081A CN 110730705 A CN110730705 A CN 110730705A
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Prior art keywords
drift
ground
robot
curve
configuration information
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龚鼎
陈超彬
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SZ DJI Technology Co Ltd
Shenzhen Dajiang Innovations Technology Co Ltd
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Shenzhen Dajiang Innovations Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44—Arrangements for executing specific programs
    • G06F9/448—Execution paradigms, e.g. implementations of programming paradigms
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44—Arrangements for executing specific programs
    • G06F9/448—Execution paradigms, e.g. implementations of programming paradigms
    • G06F9/4482—Procedural

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Software Systems (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

A drift control method of a ground remote-controlled robot, comprising: acquiring drift control parameters (step 101); and controlling the ground remote-controlled robot to move along the drift curve in a drift state according to the drift control parameter (step 102), wherein the drift state is a state that the orientation of the head of the ground remote-controlled robot is not parallel to the moving direction of the ground remote-controlled robot. Through the mode, the ground remote control machine automatically achieves the effect of bending in a drifting state according to the drifting control parameters, control strategies of the ground remote control robot are enriched, meanwhile, the manual operation requirements on users are reduced, and therefore the interestingness of controlling the ground remote control robot is enhanced.

Description

Drift control method and device of ground remote-controlled robot and ground remote-controlled robot
Technical Field
The present application relates to the field of electronic technologies, and in particular, to a method and an apparatus for controlling drift of a ground remote-controlled robot, and a ground remote-controlled robot.
Background
In the field of racing cars, drift is a driving skill, also called tail flicking, a driver can enable a car body to sideslip and walk by controlling an over-steering mode of the car, and the drift of the racing cars has high ornamental value.
The operation mode of the ground remote control robot is remote control type operation, and due to the limitation of the control strategy of the ground remote control robot in the prior art, the ground remote control robot cannot automatically bend in a drifting state when bending; in addition, if a user wants to make the ground-based robot turn over in a drifting state by manually operating the ground-based robot, the user has a very high requirement on the manual operation level. Therefore, the control interest of the ground remote control robot is reduced.
Disclosure of Invention
The embodiment of the invention discloses a drift control method and device for a ground remote-controlled robot and the ground remote-controlled robot, so that the ground remote-controlled robot can realize drift motion when passing through a curve, and the interestingness of control of the ground remote-controlled robot is enhanced.
The first aspect of the embodiments of the present invention provides a drift control method for a ground remote-controlled robot, including:
acquiring a drift control parameter;
and controlling the ground remote-controlled robot to move along a drift curve in a drift state according to the drift control parameter, wherein the drift state is a state that the orientation of the head of the ground remote-controlled robot is not parallel to the moving direction of the ground remote-controlled robot.
A second aspect of an embodiment of the present invention is to provide a drift control device for a ground remote-controlled robot, including:
a memory and a processor;
the memory is used for storing program codes;
the processor, invoking the program code, when executed, is configured to:
acquiring a drift control parameter;
and controlling the ground remote-controlled robot to move along a drift curve in a drift state according to the drift control parameter, wherein the drift state is a state that the orientation of the head of the ground remote-controlled robot is not parallel to the moving direction of the ground remote-controlled robot.
A third aspect of embodiments of the present invention provides a ground remote-controlled robot, including:
a body;
the power system is arranged on the machine body and used for providing power for the ground remote control robot;
and the drift control device of the ground remote control robot provided by the second aspect.
According to the drift control method and device and the ground remote-controlled robot provided by the embodiment of the invention, the ground remote-controlled robot is controlled to move along the drift curve in a drift state by acquiring the drift control parameters. Through the mode, the ground remote control machine automatically achieves the effect of bending in a drifting state according to the drifting control parameters, control strategies of the ground remote control robot are enriched, meanwhile, the manual operation requirements on users are reduced, and therefore the interestingness of controlling the ground remote control robot is enhanced.
Drawings
Fig. 1 is a flowchart of a drift control method for a ground-based remote-controlled robot according to an embodiment of the present invention;
FIG. 2A is a schematic diagram of a drift interface according to an embodiment of the present invention;
FIG. 2B is a schematic diagram of a drift interface according to another embodiment of the present invention;
FIG. 2C is a schematic diagram of an angle change according to an embodiment of the present invention;
fig. 3 is a flowchart of a method for obtaining drift control parameters according to an embodiment of the present invention;
fig. 4 is a flowchart of a method for obtaining drift control parameters according to another embodiment of the present invention;
fig. 5 is a flowchart of a method for obtaining drift control parameters according to another embodiment of the present invention;
fig. 6 is a flowchart of a method for obtaining drift control parameters according to another embodiment of the present invention;
fig. 7 is a block diagram of a drift control device of a ground-based remote-controlled robot according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. 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.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.
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. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
According to the drift control method and device and the ground remote-controlled robot provided by the embodiment of the invention, the ground remote-controlled robot is controlled to move along the drift curve in a drift state by acquiring the drift control parameters. Through the mode, the ground remote control machine automatically achieves the effect of bending in a drifting state according to the drifting control parameters, control strategies of the ground remote control robot are enriched, meanwhile, the manual operation requirements on users are reduced, and therefore the interestingness of controlling the ground remote control robot is enhanced.
In the embodiment of the present invention, the non-parallel orientation of the head of the ground-based robot to the moving direction of the ground-based robot means that an included angle between the orientation of the head of the ground-based robot and the moving direction of the ground-based robot is greater than 0 degree and less than 180 degrees.
In an embodiment of the present invention, the drift control parameter may include at least one of configuration information of a drift curve and configuration information of an angle between an orientation of a head of the ground-based robot and a moving direction of the ground-based robot.
In some embodiments, configuration information for a drifting curve may be used to indicate the drifting curve. For example, the configuration information of the drifting curve may include at least one of a curve radius and a curve angle of the drifting curve. Taking the schematic diagram of the drift interface shown in fig. 2A as an example, the drift curve may be composed of an arc, for example, the drift curve may be annular in shape. The curve radius may be a radius of curvature corresponding to the drifting curve. The curve angle may be a central angle corresponding to the drifting curve, and taking fig. 2A as an example, the curve angle is 90 °.
The ground remote-controlled robot can determine the drifting curve according to the configuration information of the drifting curve so as to control the ground remote-controlled robot to move along the determined drifting curve in a drifting state, and the orientation of the machine head of the ground remote-controlled robot is not parallel to the moving direction of the ground remote-controlled robot in the moving process. For example, the ground robot may determine a drifting curve according to the configuration information of the drifting curve, for example, obtain a curve radius and a curve angle of the ground robot moving in the drifting curve, and control the ground robot to move along the determined drifting curve in a drifting state based on the curve radius and the curve angle.
In some embodiments, configuration information of an angle between an orientation of a head of the ground-based robot and a direction of movement of the ground-based robot may be used to indicate an angle between the orientation of the head of the ground-based robot and the direction of movement of the ground-based robot. For example, the configuration information of the angle between the orientation of the head of the ground-based robot and the moving direction of the ground-based robot may include a maximum angle between the orientation of the head of the ground-based robot and the moving direction of the ground-based robot, or an angle between the orientation of the head of the ground-based robot and the moving direction of the ground-based robot during the movement of the ground-based robot in the drift curve. For example, the angle between the orientation of the head of the ground-based robot and the moving direction of the ground-based robot may include the angle between the orientation of the head of the ground-based robot and the moving direction of the ground-based robot at different times, i.e., a sequence of angles. Taking the schematic diagram of the drift interface shown in fig. 2B as an example, the angle between the orientation of the head of the ground-based robot and the moving direction of the ground-based robot may be psi.
The ground remote-controlled robot can control the included angle between the direction of the machine head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot according to the configuration information of the included angle in the process that the ground remote-controlled robot moves along the drifting curve. The included angle between the orientation of the machine head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot can be obtained according to the maximum included angle between the orientation of the machine head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot. For example, the ground remote-controlled robot may control an included angle between the orientation of the head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot at different times according to configuration information of the included angle during the process that the ground remote-controlled robot moves along the drifting curve.
The configuration information of the included angle between the orientation of the machine head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot can be determined by the drift scene. The ground friction coefficients of different drifting scenes are different, and the different ground friction coefficients correspond to configuration information of an included angle between the orientation of the machine head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot. Drift scenes may include grass, tiled floors, carpeted floors, or sand, among others. For example, the different ground friction coefficients may correspond to a maximum included angle between the orientation of the head of the ground robot and the moving direction of the ground robot, for example, the ground friction coefficient of a lawn is larger, and the maximum included angle between the orientation of the head of the ground robot and the moving direction of the ground robot is smaller during the movement of the ground robot on the lawn; the ground surface paved with the ceramic tiles has a small friction coefficient, and the maximum included angle between the orientation of the machine head of the ground remote-control robot and the moving direction of the ground remote-control robot is large in the process that the ground remote-control robot moves on the ground paved with the ceramic tiles.
Taking the schematic diagram of the angle change shown in fig. 2C as an example, the angle between the orientation of the head of the ground-based robot and the moving direction of the ground-based robot at different times may be a sequence of angles, and the sequence of angles may be obtained according to the maximum angle between the orientation of the head of the ground-based robot and the moving direction of the ground-based robot, for example, at t0Within the time length, the included angle between the orientation of the machine head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot is increased from zero to the maximum included angle, and at t1Keeping the maximum included angle constant within the time length at t2The maximum included angle is reduced to zero again in the time length. It should be noted that the maximum included angle between the orientation of the handpiece of the ground-based robot and the moving direction of the ground-based robot may be determined according to an operation command input by a user through a joystick on the remote controller, or may be preset, and is not specifically limited by the embodiment of the present application.
In the embodiment of the present invention, the drift control parameter may be acquired in various manners.
1. And detecting to obtain drift control parameters through an environment sensor of the ground remote control robot. The environmental sensors may include vision sensors (e.g., binocular camera, monocular camera) and/or distance sensors (e.g., TOF camera, lidar). For example, at least one of a curve radius and a curve angle of the drifting curve is acquired by the environment sensor while the ground robot is moving to the drifting curve or while the ground robot is moving along the drifting curve. For another example, before the ground remote-controlled robot moves to the drift curve or in the process that the ground remote-controlled robot moves along the drift curve, the drift environment is obtained through the environment sensor, and the included angle between the orientation of the machine head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot is obtained based on the drift environment.
2. And the control terminal sends the drift control parameters to the ground remote control robot. For example, the control terminal downloads from the server, or obtains at least one of a curve radius and a curve angle of the drifting curve based on detection data of a sensor on the control terminal, generates configuration information of the drifting curve based on the at least one of the curve radius and the curve angle, and sends the configuration information of the drifting curve to the ground remote control robot. For another example, the control terminal displays at least one drift environment, for example, displays description information (text, identifier, and the like) of at least one drift environment, when a user desires that the ground remote-controlled robot implement a drift motion in the specified drift environment, the user may perform an operation of selecting the specified drift environment on the control terminal, and when the control terminal detects a drift scene selection operation of the user, the control terminal determines configuration information of an included angle between an orientation of a head of the ground remote-controlled robot corresponding to the selected drift environment and a moving direction of the ground remote-controlled robot, and sends the configuration information to the ground remote-controlled robot. For another example, the control terminal displays at least one drift control parameter of the drift environment, when the user wants the ground remote-controlled robot to drift in the specified drift environment, the drift control parameter of the specified drift environment can be selected, and when the control terminal detects the input operation of the drift control parameter of the user, for example, configuration information of an included angle between the orientation of the head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot is determined, and the configuration information is sent to the ground remote-controlled robot. For another example, a user performs a drift control parameter input operation on the control terminal, for example, the user may input at least one of a curve radius and a curve angle of the drift curve to the control terminal, the control terminal determines a drift control parameter when detecting the drift control parameter input operation of the user, the drift control parameter includes configuration information of the drift curve, and the control terminal sends the drift control parameter to the ground remote controller.
3. And the control terminal sends drift scene indicating information to the ground remote-controlled robot, and the ground remote-controlled robot determines configuration information of the included angle according to the drift scene indicating information. For example, the control terminal displays at least one drift environment, when a user wants the ground remote-controlled robot to drift in the specified drift environment, the specified drift environment can be selected, when the control terminal detects the drift scene selection operation of the user, drift scene indication information is generated, the control terminal sends the drift scene indication information to the ground remote-controlled robot, and the ground remote-controlled robot determines configuration information of an included angle according to the drift scene indication information.
4. And the control terminal sends the ground friction coefficient to the ground remote-controlled robot, and the ground remote-controlled robot determines the configuration information of the included angle according to the ground friction coefficient. For example, the control terminal displays at least one ground friction coefficient, when a user wants the ground remote-controlled robot to drift in a specified drift environment, the ground friction coefficient of the specified drift environment can be selected, when the control terminal detects the ground friction coefficient input operation of the user, ground friction coefficient indicating information is generated, the control terminal sends the ground friction coefficient indicating information to the ground remote-controlled robot, and the ground remote-controlled robot determines configuration information of an included angle according to the ground friction coefficient indicating information.
In the embodiment of the invention, the ground remote control robot can move along the drifting curve in a drifting state in a plurality of triggering modes.
1. And after the ground remote-controlled robot obtains the drift control parameters, the ground remote-controlled robot is controlled to move along the drift curve in a drift state according to the drift control parameters.
2. The control terminal acquires the drift control parameters in real time, the drift control parameters are sent to the ground remote-controlled robot, and after the ground remote-controlled robot receives the drift control parameters, the ground remote-controlled robot is controlled to move along the drift curve in a drift state according to the drift control parameters.
3. The control terminal acquires the drift scene indication information in real time, the drift scene indication information is sent to the ground remote-controlled robot, and after the ground remote-controlled robot receives the drift scene indication information, the ground remote-controlled robot is controlled to move along the drift curve in a drift state according to the drift scene indication information.
4. The control terminal acquires the ground friction coefficient indication information in real time, the ground friction coefficient indication information is sent to the ground remote-control robot, and after the ground remote-control robot receives the ground friction coefficient indication information, the ground remote-control robot is controlled to move along the drift curve in a drift state according to the ground friction coefficient indication information.
5. And the control terminal sends the drift control parameters to the ground remote-controlled robot, and the ground remote-controlled robot controls the ground remote-controlled robot to move along the drift curve in a drift state according to the drift control parameters and the control instruction after receiving the control instruction. For example, a user inputs a manipulation command through a joystick on a remote controller, and the stick amounts input by the user include a roll amount (roll), a pitch amount (pitch), a yaw amount (yaw), and a throttle amount (thr).
6. And the ground remote-controlled robot determines a drift control parameter according to the digital map and the position information of the ground remote-controlled robot, and controls the ground remote-controlled robot to move along the drift curve in a drift state according to the drift control parameter. For example, the ground robot recognizes that the ground robot is about to enter the drift curve based on the digital map and the position information of the ground robot, and the ground robot may determine the drift control parameter and control the ground robot to move along the drift curve in the drift state based on the drift control parameter. The electronic map stored by the ground remote-controlled robot can be downloaded from a server or obtained based on the detection data of the environment sensor on the ground remote-controlled robot.
The following describes an example of a drift control method for a ground-based remote-controlled robot according to an embodiment of the present invention.
The embodiment of the invention provides a drift control method of a ground remote control robot. Fig. 1 is a flowchart of a method for controlling drift of a ground-based remote-controlled robot according to an embodiment of the present invention, as shown in fig. 1, the method includes the following steps:
step 101, obtaining a drift control parameter.
The ground remote-controlled robot according to this embodiment may be a device that can move by means of a power system configured by itself, where the ground remote-controlled robot may be a device with certain processing capability, such as an unmanned aerial vehicle, an automobile, and the like.
In one possible implementation, the drift control parameter may include at least one of configuration information of the drift curve and configuration information of an angle between an orientation of a head of the ground-based robot and a moving direction of the ground-based robot.
In the embodiment of the application, the ground remote control robot can receive the drift control parameters sent by the control terminal; or detecting by an environment sensor of the ground remote control robot to obtain environment data, and determining a drift control parameter according to the environment data; or determining a drift control parameter according to the digital map and the position information of the ground remote control robot; or receiving drift scene indication information sent by the control terminal, determining a drift control parameter according to the drift scene indication information, and the like, which are not specifically limited by the embodiment of the present application.
And 102, controlling the ground remote-controlled robot to move along the drifting curve in a drifting state according to the drifting control parameters, wherein the drifting state is a state that the orientation of the machine head of the ground remote-controlled robot is not parallel to the moving direction of the ground remote-controlled robot.
In one possible implementation, when the drift control parameter includes configuration information of the drift curve, the ground remote-controlled robot may determine the drift curve according to the configuration information of the drift curve, and control the ground remote-controlled robot to move along the determined drift curve in a drift state. For example, the ground remote-controlled robot may determine a curve radius and a curve angle of the drifting curve according to the configuration information of the drifting curve, and then control the ground remote-controlled robot to move along the determined drifting curve in a drifting state based on the curve radius and the curve angle.
In a possible implementation manner, when the drift control parameter includes configuration information of an included angle between an orientation of a head of the ground remote-controlled robot and a moving direction of the ground remote-controlled robot, the ground remote-controlled robot may control an included angle between the orientation of the head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot according to the configuration information of the included angle in a process in which the ground remote-controlled robot moves along the drift curve.
In a possible implementation manner, when the drift control parameter includes configuration information of the drift curve and configuration information of an included angle between an orientation of a head of the ground remote-controlled robot and a moving direction of the ground remote-controlled robot, the ground remote-controlled robot may determine the drift curve according to the configuration information of the drift curve, and in a process that the ground remote-controlled robot moves along the drift curve, the ground remote-controlled robot may control an included angle between the orientation of the head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot according to the configuration information of the included angle.
In one possible implementation, the ground-based robot may control the ground-based robot such that the ground-based robot is not in a drift state when entering and exiting a curve. Taking fig. 2B as an example, before the ground remote-controlled robot enters the drifting curve, the ground remote-controlled robot may control the ground remote-controlled robot so that the ground remote-controlled robot is not in the drifting state, that is, before the ground remote-controlled robot enters the drifting curve, the head of the ground remote-controlled robot faces in parallel with the moving direction of the ground remote-controlled robot. After the ground remote-controlled robot enters the drifting curve, the ground remote-controlled robot can control the ground remote-controlled robot to move along the drifting curve in a drifting state according to the drifting control parameters, and in the moving process, the direction of the machine head of the ground remote-controlled robot is not parallel to the moving direction of the ground remote-controlled robot. When the ground remote-control robot exits from the drifting curve, the ground remote-control robot can control the ground remote-control robot so as to enable the ground remote-control robot not to be in the drifting state, namely when the ground remote-control robot exits from the drifting curve, the direction of the machine head of the ground remote-control robot is parallel to the moving direction of the ground remote-control robot.
It will of course be appreciated by persons skilled in the art that the foregoing examples have been given for the sake of clarity only and are not to be construed as limiting the invention.
According to the drift control method and device and the ground remote-controlled robot provided by the embodiment of the invention, the ground remote-controlled robot is controlled to move along the drift curve in a drift state by acquiring the drift control parameters. Through the mode, the ground remote control machine automatically achieves the effect of bending in a drifting state according to the drifting control parameters, control strategies of the ground remote control robot are enriched, meanwhile, the manual operation requirements on users are reduced, and therefore the interestingness of controlling the ground remote control robot is enhanced.
The embodiment of fig. 1 is further optimized and expanded by the specific embodiment below.
In contrast to the method for controlling a ground-based robot to move along a drift curve in a drift state shown in fig. 1, another embodiment of the present invention provides a method for controlling a ground-based robot to move along a drift curve in a drift state, including: when the drift control parameter comprises configuration information of a drift curve, generating configuration information of an included angle between the orientation of the machine head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot according to the configuration information of the drift curve, further controlling the ground remote-controlled robot to move along the drift curve, and controlling the included angle between the orientation of the machine head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot according to the configuration information of the included angle in the moving process.
In some embodiments, the ground robot may generate a maximum included angle between the orientation of the head of the ground robot and the moving direction of the ground robot according to the configuration information of the drift curve, so as to control the ground robot to move along the drift curve, and during the moving process, the included angle between the orientation of the head of the ground robot and the moving direction of the ground robot is controlled according to the maximum included angle.
Taking fig. 2B as an example, after the ground remote-controlled robot acquires the configuration information of the drift curve, the maximum included angle between the orientation of the head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot may be determined according to the curve radius and the curve angle of the drift curve, based on the maximum included angle between the orientation of the head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot, the included angle between the orientation of the head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot is generated, so that the ground remote-controlled robot is controlled to move along the drift curve, and in the moving process, the included angle between the orientation of the head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot is controlled. For example, the maximum included angle between the orientation of the head of the ground-based robot and the moving direction of the ground-based robot and the curve angle may be in a direct proportional relationship, and may be in an inverse proportional relationship with the curve radius, that is, the smaller the curve radius of the drifting curve is, the larger the curve angle is, the larger the maximum included angle between the orientation of the head of the ground-based robot and the moving direction of the ground-based robot is. Based on the maximum included angle between the orientation of the handpiece of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot, the manner of generating the included angle between the orientation of the handpiece of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot may refer to the description of fig. 2C, which is not repeated in the embodiments of the present application.
In some embodiments, the ground remote-controlled robot may generate an angle between an orientation of a head of the ground remote-controlled robot and a moving direction of the ground remote-controlled robot according to the configuration information of the drift curve to control the ground remote-controlled robot to move along the drift curve, and during the moving, control an angle between the orientation of the head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot according to the generated angle.
Taking fig. 2B as an example, after the ground remote-controlled robot acquires the configuration information of the drift curve, an included angle between the orientation of the head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot may be determined according to the curve radius and the curve angle of the drift curve, so as to control the ground remote-controlled robot to move along the drift curve, and in the moving process, the included angle between the orientation of the head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot is controlled. For example, the angle between the orientation of the head of the ground-based robot and the moving direction of the ground-based robot and the curve angle may be in a direct proportional relationship, and may be in an inverse proportional relationship with the curve radius, that is, the smaller the curve radius of the drifting curve is, the larger the curve angle is, the larger the angle between the orientation of the head of the ground-based robot and the moving direction of the ground-based robot is.
In contrast to the method for controlling a ground-based robot to move along a drift curve in a drift state shown in fig. 1, another embodiment of the present invention provides a method for controlling a ground-based robot to move along a drift curve in a drift state, including: and generating configuration information of the drift curve according to the configuration information of the included angle, determining the drift curve according to the configuration information of the drift curve, further controlling the ground remote-controlled robot to move along the determined drift curve, and controlling the included angle between the orientation of the machine head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot according to the configuration information of the included angle in the moving process.
In some embodiments, when the configuration information of the angle between the orientation of the head of the ground-based robot and the moving direction of the ground-based robot includes the maximum angle between the orientation of the head of the ground-based robot and the moving direction of the ground-based robot, the ground remote-controlled robot can generate the configuration information of the drifting curve according to the maximum included angle between the orientation of the machine head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot, determining a drifting curve according to the configuration information of the drifting curve, further controlling the ground remote control robot to move along the determined drifting curve, and, in the moving process, the included angle between the orientation of the machine head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot is controlled according to the maximum included angle between the orientation of the machine head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot. For example, the curve angle of the drift curve may be in direct proportion to the maximum included angle between the orientation of the head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot, and the curve radius of the drift curve may be in inverse proportion to the maximum included angle between the orientation of the head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot, that is, the larger the maximum included angle between the orientation of the head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot is, the smaller the curve radius of the drift curve is, and the larger the curve angle is.
In some embodiments, when the configuration information of the angle between the orientation of the head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot includes the angle between the orientation of the head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot, the ground remote-controlled robot may generate the configuration information of the drift curve according to the angle between the orientation of the head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot, determine the drift curve according to the configuration information of the drift curve, and then control the ground remote-controlled robot to move along the determined drift curve, and, during the moving, control the angle between the orientation of the head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot. For example, the curve angle of the drift curve may be in direct proportion to the angle between the head direction of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot, and the curve radius of the drift curve may be in inverse proportion to the angle between the head direction of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot, that is, the larger the angle between the head direction of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot is, the smaller the curve radius of the drift curve is, and the larger the curve angle is.
Fig. 3 is a flowchart of a method for acquiring a drift control parameter according to an embodiment of the present invention, where in the embodiment of the present invention, the drift control parameter may include configuration information of an included angle between an orientation of a head of the ground remote-controlled robot and a moving direction of the ground remote-controlled robot, and as shown in fig. 3, on the basis of the embodiment, the method for acquiring a drift control parameter may include the following steps:
step 301, the control terminal determines configuration information of the included angle by detecting a drift scene selection operation of the user.
In the embodiment of the application, the control terminal can display at least one drifting environment, and when a user wants the ground remote control robot to drift in the designated drifting environment, the designated drifting environment can be selected through the control terminal. When the control terminal detects the drifting scene selection operation of the user, the control terminal determines the drifting scene selected by the user and determines configuration information of an included angle corresponding to the selected drifting scene. Further, determining configuration information of an included angle corresponding to the selected drift scene may include: the control terminal can obtain the ground friction coefficient of the drift scene selected by the user, and determine configuration information of the included angle according to the ground friction coefficient, for example, the maximum included angle between the orientation of the machine head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot.
Illustratively, the drift scene may include grass, tiled floors, carpeted floors, or sand, among others. For example, the ground friction coefficient of the lawn is large, and the maximum included angle between the orientation of the machine head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot is small in the process that the ground remote-controlled robot moves on the lawn; the ground surface paved with the ceramic tiles has a small friction coefficient, and the maximum included angle between the orientation of the machine head of the ground remote-control robot and the moving direction of the ground remote-control robot is large in the process that the ground remote-control robot moves on the ground paved with the ceramic tiles.
In one possible implementation manner, the control terminal may determine configuration information of the included angle by detecting a ground friction coefficient input operation of a user. For example, the control terminal may display at least one ground friction coefficient, the user may select the ground friction coefficient of the designated drift environment when the user desires the ground-based robot to drift in the designated drift environment, and the control terminal determines configuration information of an included angle, such as a maximum included angle between an orientation of a head of the ground-based robot and a moving direction of the ground-based robot, according to the ground friction coefficient when detecting a ground friction coefficient input operation of the user.
And step 302, the control terminal sends configuration information of the included angle to the ground remote control robot.
In this embodiment, the control terminal determines the configuration information of the included angle by detecting the drift scene selection operation of the user, and sends the configuration information of the included angle to the ground remote-controlled robot, so that the accuracy of the drift control parameters can be improved through human-computer interaction.
Fig. 4 is a flowchart of a drift control parameter obtaining method according to another embodiment of the present invention, in an embodiment of the present invention, the drift control parameter may include configuration information of an included angle between an orientation of a head of the ground-based remote-controlled robot and a moving direction of the ground-based remote-controlled robot, and as shown in fig. 4, on the basis of the foregoing embodiment, the drift control parameter obtaining method may include the following steps:
step 401, the control terminal determines the indication information of the drifting scene by detecting the operation of selecting the drifting scene of the user.
In the embodiment of the application, the control terminal can display at least one drifting environment, and when a user wants the ground remote control robot to drift in the appointed drifting environment, the appointed drifting environment can be selected through the control terminal. And when the control terminal detects the drifting scene selection operation of the user, determining the drifting scene selected by the user and generating drifting scene indication information.
In one possible implementation, the control terminal may determine the ground friction coefficient by detecting a ground friction coefficient input operation of the user. For example, the control terminal may display at least one ground friction coefficient, when the user desires that the ground remote-controlled robot drifts in a designated drift environment, the ground friction coefficient of the designated drift environment may be selected through the control terminal, and when the control terminal detects a ground friction coefficient input operation by the user, the ground friction coefficient input by the user may be acquired.
And step 402, the control terminal sends the drift scene indication information to the ground remote control robot.
In the embodiment of the application, the control terminal can send the drift scene indication information to the ground remote-controlled robot through a communication link between the control terminal and the ground remote-controlled robot, and the ground remote-controlled robot can determine the drift scene selected by the user according to the received drift scene indication information.
In one possible implementation, the control terminal may transmit the ground friction coefficient to the ground remote-controlled robot.
And step 403, determining configuration information of the included angle by the ground remote control robot according to the indication information of the drifting scene.
In this embodiment, the ground remote-controlled robot may obtain a ground friction coefficient of the drift scene indicated by the drift scene indication information, and determine configuration information of an included angle according to the ground friction coefficient, for example, a maximum included angle between an orientation of a head of the ground remote-controlled robot and a moving direction of the ground remote-controlled robot.
In one possible implementation manner, after the ground-based robot receives the ground friction coefficient, configuration information of the included angle, for example, a maximum included angle between an orientation of a handpiece of the ground-based robot and a moving direction of the ground-based robot, may be determined according to the ground friction coefficient.
According to the drift control method and device and the ground remote-controlled robot provided by the embodiment of the invention, the ground remote-controlled robot is controlled to move along the drift curve in a drift state by acquiring the drift control parameters. Through the mode, the ground remote control machine automatically achieves the effect of bending in a drifting state according to the drifting control parameters, control strategies of the ground remote control robot are enriched, meanwhile, the manual operation requirements on users are reduced, and therefore the interestingness of controlling the ground remote control robot is enhanced.
Fig. 5 is a flowchart of a method for obtaining a drift control parameter according to another embodiment of the present invention, in this embodiment, the drift control parameter may include configuration information of a drift curve, as shown in fig. 5, and on the basis of the above embodiment, the method for obtaining a drift control parameter may include the following steps:
step 501, the control terminal determines the drift control parameter by detecting the drift control parameter input operation of the user.
In the embodiment of the application, a user may perform a drift control parameter input operation when knowing a drift curve to be drifted by the ground remote-controlled robot, for example, input configuration information of the drift curve in the control terminal, where the configuration information of the drift curve may include at least one of a curve radius and a curve angle of the drift curve.
And 502, the control terminal sends the drift control parameters to the ground remote control robot.
In this embodiment, the control terminal determines the drift control parameter by detecting the drift control parameter input operation of the user, and sends the drift control parameter to the ground remote-controlled robot, so that the accuracy of the drift control parameter can be improved through human-computer interaction.
Fig. 6 is a flowchart of a drift control parameter obtaining method according to another embodiment of the present invention, and as shown in fig. 6, on the basis of the foregoing embodiment, the drift control parameter obtaining method may include the following steps:
601, the ground remote-controlled robot acquires environment data output by an environment sensor configured on the ground remote-controlled robot.
The environment data can be at least one of image information, depth information or point cloud detected by the environment sensor.
And step 602, determining a drift control parameter by the ground remote control robot according to the environmental data.
In one possible implementation, the ground-based remote-controlled robot may identify a curve region according to the environmental data, and then determine the configuration information of the drifting curve according to the identified curve region. For example, the ground-based robot may identify a curve region from image information detected by the environment sensor, acquire at least one of a curve radius and a curve angle of the curve region, and generate configuration information of the drifting curve based on the at least one of the curve radius and the curve angle.
In one possible implementation, the ground remote-controlled robot may identify an obstacle according to the environmental data, and then determine configuration information of the drifting curve according to the identified obstacle. For example, the ground-based robot may identify an obstacle according to image information detected by the environment sensor, determine a drift curve formed by the ground-based robot to bypass the obstacle during movement, and further obtain configuration information of the drift curve, such as at least one of a curve radius and a curve angle of the drift curve.
In a possible implementation manner, the ground remote-controlled robot may determine a drift environment of the ground remote-controlled robot according to the environment data, and determine configuration information of an included angle between an orientation of a head of the ground remote-controlled robot and a moving direction of the ground remote-controlled robot according to the drift environment. For example, the ground robot may determine a drift scene of the drift curve according to the environment data, obtain a ground friction coefficient of the drift scene, and determine configuration information of an included angle between the orientation of the head of the ground robot and the moving direction of the ground robot, for example, a maximum included angle between the orientation of the head of the ground robot and the moving direction of the ground robot, according to the ground friction coefficient.
In this embodiment, the ground remote-controlled robot acquires the environmental data output by the environmental sensor configured on the ground remote-controlled robot, determines the drift control parameter according to the environmental data, and can improve the acquisition efficiency of the drift control parameter without interaction with the control terminal.
In contrast to the drift control parameter obtaining method shown in fig. 3 to 6, another embodiment of the present invention provides a drift control parameter obtaining method, including: and determining a drift control parameter according to the digital map and the position information of the ground remote control robot.
In some embodiments, the ground-based robot identifies that the ground-based robot is about to enter a curve region based on the digital map and the location information of the ground-based robot, and the ground-based robot can obtain the radius and/or the angle of the curve region from the digital map. The ground-based robot may determine the drift control parameter based on the radius of the curve region and/or the curve angle.
In some embodiments, the ground-based robot may determine a drift environment of the ground-based robot based on the digital map and the location of the ground-based robot, and determine the drift control parameter based on the determined drift environment.
Fig. 7 is a structural diagram of a drift control device of a ground-based remote-controlled robot according to an embodiment of the present invention, and as shown in fig. 7, a drift control device 700 of a ground-based remote-controlled robot includes a memory 701 and a processor 702, where the memory 702 stores program codes, the processor 702 calls the program codes in the memory, and when the program codes are executed, the processor 702 performs the following operations:
acquiring a drift control parameter;
and controlling the ground remote-controlled robot to move along a drift curve in a drift state according to the drift control parameter, wherein the drift state is a state that the orientation of the head of the ground remote-controlled robot is not parallel to the moving direction of the ground remote-controlled robot.
In one possible implementation, the drift control parameter includes at least one of configuration information of the drift curve and configuration information of an angle between an orientation of a head of the ground-based robot and a moving direction of the ground-based robot.
In one possible implementation, the drift control parameter includes configuration information of the drift curve, wherein,
the processor 702, when controlling the ground-based robot to move along the drift curve in the drift state according to the drift control parameter, performs the following operations:
and determining the drifting curve according to the configuration information of the drifting curve, and controlling the ground remote control robot to move along the determined drifting curve in a drifting state.
In one possible implementation manner, when the processor 702 calls the program code, the following operations are further performed:
generating configuration information of an included angle between the orientation of the machine head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot according to the configuration information of the drifting curve;
the processor 702, when controlling the ground-based robot to move along the drift curve in the drift state according to the drift control parameter, performs the following operations:
and controlling the ground remote-controlled robot to move along the drifting curve, and controlling an included angle between the orientation of the machine head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot according to the configuration information of the included angle in the moving process.
In one possible implementation, the drift control parameter includes configuration information of an angle between an orientation of a head of the ground-based robot and a moving direction of the ground-based robot, wherein,
the processor 702, when controlling the ground-based robot to move along the drift curve in the drift state according to the drift control parameter, performs the following operations:
and controlling the included angle between the orientation of the machine head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot according to the configuration information of the included angle in the process that the ground remote-controlled robot moves along the drifting curve.
In one possible implementation manner, when the processor 702 calls the program code, the following operations are further performed:
generating configuration information of the drifting curve according to the configuration information of the included angle, and determining the drifting curve according to the configuration information of the drifting curve;
the processor 702, when controlling the ground-based robot to move along the drift curve in the drift state according to the drift control parameter, performs the following operations:
and controlling the ground remote-controlled robot to move along the determined drifting curve, and controlling an included angle between the orientation of the machine head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot according to the configuration information of the included angle in the moving process.
In one possible implementation manner, when the processor 702 calls the program code, the following operations are further performed:
controlling the ground-based robot such that the ground-based robot is not in a drift state when entering and exiting the curve.
In a possible implementation manner, the drift control parameter includes configuration information of an included angle between an orientation of a head of the ground remote-controlled robot and a moving direction of the ground remote-controlled robot, where the configuration information of the included angle is determined by the control terminal by detecting a drift scene selection operation of the user.
In one possible implementation, the processor 702, when obtaining the drift control parameter, performs the following operations:
and acquiring configuration information of the included angle sent by the control terminal, wherein the configuration information of the included angle is determined by the control terminal according to the detected drift scene selection operation.
In one possible implementation, the processor 702, when obtaining the drift control parameter, performs the following operations:
acquiring drift scene indication information sent by the control terminal, and determining configuration information of the included angle according to the drift scene indication information, wherein the drift scene indication information is determined by the control terminal according to the detected drift scene selection operation.
In one possible implementation, the drift control parameter includes configuration information of the drift curve, wherein,
the processor 702, when obtaining the drift control parameters, performs the following operations:
acquiring a drift control parameter sent by a control terminal, wherein the drift control parameter is determined by the control terminal through detecting the input operation of the drift control parameter of a user.
In one possible implementation, the processor 702, when obtaining the drift control parameter, performs the following operations:
and acquiring environmental data output by an environmental sensor configured on the ground remote control robot, and determining a drift control parameter according to the environmental data.
In one possible implementation, the drift control parameter includes configuration information of the drift curve, wherein,
the processor 702, in determining drift control parameters from the environmental data, performs the following:
and identifying a curve area or an obstacle according to the environment data, and determining the configuration information of the drifting curve according to the identified curve area or the obstacle.
In one possible implementation, the drift control parameter includes configuration information of an angle between an orientation of a head of the ground-based robot and a moving direction of the ground-based robot, wherein,
the processor 702, in determining drift control parameters from the environmental data, performs the following:
and determining the drift environment of the ground remote-controlled robot according to the environment data, and determining the configuration information of the included angle according to the drift environment.
In one possible implementation, the processor 702, when obtaining the drift control parameter, performs the following operations:
and determining the drift control parameters according to a digital map and the position information of the ground remote control robot.
The drift control device of the ground remote-controlled robot provided in this embodiment can execute the drift control method of the ground remote-controlled robot provided in the foregoing embodiment, and the execution manner and the beneficial effects are similar, and are not described again here.
An embodiment of the present invention further provides a ground remote-controlled robot, including:
a body;
the power system is arranged on the machine body and used for providing power for the ground remote control robot;
the drift control device of the ground remote control robot provided by the embodiment is also provided.
Optionally, the ground-based remote-controlled robot further comprises: and the environment sensor is arranged on the machine body and used for detecting and obtaining environment data.
Optionally, the environmental sensor comprises a vision sensor and/or a distance sensor.
Optionally, the ground-based remote-controlled robot further comprises:
and the communication equipment is arranged on the machine body and used for carrying out information interaction with the control terminal.
Optionally, the ground-based remote-controlled robot comprises at least one of: unmanned aerial vehicle, car.
The execution mode and the beneficial effects of the ground remote-controlled robot provided by the embodiment are similar to those of the mobile device provided by the foregoing embodiment, and are not described again here.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or 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, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods 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.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
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 (35)

1. A drift control method for a ground remote-controlled robot, comprising:
acquiring a drift control parameter;
and controlling the ground remote-controlled robot to move along a drift curve in a drift state according to the drift control parameter, wherein the drift state is a state that the orientation of the head of the ground remote-controlled robot is not parallel to the moving direction of the ground remote-controlled robot.
2. The method of claim 1, wherein the drift control parameter comprises at least one of configuration information of the drift curve and configuration information of an angle between an orientation of a head of the ground-based robot and a direction of movement of the ground-based robot.
3. The method according to claim 1 or 2, wherein the drift control parameter comprises configuration information of the drift curve, wherein,
the controlling the ground-based robot to move along a drift curve in a drift state according to the drift control parameter comprises:
and determining the drifting curve according to the configuration information of the drifting curve, and controlling the ground remote control robot to move along the determined drifting curve in a drifting state.
4. The method of claim 3, further comprising: generating configuration information of an included angle between the orientation of the machine head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot according to the configuration information of the drifting curve;
the controlling the ground-based robot to move along a drift curve in a drift state according to the drift control parameter comprises:
and controlling the ground remote-controlled robot to move along the drifting curve, and controlling an included angle between the orientation of the machine head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot according to the configuration information of the included angle in the moving process.
5. The method of any of claims 1-3, wherein the drift control parameter comprises configuration information of an angle between an orientation of a handpiece of the ground-based robot and a direction of movement of the ground-based robot, wherein,
the controlling the ground-based robot to move along a drift curve in a drift state according to the drift control parameter comprises:
and controlling the included angle between the orientation of the machine head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot according to the configuration information of the included angle in the process that the ground remote-controlled robot moves along the drifting curve.
6. The method of claim 5, further comprising: generating configuration information of the drifting curve according to the configuration information of the included angle, and determining the drifting curve according to the configuration information of the drifting curve;
the controlling the ground-based robot to move along a drift curve in a drift state according to the drift control parameter comprises:
and controlling the ground remote-controlled robot to move along the determined drifting curve, and controlling an included angle between the orientation of the machine head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot according to the configuration information of the included angle in the moving process.
7. The method according to any one of claims 1-6, further comprising:
controlling the ground-based robot such that the ground-based robot is not in a drift state when entering and exiting the curve.
8. The method according to any one of claims 1-7, wherein the drift control parameters comprise configuration information of an angle between an orientation of a head of the ground-based robot and a moving direction of the ground-based robot, wherein the configuration information of the angle is determined by the control terminal by detecting a drift scene selection operation of a user.
9. The method of claim 8, wherein obtaining drift control parameters comprises:
and acquiring configuration information of the included angle sent by the control terminal, wherein the configuration information of the included angle is determined by the control terminal according to the detected drift scene selection operation.
10. The method of claim 8, wherein obtaining drift control parameters comprises:
acquiring drift scene indication information sent by the control terminal, and determining configuration information of the included angle according to the drift scene indication information, wherein the drift scene indication information is determined by the control terminal according to the detected drift scene selection operation.
11. The method according to any of claims 1-6, wherein the drift control parameter comprises configuration information of the drift curve, wherein,
the acquiring of the drift control parameter comprises:
acquiring a drift control parameter sent by a control terminal, wherein the drift control parameter is determined by the control terminal through detecting the input operation of the drift control parameter of a user.
12. The method of any of claims 1-6, wherein obtaining drift control parameters comprises:
and acquiring environmental data output by an environmental sensor configured on the ground remote control robot, and determining a drift control parameter according to the environmental data.
13. The method of claim 12, wherein the drift control parameter comprises configuration information of the drift curve, wherein,
the determining drift control parameters from the environmental data comprises:
and identifying a curve area or an obstacle according to the environment data, and determining the configuration information of the drifting curve according to the identified curve area or the obstacle.
14. The method of claim 12, wherein the drift control parameters include configuration information of an angle between an orientation of a hand piece of the ground-based robot and a direction of movement of the ground-based robot, wherein,
the determining drift control parameters from the environmental data comprises:
and determining the drift environment of the ground remote-controlled robot according to the environment data, and determining the configuration information of the included angle according to the drift environment.
15. The method of any of claims 1-6, wherein obtaining drift control parameters comprises:
and determining the drift control parameters according to a digital map and the position information of the ground remote control robot.
16. The drift control device of the ground remote-controlled robot is characterized by comprising a memory and a processor;
the memory is used for storing program codes;
the processor, invoking the program code, when executed, is configured to:
acquiring a drift control parameter;
and controlling the ground remote-controlled robot to move along a drift curve in a drift state according to the drift control parameter, wherein the drift state is a state that the orientation of the head of the ground remote-controlled robot is not parallel to the moving direction of the ground remote-controlled robot.
17. The apparatus of claim 16, wherein the drift control parameter comprises at least one of configuration information of the drift curve and configuration information of an angle between an orientation of a head of the ground-based robot and a direction of movement of the ground-based robot.
18. The apparatus of claim 16 or 17, wherein the drift control parameter comprises configuration information of the drift curve, wherein,
the processor performs the following operations when controlling the ground remote control robot to move along the drift curve in the drift state according to the drift control parameter:
and determining the drifting curve according to the configuration information of the drifting curve, and controlling the ground remote control robot to move along the determined drifting curve in a drifting state.
19. The apparatus of claim 18, wherein the processor, when invoking the program code, further performs the following:
generating configuration information of an included angle between the orientation of the machine head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot according to the configuration information of the drifting curve;
the processor performs the following operations when controlling the ground remote control robot to move along the drift curve in the drift state according to the drift control parameter:
and controlling the ground remote-controlled robot to move along the drifting curve, and controlling an included angle between the orientation of the machine head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot according to the configuration information of the included angle in the moving process.
20. The apparatus of any of claims 16-18, wherein the drift control parameter comprises configuration information of an angle between an orientation of a handpiece of the ground-based robot and a direction of movement of the ground-based robot, wherein,
the processor performs the following operations when controlling the ground remote control robot to move along the drift curve in the drift state according to the drift control parameter:
and controlling the included angle between the orientation of the machine head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot according to the configuration information of the included angle in the process that the ground remote-controlled robot moves along the drifting curve.
21. The apparatus of claim 20, wherein the processor, when invoking the program code, further performs the following:
generating configuration information of the drifting curve according to the configuration information of the included angle, and determining the drifting curve according to the configuration information of the drifting curve;
the processor performs the following operations when controlling the ground remote control robot to move along the drift curve in the drift state according to the drift control parameter:
and controlling the ground remote-controlled robot to move along the determined drifting curve, and controlling an included angle between the orientation of the machine head of the ground remote-controlled robot and the moving direction of the ground remote-controlled robot according to the configuration information of the included angle in the moving process.
22. The apparatus of any of claims 16-21, wherein the processor, when invoking the program code, further performs the following:
controlling the ground-based robot such that the ground-based robot is not in a drift state when entering and exiting the curve.
23. The apparatus according to any one of claims 16-22, wherein the drift control parameter comprises configuration information of an angle between an orientation of a head of the ground-based robot and a moving direction of the ground-based robot, wherein the configuration information of the angle is determined by the control terminal by detecting a drift scene selection operation of a user.
24. The apparatus of claim 23, wherein the processor, in obtaining the drift control parameter, performs the following:
and acquiring configuration information of the included angle sent by the control terminal, wherein the configuration information of the included angle is determined by the control terminal according to the detected drift scene selection operation.
25. The apparatus of claim 23, wherein the processor, in obtaining the drift control parameter, performs the following:
acquiring drift scene indication information sent by the control terminal, and determining configuration information of the included angle according to the drift scene indication information, wherein the drift scene indication information is determined by the control terminal according to the detected drift scene selection operation.
26. The apparatus of any one of claims 16-21, wherein the drift control parameter comprises configuration information of the drift curve, wherein,
when acquiring the drift control parameter, the processor executes the following operations:
acquiring a drift control parameter sent by a control terminal, wherein the drift control parameter is determined by the control terminal through detecting the input operation of the drift control parameter of a user.
27. The apparatus according to any of claims 16-21, wherein the processor, when obtaining the drift control parameter, performs the following:
and acquiring environmental data output by an environmental sensor configured on the ground remote control robot, and determining a drift control parameter according to the environmental data.
28. The apparatus of claim 27, wherein the drift control parameter comprises configuration information of the drift curve, wherein,
the processor, when determining drift control parameters from the environmental data, performs the following:
and identifying a curve area or an obstacle according to the environment data, and determining the configuration information of the drifting curve according to the identified curve area or the obstacle.
29. The apparatus of claim 27, wherein the drift control parameter comprises configuration information of an angle between an orientation of a handpiece of the ground-based robot and a direction of movement of the ground-based robot, wherein,
the processor, when determining drift control parameters from the environmental data, performs the following:
and determining the drift environment of the ground remote-controlled robot according to the environment data, and determining the configuration information of the included angle according to the drift environment.
30. The apparatus of claims 16-21, wherein the processor, in obtaining the drift control parameter, performs the following:
and determining the drift control parameters according to a digital map and the position information of the ground remote control robot.
31. A ground-based remote-controlled robot, comprising:
a body;
the power system is arranged on the machine body and used for providing power for the ground remote control robot;
and a drift control apparatus of a ground-based remote controlled robot as claimed in any one of claims 16-30.
32. The ground-based robot of claim 31, further comprising:
and the environment sensor is arranged on the machine body and used for detecting and obtaining environment data.
33. The ground-based remote controlled robot of claim 32, wherein the environmental sensor comprises a vision sensor and/or a distance sensor.
34. The ground-based robot of claim 31, further comprising:
and the communication equipment is arranged on the machine body and used for carrying out information interaction with the control terminal.
35. The ground-based robot of claim 31, wherein the ground-based robot comprises at least one of: unmanned aerial vehicle, car.
CN201880037081.9A 2018-08-30 2018-08-30 Drift control method and device of ground remote-controlled robot and ground remote-controlled robot Pending CN110730705A (en)

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