CN112947312B - Agricultural robot motion control method - Google Patents
Agricultural robot motion control method Download PDFInfo
- Publication number
- CN112947312B CN112947312B CN202110121783.9A CN202110121783A CN112947312B CN 112947312 B CN112947312 B CN 112947312B CN 202110121783 A CN202110121783 A CN 202110121783A CN 112947312 B CN112947312 B CN 112947312B
- Authority
- CN
- China
- Prior art keywords
- agricultural robot
- stability
- feet
- speed
- acceleration
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34013—Servocontroller
Landscapes
- Engineering & Computer Science (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The application provides a motion control method and a motion control system for an agricultural robot, which are characterized in that: acquiring information by using an information acquisition module; calculating a balance value by using a balance degree calculating module, calculating a stability value by using a stability judging module, and adjusting parameters or keeping the parameters unchanged by using an adjusting module; the method for calculating the balance value and the stability value provided by the application creatively judges the speed and/or the acceleration to be changed, and if the change value cannot reach the expected balance value interval, the change method is directly eliminated, and readjustment or unchanged is carried out; if the desired interval of the equilibrium values can be reached, a stability value is further calculated, if the desired interval of the stability values can be reached, the change is allowed, otherwise, if no feasible result can be obtained, the direction of movement of the agricultural robot is further adjusted and/or the double arms are added as the movement control assistance.
Description
Technical Field
The application relates to a robot control technology, in particular to an agricultural robot motion control method.
Background
In the field of agricultural production, because the occupation ratio of labor cost is large, especially when large-scale seasonal fruits are picked, a large amount of manpower and time are consumed, and the cost of agricultural production is increased. At present, the cost of labor force in China is continuously increased, the quantity of labor force is gradually reduced, and the young labor force in the field of agricultural production is insufficient, so that the agricultural production is required to gradually realize intellectualization and automation so as to reduce the labor cost.
Many application scenarios of industrial and domestic robots are operating on flat ground, for example sweeping robots or guiding robots in shopping malls. However, agricultural robots are different in application scenes, and are often used in mountainous regions and hills, and the road surface is rugged, so that the related technology of industrial and domestic robots is difficult to be directly applied to the agricultural robots. Since the application environment of the agricultural robot is more complex and the running speed is variable, the complexity of the environment must be considered, otherwise the agricultural robot is very difficult to control the motion and even cannot complete the expected task.
If the motion stability of the agricultural robot in a complex environment is excessively pursued, the advancing speed of the agricultural robot becomes slow, and the working efficiency is influenced; if the traveling speed is excessively pursued, the motion stability of the agricultural robot is affected due to the complicated environment, and even accidents such as falling down can occur.
Disclosure of Invention
The application provides a motion control method of an agricultural robot, which is particularly suitable for a six-limb agricultural robot, wherein the six limbs comprise four feet and two arms, the four feet can improve the stability of the robot in complex application environments such as mountainous regions and the like, the two arms can assist the four feet to further improve the stability of the agricultural robot in extremely severe complex environments, the speed and/or the acceleration to be changed are/is judged by utilizing a balance value and stability value calculation mode which is originally provided by the application, and if the change value cannot reach a desired balance value interval, the change mode is directly eliminated, and readjustment or unchanged is carried out; if the desired interval of the equilibrium values can be reached, a stability value is further calculated, if the desired interval of the stability values can be reached, the change is allowed, otherwise, if no feasible result can be obtained, the direction of movement of the agricultural robot is further adjusted and/or the double arms are added as the movement control assistance.
The invention provides a motion control method of an agricultural robot, which is characterized by comprising the following steps:
the agricultural robot has four feet and two arms for simulating a human body, the four feet can improve the robot stability in a mountainous region use environment, and the two arms can assist the four feet in a severe complex scene to further improve the stability of the agricultural robot;
utilize information acquisition module to acquire agricultural robot and peripheral information thereof includes:
acquiring peripheral information through a binocular vision sensor and a laser radar;
the position of the arch of the foot is positioned by the position sensors on the four feet so as to obtain the position information of the four feet;
respectively acquiring the speed and/or the horizontal acceleration of the agricultural robot through a speed and/or acceleration sensor;
calculating the balance value of the agricultural robot by using a balance calculation module;
evaluating the stability of the agricultural robot by using a stability judging module based on the speed and/or acceleration to be adjusted and the balance degree corresponding to the next position of the agricultural robot; the stability refers to a measure for keeping the agricultural robot in a controllable degree of balance at a given speed and/or acceleration;
adjusting the speed and/or acceleration of travel based on the determination result of the stability determination module, and further adjusting the direction of motion of the agricultural robot and/or adding the double arm as the motion control assistance in case a feasible result cannot be obtained.
As a possible embodiment, optionally, the peripheral information is used for the agricultural robot to perform control judgment and aid in decision-making of the traveling speed and acceleration.
As a possible embodiment, the calculation of said balance value is optionally dependent on at least three of the position information of the four feet and the center of gravity of said agricultural robot.
As a possible embodiment, optionally, the balance value is calculated as follows:
d represents the diameter of an inscribed circle of a projection geometry formed when three feet land or four feet land;
d represents the diameter of an inscribed circle of a projection geometric body formed when the four feet are in ground unfolding with the maximum inclination;
the h represents the height of the gravity center of the agricultural robot from the ground;
h represents the height from the gravity center to the ground when the four feet of the agricultural robot are in the maximum inclination landing and unfolding;
the sigma2A variance representing the height of the position of each foot;
the λ represents an adjustably selectable parameter.
As a possible embodiment, optionally, the stability is calculated as follows:
w represents stability, VmaxRepresents the maximum speed; v represents a current speed; p represents a balance value; a represents acceleration, and β represents an adjustable constant parameter; when w is>w0If the judgment result of the stability judgment module is stable, otherwise, the judgment result is unstable, wherein w0Is the stability threshold of said agricultural robot.
The invention also provides an agricultural robot motion control system, which is characterized in that:
the motion control system comprises an agricultural robot, the agricultural robot is provided with four feet and two arms for simulating a human body, the four feet can improve the robot stability in a mountainous region use environment, and the two arms can assist the four feet in further improving the stability of the agricultural robot in an extremely severe complex scene;
the motion control system acquires the information of the agricultural robot and the periphery thereof by using an information acquisition module, and comprises:
acquiring peripheral information through a binocular vision sensor and a laser radar;
the position of the arch of the foot is positioned by the position sensors on the four feet so as to obtain the position information of the four feet;
respectively acquiring the speed and/or the horizontal acceleration of the agricultural robot through a speed and/or acceleration sensor;
calculating the balance value of the agricultural robot by using a balance calculation module;
the motion control system utilizes a stability judging module to evaluate the stability of the agricultural robot based on the speed and/or acceleration to be adjusted and the degree of balance corresponding to the next position of the agricultural robot; the stability refers to a measure for keeping the agricultural robot in a controllable degree of balance at a given speed and/or acceleration;
the motion control system adjusts the speed and/or acceleration of travel based on the determination result of the stability determination module, and further adjusts the direction of motion of the agricultural robot and/or adds the double arms as the motion control assistance in the case where a feasible result cannot be obtained.
As a possible embodiment, optionally, the peripheral information is used for the agricultural robot to perform control judgment and aid in decision-making of the traveling speed and acceleration.
As a possible embodiment, the calculation of said balance value is optionally dependent on at least three of the position information of the four feet and the center of gravity of said agricultural robot.
As a possible embodiment, optionally, the balance value is calculated as follows:
d represents the diameter of an inscribed circle of a projection geometry formed when three feet land or four feet land;
d represents the diameter of an inscribed circle of a projection geometric body formed when the four feet are in ground unfolding with the maximum inclination;
the h represents the height of the gravity center of the agricultural robot from the ground;
h represents the height from the gravity center to the ground when the four feet of the agricultural robot are in the maximum inclination landing and unfolding;
the sigma2A variance representing the height of the position of each foot;
the λ represents an adjustably selectable parameter.
As a possible embodiment, optionally, the stability is calculated as follows:
w represents stability, VmaxRepresents the maximum speed; v represents a current speed; p represents a balance value; a represents acceleration, and β represents an adjustable constant parameter; when w is>w0If the judgment result of the stability judgment module is stable, otherwise, the judgment result is unstable, wherein w0Is the stability threshold of said agricultural robot.
The invention also proposes a readable storage medium on which are stored program instructions capable of implementing any of the control methods described above.
Drawings
Fig. 1 shows the motion control method of the agricultural robot.
Detailed Description
To make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the drawings in the present application, and it is obvious that the described embodiments are some, but not all embodiments of the present application. 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 application.
Fig. 1 shows a method for controlling the movement of an agricultural robot according to an embodiment of the present application, and as shown in fig. 1, a method for controlling the movement of an agricultural robot
The method is characterized in that: acquiring information by using an information acquisition module; and the balance degree value is calculated by using the balance degree calculating module, the stability value is calculated by using the stability judging module, and the parameters are adjusted or kept unchanged by using the adjusting module.
Specifically, the method comprises the following steps: the agricultural robot has four feet and two arms for simulating a human body, the four feet can improve the robot stability in a mountainous region use environment, and the two arms can assist the four feet in a severe complex scene to further improve the stability of the agricultural robot;
utilize information acquisition module to acquire agricultural robot and peripheral information thereof includes:
acquiring peripheral information through a binocular vision sensor and a laser radar;
the position of the arch of the foot is positioned by the position sensors on the four feet so as to obtain the position information of the four feet;
respectively acquiring the speed and/or the horizontal acceleration of the agricultural robot through a speed and/or acceleration sensor;
calculating the balance value of the agricultural robot by using a balance calculation module;
evaluating the stability of the agricultural robot by using a stability judging module based on the speed and/or acceleration to be adjusted and the balance degree corresponding to the next position of the agricultural robot; the stability refers to a measure for keeping the agricultural robot in a controllable degree of balance at a given speed and/or acceleration;
adjusting the speed and/or acceleration of travel based on the determination result of the stability determination module, and further adjusting the direction of motion of the agricultural robot and/or adding the double arm as the motion control assistance in case a feasible result cannot be obtained.
As a possible embodiment, optionally, the peripheral information is used for the agricultural robot to perform control judgment and aid in decision-making of the traveling speed and acceleration.
As a possible embodiment, the calculation of said balance value is optionally dependent on at least three of the position information of the four feet and the center of gravity of said agricultural robot.
As a possible embodiment, optionally, the balance value is calculated as follows:
d represents the diameter of an inscribed circle of a projection geometry formed when three feet land or four feet land;
d represents the diameter of an inscribed circle of a projection geometric body formed when the four feet are in ground unfolding with the maximum inclination;
the h represents the height of the gravity center of the agricultural robot from the ground;
h represents the height from the gravity center to the ground when the four feet of the agricultural robot are in the maximum inclination landing and unfolding;
the sigma2A variance representing the height of the position of each foot;
the λ represents an adjustably selectable parameter.
As a possible embodiment, optionally, the stability is calculated as follows:
w represents stability, VmaxRepresents the maximum speed; v represents a current speed; p represents a balance value; a represents acceleration, and β represents an adjustable constant parameter; when w is>w0If the judgment result of the stability judgment module is stable, otherwise, the judgment result is unstable, wherein w0Is the stability threshold of said agricultural robot.
The invention also provides an agricultural robot motion control system, which is characterized in that:
the motion control system comprises an agricultural robot, the agricultural robot is provided with four feet and two arms for simulating a human body, the four feet can improve the robot stability in a mountainous region use environment, and the two arms can assist the four feet in further improving the stability of the agricultural robot in an extremely severe complex scene;
the motion control system acquires the information of the agricultural robot and the periphery thereof by using an information acquisition module, and comprises:
acquiring peripheral information through a binocular vision sensor and a laser radar;
the position of the arch of the foot is positioned by the position sensors on the four feet so as to obtain the position information of the four feet;
respectively acquiring the speed and/or the horizontal acceleration of the agricultural robot through a speed and/or acceleration sensor;
calculating the balance value of the agricultural robot by using a balance calculation module;
the motion control system utilizes a stability judging module to evaluate the stability of the agricultural robot based on the speed and/or acceleration to be adjusted and the degree of balance corresponding to the next position of the agricultural robot; the stability refers to a measure for keeping the agricultural robot in a controllable degree of balance at a given speed and/or acceleration;
the motion control system adjusts the speed and/or acceleration of travel based on the determination result of the stability determination module, and further adjusts the direction of motion of the agricultural robot and/or adds the double arms as the motion control assistance in the case where a feasible result cannot be obtained.
As a possible embodiment, optionally, the peripheral information is used for the agricultural robot to perform control judgment and aid in decision-making of the traveling speed and acceleration.
As a possible embodiment, the calculation of said balance value is optionally dependent on at least three of the position information of the four feet and the center of gravity of said agricultural robot.
As a possible embodiment, optionally, the balance value is calculated as follows:
d represents the diameter of an inscribed circle of a projection geometry formed when three feet land or four feet land;
d represents the diameter of an inscribed circle of a projection geometric body formed when the four feet are in ground unfolding with the maximum inclination;
the h represents the height of the gravity center of the agricultural robot from the ground;
h represents the height from the gravity center to the ground when the four feet of the agricultural robot are in the maximum inclination landing and unfolding;
the sigma2A variance representing the height of the position of each foot;
the λ represents an adjustably selectable parameter.
As a possible embodiment, optionally, the stability is calculated as follows:
w represents stability, VmaxRepresents the maximum speed; v represents a current speed; p represents a balance value; a represents acceleration, and β represents an adjustable constant parameter; when w is>w0If the judgment result of the stability judgment module is stable, otherwise, the judgment result is unstable, wherein w0Is the stability threshold of said agricultural robot.
The invention also proposes a readable storage medium on which are stored program instructions capable of implementing any of the control methods described above.
In implementation, the steps of the above method embodiments may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general purpose Processor, a Digital Signal Processor (DSP), an Application-specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in the embodiments of the present application may be directly implemented by a hardware encoding processor, or implemented by a combination of hardware and software modules in the encoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.
The memory referred to in the various embodiments above may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of example, but not limitation, many forms of RAM are available, such as Static random access memory (Static RAM, SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic random access memory (Synchronous DRAM, SDRAM), Double Data Rate Synchronous Dynamic random access memory (DDR SDRAM), Enhanced Synchronous SDRAM (ESDRAM), Synchronous link SDRAM (SLDRAM), and Direct Rambus RAM (DRRAM). It should be noted that the memory of the systems and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, 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 application 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 functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (personal computer, server, network device, or the like) to execute all or part of the steps of the method according to the embodiments of the present application. 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 for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (6)
1. A motion control method of an agricultural robot is characterized in that:
the agricultural robot has four feet and two arms for simulating a human body;
utilize information acquisition module to acquire agricultural robot and peripheral information thereof includes:
acquiring peripheral information through a binocular vision sensor and a laser radar;
the position of the arch of the foot is positioned by the position sensors on the four feet so as to obtain the position information of the four feet;
respectively acquiring the speed and/or the horizontal acceleration of the agricultural robot through a speed and/or acceleration sensor;
calculating the balance value of the agricultural robot by using a balance calculation module;
evaluating the stability of the agricultural robot by using a stability judging module based on the speed and/or acceleration to be adjusted and a balance value corresponding to the next position of the agricultural robot; the stability refers to a measure for keeping the agricultural robot under a controllable equilibrium value at a given speed and/or acceleration;
adjusting the speed and/or acceleration of travel based on the determination result of the stability determination module, and further adjusting the motion direction of the agricultural robot and/or adding the double arms as the motion control assistance in case a feasible result cannot be obtained;
the calculation of said balance value is dependent on at least three of the position information of the four feet and the center of gravity of said agricultural robot;
the balance value is calculated as follows:
d represents the diameter of an inscribed circle of a projection geometry formed when three feet land or four feet land;
d represents the diameter of an inscribed circle of a projection geometric body formed when the four feet are in ground unfolding with the maximum inclination;
the h represents the height of the gravity center of the agricultural robot from the ground;
h represents the height from the gravity center to the ground when the four feet of the agricultural robot are in the maximum inclination landing and unfolding;
the sigma2A variance representing the height of the position of each foot;
the λ represents an adjustably selectable parameter.
2. The method according to claim 1, wherein the peripheral information is used for the agricultural robot to perform control judgment and aid in decision-making of the traveling speed and acceleration.
3. The agricultural robot motion control method of claim 1, the stability being calculated as follows:
w represents stability, VmaxRepresents the maximum speed; v represents a current speed; p represents a balance value; a represents acceleration, and β represents an adjustable constant parameter; when w is>w0If the judgment result of the stability judgment module is stable, otherwise, the judgment result is unstable, wherein w0Is the stability threshold of said agricultural robot.
4. An agricultural robot motion control system which characterized in that:
the motion control system comprises an agricultural robot, and the agricultural robot is provided with four feet and two arms for simulating a human body;
the motion control system acquires the information of the agricultural robot and the periphery thereof by using an information acquisition module, and comprises:
acquiring peripheral information through a binocular vision sensor and a laser radar;
the position of the arch of the foot is positioned by the position sensors on the four feet so as to obtain the position information of the four feet;
respectively acquiring the speed and/or the horizontal acceleration of the agricultural robot through a speed and/or acceleration sensor;
calculating the balance value of the agricultural robot by using a balance calculation module;
the motion control system utilizes a stability judgment module to evaluate the stability of the agricultural robot based on the speed and/or acceleration to be adjusted and a balance value corresponding to the next position of the agricultural robot; the stability refers to a measure for keeping the agricultural robot under a controllable equilibrium value at a given speed and/or acceleration;
the motion control system adjusts the speed and/or acceleration of the traveling based on the judgment result of the stability judgment module, and further adjusts the motion direction of the agricultural robot and/or adds the double arms as the motion control assistance under the condition that a feasible result cannot be obtained; the calculation of said balance value is dependent on at least three of the position information of the four feet and the center of gravity of said agricultural robot;
the balance value is calculated as follows:
d represents the diameter of an inscribed circle of a projection geometry formed when three feet land or four feet land;
d represents the diameter of an inscribed circle of a projection geometric body formed when the four feet are in ground unfolding with the maximum inclination;
the h represents the height of the gravity center of the agricultural robot from the ground;
h represents the height from the gravity center to the ground when the four feet of the agricultural robot are in the maximum inclination landing and unfolding;
the sigma2A variance representing the height of the position of each foot;
the λ represents an adjustably selectable parameter.
5. The agricultural robot motion control system of claim 4, wherein the peripheral information is used for the agricultural robot to make control decisions, aid in decision making of travel speed and acceleration.
6. An agricultural robot motion control system according to claim 4, the stability is calculated as follows:
w represents stability, VmaxRepresents the maximum speed; v represents a current speed; p represents a balance value; said a represents acceleration, said beta represents aAdjusted constant parameter when w>w0If the judgment result of the stability judgment module is stable, otherwise, the judgment result is unstable, wherein w0Is the stability threshold of said agricultural robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110121783.9A CN112947312B (en) | 2021-01-28 | 2021-01-28 | Agricultural robot motion control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110121783.9A CN112947312B (en) | 2021-01-28 | 2021-01-28 | Agricultural robot motion control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112947312A CN112947312A (en) | 2021-06-11 |
| CN112947312B true CN112947312B (en) | 2021-09-14 |
Family
ID=76239021
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110121783.9A Active CN112947312B (en) | 2021-01-28 | 2021-01-28 | Agricultural robot motion control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112947312B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114979473A (en) * | 2022-05-16 | 2022-08-30 | 遥相科技发展(北京)有限公司 | Industrial robot control method |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101763118A (en) * | 2002-03-18 | 2010-06-30 | 索尼株式会社 | Robot device, device and method for controlling operation of legged locomotion robot, sensor system for legged locomotion robot, and moving body device |
| CN102591344A (en) * | 2012-03-05 | 2012-07-18 | 中国人民解放军国防科学技术大学 | Time and position control method of four-footed bionic robot |
| CN102749919A (en) * | 2012-06-15 | 2012-10-24 | 华中科技大学 | Balance control method of multi-leg robot |
| CN106695791A (en) * | 2017-01-11 | 2017-05-24 | 山东科技大学 | Generation method of continuous free tread of four-foot biomimetic robot |
| CN110328670A (en) * | 2019-08-27 | 2019-10-15 | 山东科技大学 | The quiet gait planning method of quadruped robot based on landform fuzzy self-adaption |
| CN110842921A (en) * | 2019-11-19 | 2020-02-28 | 山东大学 | Gait planning method for climbing and crossing of large-gradient terrain or high-obstacle of four-footed robot |
| JP2020108915A (en) * | 2018-12-29 | 2020-07-16 | 深セン市優必選科技股▲ふん▼有限公司Ｕｂｔｅｃｈ Ｐｏｂｏｔｉｃｓ Ｃｏｒｐ Ｌｔｄ | Method and device for adjusting gravity center position of robot, robot and data storage medium |
| CN111844013A (en) * | 2019-04-30 | 2020-10-30 | 深圳市优必选科技有限公司 | Robot gait planning method and device, robot and storage medium |
| CN111872941A (en) * | 2020-08-06 | 2020-11-03 | 深圳市优必选科技股份有限公司 | Balance control method and device, humanoid robot and readable storage medium |
| CN112268491A (en) * | 2020-10-27 | 2021-01-26 | 山东方大工程有限责任公司 | Blasting powder feeding robot control system, control method, control device and application |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007000957A (en) * | 2005-06-22 | 2007-01-11 | Oki Electric Ind Co Ltd | Legged robot |
| CN105353760B (en) * | 2015-12-15 | 2018-04-24 | 中国北方车辆研究所 | Legged type robot fuselage amplitude of fluctuation planing method based on supporting domain position feedback |
| CN111177850A (en) * | 2019-12-27 | 2020-05-19 | 淮安信息职业技术学院 | Gait optimization application of multi-legged robot based on ZMP stability theory |
-
2021
- 2021-01-28 CN CN202110121783.9A patent/CN112947312B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101763118A (en) * | 2002-03-18 | 2010-06-30 | 索尼株式会社 | Robot device, device and method for controlling operation of legged locomotion robot, sensor system for legged locomotion robot, and moving body device |
| CN102591344A (en) * | 2012-03-05 | 2012-07-18 | 中国人民解放军国防科学技术大学 | Time and position control method of four-footed bionic robot |
| CN102749919A (en) * | 2012-06-15 | 2012-10-24 | 华中科技大学 | Balance control method of multi-leg robot |
| CN106695791A (en) * | 2017-01-11 | 2017-05-24 | 山东科技大学 | Generation method of continuous free tread of four-foot biomimetic robot |
| JP2020108915A (en) * | 2018-12-29 | 2020-07-16 | 深セン市優必選科技股▲ふん▼有限公司Ｕｂｔｅｃｈ Ｐｏｂｏｔｉｃｓ Ｃｏｒｐ Ｌｔｄ | Method and device for adjusting gravity center position of robot, robot and data storage medium |
| CN111844013A (en) * | 2019-04-30 | 2020-10-30 | 深圳市优必选科技有限公司 | Robot gait planning method and device, robot and storage medium |
| CN110328670A (en) * | 2019-08-27 | 2019-10-15 | 山东科技大学 | The quiet gait planning method of quadruped robot based on landform fuzzy self-adaption |
| CN110842921A (en) * | 2019-11-19 | 2020-02-28 | 山东大学 | Gait planning method for climbing and crossing of large-gradient terrain or high-obstacle of four-footed robot |
| CN111872941A (en) * | 2020-08-06 | 2020-11-03 | 深圳市优必选科技股份有限公司 | Balance control method and device, humanoid robot and readable storage medium |
| CN112268491A (en) * | 2020-10-27 | 2021-01-26 | 山东方大工程有限责任公司 | Blasting powder feeding robot control system, control method, control device and application |
Non-Patent Citations (1)
| Title |
|---|
| 六足机器人崎岖地形步行运动规划与控制策略研究;陈杰;《中国博士学位论文全文数据库 信息科技辑》;20171215(第12期);I140-62 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112947312A (en) | 2021-06-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11199846B2 (en) | Learning-based dynamic modeling methods for autonomous driving vehicles | |
| US10751561B2 (en) | Systems and methods for controlling a self-paced treadmill using predicted subject velocity | |
| WO2019184179A1 (en) | Method and device for controlling movement of autonomous mobile machine, machine and storage medium | |
| CN109959379B (en) | Positioning method and electronic equipment | |
| CN112947312B (en) | Agricultural robot motion control method | |
| CN111278517B (en) | Calibration bias for control mechanism in user input device | |
| US10421463B2 (en) | Automatic steering control reference adaption to resolve understeering of autonomous driving vehicles | |
| CN113050616A (en) | Control method for walking of biped robot and biped robot | |
| US20230415333A1 (en) | Center of mass planning method for robot, robot and computer-readable storage medium | |
| CN110493710A (en) | Track reconstructing method, apparatus, computer equipment and storage medium | |
| WO2020184013A1 (en) | Vehicle control device | |
| CN113031639A (en) | Robot step length processing method and device, robot control equipment and storage medium | |
| CN111469130A (en) | Robot control method and device, storage medium and processor | |
| WO2019129355A1 (en) | Method for predicting a motion of an object, method for calibrating a motion model, method for deriving a predefined quantity and method for generating a virtual reality view | |
| CN112597612B (en) | Robot optimization method, device, terminal equipment and computer readable storage medium | |
| CN111844013B (en) | Robot gait planning method and device, robot and storage medium | |
| Masuya et al. | Dead reckoning for biped robots that suffers less from foot contact condition based on anchoring pivot estimation | |
| US7133855B2 (en) | Behavior control apparatus and method | |
| CN112975965B (en) | Decoupling control method and device of humanoid robot and humanoid robot | |
| CN115272899A (en) | Risk early warning method and device, aircraft and storage medium | |
| CN116774263B (en) | Navigation positioning method and device for combined navigation system | |
| CN113163247A (en) | Device control method, remote controller, and computer-readable storage medium | |
| CN112947428A (en) | Movement control method and device of quadruped robot | |
| CN109720435B (en) | Robot gait debugging method and device | |
| CN114255325B (en) | Ground model generation, obstacle data determination and operation control method and related device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |