CN114371740A - Spherical attitude control method, spherical attitude control device, spherical attitude control equipment and computer readable storage medium - Google Patents
Spherical attitude control method, spherical attitude control device, spherical attitude control equipment and computer readable storage medium Download PDFInfo
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Abstract
The application provides a spherical attitude control method, which is applied to a spherical attitude adjusting mechanism, wherein the spherical attitude adjusting mechanism comprises a spherical clamping mechanism, an omnidirectional driving wheel set and a visual identification module, wherein the omnidirectional driving wheel set is arranged below the spherical clamping mechanism; the target position to which the spherical clamping mechanism finally rotates corresponds to only one target mark on the spherical clamping mechanism, and when the spherical clamping mechanism is located at the target position, the target mark is over against the visual center of the visual identification module, so that the omnidirectional driving wheel set can be controlled to rotate based on the position information of the target position and the position information of each first identification area until the visual identification module identifies the target mark. This application can carry out accurate control and easily realization to the ball gesture. The application also provides a spherical attitude control device, equipment and a computer readable storage medium.
Description
Technical Field
The present disclosure relates to the field of automatic control technologies, and in particular, to a spherical attitude control method, apparatus, device, and computer-readable storage medium.
Background
At present, no mature technology is formed for detecting the attitude of the spherical mechanism, and the attitude control is carried out on the spherical mechanism, and no typical application exists. Aiming at the high-precision attitude control of the spherical mechanism, if the traditional attitude sensor is used for attitude control, the control error is correspondingly increased in the process of increasing the volume of the sphere, so that the high-precision requirement cannot be met; in some confidential places, under the condition that wireless communication equipment is not allowed to be used at present, the installation of the sensor on the surface of the ball cannot be realized; if an image recognition technology is used, the surface of the ball needs to be specially processed, the image recognition complexity is high, error recognition is easy to occur, and equipment damage is easy to cause.
Therefore, a control strategy which is easy to implement, high in precision and high in accuracy is urgently needed for the attitude control of the spherical mechanism.
Disclosure of Invention
The application provides a spherical attitude control method, a spherical attitude control device, spherical attitude control equipment and a computer readable storage medium, which can accurately control the spherical attitude and are easy to realize.
In a first aspect, the present application provides a spherical attitude control method, which is applied to a spherical attitude adjustment mechanism, where the spherical attitude adjustment mechanism includes a spherical clamping mechanism, an omnidirectional driving wheel set disposed below the spherical clamping mechanism, and a visual recognition module disposed at a central position of each omnidirectional driving wheel of the omnidirectional driving wheel set, and a first identification area of a target number is preset on a surface of a ball of the spherical clamping mechanism; the method comprises the following steps:
determining position information of a target position to which the spherical clamping mechanism finally rotates, wherein the target position only corresponds to one target mark on the spherical clamping mechanism, and when the spherical clamping mechanism is located at the target position, the target mark is over against a visual center of the visual identification module;
controlling the omnidirectional driving wheel set to rotate based on the position information of the target position and the position information of each first identification area, so that the spherical clamping mechanism gradually rotates to the target position;
and when the vision identification module identifies the target mark at the vision center, controlling the omnidirectional driving wheel set to stop rotating.
Optionally, the target mark is located in a second identification area preset on the ball surface of the ball clamping mechanism;
the position information of the target position comprises first position information and second position information, wherein the first position information comprises curved surface position coordinates of a central point of the second identification area relative to a zero point of a world coordinate system, and the second position information comprises curved surface position coordinates of the target mark relative to the central point of the second identification area.
Optionally, the step-by-step rotating the spherical clamping mechanism to the target position includes:
gradually rotating the ball gripper mechanism from the initial position to the target position;
when the spherical clamping mechanism is located at the initial position, the origin of the world coordinate system is located at the lowest point of the spherical surface of the spherical clamping mechanism.
Optionally, the controlling the omnidirectional driving wheel set to rotate includes:
controlling the omnidirectional driving wheel set to rotate for the first time, the second time and the third time in sequence;
the first rotation is clockwise rotation by a first angle along a Z axis of the world coordinate system, and the first angle is calculated according to a transverse coordinate in the first position information, a transverse coordinate in the second position information and a sphere radius of the spherical clamping mechanism;
the second rotation is a second angle of rotation around the Y axis of the world coordinate system, and the second angle is calculated according to the longitudinal coordinate in the first position information, the longitudinal coordinate in the second position information and the sphere radius of the spherical clamping mechanism;
the third rotation is a rotation of a third angle around the Z axis of the world coordinate system, and the third angle is a position included angle of the target mark relative to the central point of the second identification area.
Optionally, the controlling the omnidirectional driving wheel set to rotate includes:
and controlling the motor rotating speed of the omnidirectional driving wheel set by using a servo driver.
Optionally, the controlling the omnidirectional driving wheel set to rotate so that the spherical clamping mechanism gradually rotates to the target position includes:
in the process of controlling the omnidirectional driving wheel set to rotate to enable the spherical clamping mechanism to move, when the vision recognition module recognizes any first mark area on the spherical clamping mechanism, the posture of the spherical clamping mechanism is corrected according to the recognized area position and posture angle of the first mark area, so that the spherical clamping mechanism gradually rotates to the target position.
Optionally, the omnidirectional driving wheel set comprises three omnidirectional driving wheels uniformly distributed below the spherical clamping mechanism.
In a second aspect, the present application provides a spherical attitude control device, which is applied to a spherical attitude adjusting mechanism, the spherical attitude adjusting mechanism includes a spherical clamping mechanism, an omnidirectional driving wheel set disposed below the spherical clamping mechanism, and a visual recognition module disposed at a central position of each omnidirectional driving wheel of the omnidirectional driving wheel set, a first identification area of a target number is preset on a surface of a ball of the spherical clamping mechanism; the device comprises:
the position determining unit is used for determining position information of a target position to which the spherical clamping mechanism finally rotates, wherein the target position only corresponds to one target mark on the spherical clamping mechanism, and when the spherical clamping mechanism is located at the target position, the target mark is over against the visual center of the visual identification module;
the first control unit is used for controlling the omnidirectional driving wheel set to rotate on the basis of the position information of the target position and the position information of each first identification area so as to enable the spherical clamping mechanism to gradually rotate to the target position;
and the second control unit is used for controlling the omnidirectional driving wheel set to stop rotating after the vision identification module identifies the target mark in the vision center.
Optionally, the target mark is located in a second identification area preset on the ball surface of the ball clamping mechanism;
the position information of the target position comprises first position information and second position information, wherein the first position information comprises curved surface position coordinates of a central point of the second identification area relative to a zero point of a world coordinate system, and the second position information comprises curved surface position coordinates of the target mark relative to the central point of the second identification area.
Optionally, when the first control unit gradually rotates the spherical clamping mechanism to the target position, the first control unit is specifically configured to gradually rotate the spherical clamping mechanism from the initial position to the target position; when the spherical clamping mechanism is located at the initial position, the origin of the world coordinate system is located at the lowest point of the spherical surface of the spherical clamping mechanism.
Optionally, when controlling the omnidirectional driving wheel set to rotate, the first control unit is specifically configured to control the omnidirectional driving wheel set to sequentially perform a first rotation, a second rotation, and a third rotation;
the first rotation is clockwise rotation by a first angle along a Z axis of the world coordinate system, and the first angle is calculated according to a transverse coordinate in the first position information, a transverse coordinate in the second position information and a sphere radius of the spherical clamping mechanism;
the second rotation is a second angle of rotation around the Y axis of the world coordinate system, and the second angle is calculated according to the longitudinal coordinate in the first position information, the longitudinal coordinate in the second position information and the sphere radius of the spherical clamping mechanism;
the third rotation is a rotation of a third angle around the Z axis of the world coordinate system, and the third angle is a position included angle of the target mark relative to the central point of the second identification area.
Optionally, when the first control unit controls the omnidirectional driving wheel set to rotate, the first control unit is specifically configured to control the motor rotation speed of the omnidirectional driving wheel set by using a servo driver.
Optionally, the first control unit is configured to, when controlling the omnidirectional driving wheel set to rotate so that the spherical clamping mechanism gradually rotates to the target position, specifically, in a process of controlling the omnidirectional driving wheel set to rotate so that the spherical clamping mechanism moves, and when the vision recognition module recognizes any first identification area on the spherical clamping mechanism, perform attitude correction on the spherical clamping mechanism according to the recognized area position and attitude angle of the first identification area, so that the spherical clamping mechanism gradually rotates to the target position.
Optionally, the omnidirectional driving wheel set comprises three omnidirectional driving wheels uniformly distributed below the spherical clamping mechanism.
In a third aspect, the present application provides an electronic device, comprising: a processor, a memory;
the memory for storing a computer program;
the processor is used for executing the spherical attitude control method by calling the computer program.
In a fourth aspect, the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described spherical attitude control method.
In the technical scheme provided by the application, the spherical posture adjusting mechanism comprises a spherical clamping mechanism, an omnidirectional driving wheel set and a visual recognition module, wherein the omnidirectional driving wheel set is arranged below the spherical clamping mechanism, and a first identification area of the target quantity is preset on the surface of a ball of the spherical clamping mechanism. The target position to which the spherical clamping mechanism finally rotates corresponds to only one target mark on the spherical clamping mechanism, and when the spherical clamping mechanism is located at the target position, the target mark is over against the visual center of the visual identification module, so that the omnidirectional driving wheel set can be controlled to rotate based on the position information of the target position and the position information of each first identification area until the visual identification module identifies the target mark. Therefore, the first identification area with proper density is arranged on the surface of the ball, other equipment and cables are not needed to be installed, the ball clamping mechanism has the advantage of being simple in structure, the size of the ball is irrelevant to control precision, and the position to which the ball clamping mechanism needs to rotate can be accurately controlled.
Drawings
FIG. 1 is a schematic diagram of the components of a spherical attitude adjustment mechanism shown in the present application;
FIG. 2 is a schematic diagram of the distribution of TAG codes on the surface of a spherical clamping mechanism shown in the present application;
fig. 3 is a schematic flow chart of a spherical attitude control method according to the present application;
FIG. 4 is a schematic view of a target location shown in the present application;
FIG. 5 is a schematic diagram of a spherical attitude control device shown in the present application;
fig. 6 is a schematic structural diagram of an electronic device shown in the present application.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
The embodiment of the application provides a spherical attitude control method, which is applied to a spherical attitude adjusting mechanism, wherein the spherical attitude adjusting mechanism comprises a spherical clamping mechanism, an omnidirectional driving wheel set arranged below the spherical clamping mechanism, and a visual identification module arranged at the center position of each omnidirectional driving wheel of the omnidirectional driving wheel set. Wherein, the omnidirectional drive wheelset can include three omnidirectional drive wheels that evenly distributed in spherical fixture below, it needs to explain that, this application embodiment does not prescribe to the number of omnidirectional drive wheelset, under the prerequisite that can control spherical gesture, can use three omnidirectional drive wheels, also can use the omnidirectional drive wheel of other numbers. In addition, the spherical attitude adjusting mechanism can further comprise a base supporting platform arranged below the omnidirectional driving wheel set and the vision recognition module.
For facilitating understanding of the spherical attitude adjustment mechanism, reference is now made to the schematic composition diagram of the spherical attitude adjustment mechanism shown in fig. 1, and in fig. 1, the spherical attitude adjustment mechanism includes a spherical clamping mechanism 1, an omnidirectional driving wheel set 2, a visual recognition module 3, and a base support platform 4. The omnidirectional driving wheel set 2 is a three-axis omnidirectional driving wheel set and consists of three omnidirectional driving wheels; the workpiece is fixed in the spherical clamping mechanism 1, namely, the relative position of the ball and the workpiece in the spherical clamping mechanism is fixed, the rotation of the workpiece around three coordinate axes is realized by respectively controlling the rotation of the three omnidirectional driving wheels, and finally the attitude control of the workpiece is realized.
In the embodiment of the present application, in order to realize the posture adjustment of the spherical clamping mechanism, a target number of first identification regions are preset on the surface of the ball of the spherical clamping mechanism, and position information is set for each first identification region, where the position information reflects the specific position of the corresponding first identification region on the surface of the ball, and in addition to setting the position information for each first identification region, different position codes may be set for the first identification region, so that the position code of each first identification region corresponds to the position information.
In a specific implementation, TAG codes with a proper density can be attached to the surface of the ball, wherein the area of each TAG code on the surface of the ball is defined as a first identification area. Fig. 2 is a schematic diagram showing TAG codes distributed on the surface of a spherical clamping mechanism 1, wherein a plurality of TAG codes 5 are attached to the surface of the spherical clamping mechanism 1, the coordinate system of the TAG codes coincides with the longitude and latitude of the attached position, the longitude is a y axis, the latitude is an x axis, and when the ball is at an initial position (also called a zero position), the direction along the longitude is a positive direction along the y axis, and the direction along the latitude is a positive direction along the x axis to the right.
Based on above-mentioned spherical attitude adjustment mechanism, this application embodiment can control the drive of qxcomm technology wheelset spherical fixture and rotate around the arbitrary axle, and actuating mechanism does not rotate along with spherical fixture synchronization, under the condition that does not use attitude sensor, only realizes the measurement to the ball gesture based on each first sign region of presetting on the ball surface to cooperate high accuracy servo driver to estimate the position of ball, thereby realize the accurate control to spherical fixture final position gesture.
Compared with the prior art, the spherical posture adjusting mechanism provided by the embodiment of the application has a simple structure, only needs to arrange the first mark regions with proper density (such as installing TAG codes) on the surface of the ball, does not need wireless communication, and does not need to install cables; secondly, the posture of the ball is controlled by adopting the embodiment of the application, so that the method has the characteristic of high control precision, the control precision is irrelevant to the size of the ball, and the final positioning precision can reach about 0.1 mm; in addition, the device also has the advantage of simple control, and can only realize the final positioning precision by controlling the ball to rotate around different axes without considering the precision of the intermediate process.
The following describes a spherical attitude control method provided in the embodiment of the present application in detail based on the above spherical attitude adjustment mechanism.
Referring to fig. 3, a schematic flow chart of a spherical attitude control method provided in the embodiment of the present application is shown, where the method includes the following steps:
s301: position information of a target position to which the ball gripper is finally turned is determined.
The target position corresponds to one target mark only on the spherical clamping mechanism, and when the spherical clamping mechanism is located at the target position, the target mark is over against the visual center of the visual identification module.
Since it may be necessary to adjust the workpiece in the spherical clamping mechanism to a certain fixed posture many times during the actual use of the spherical posture adjustment mechanism, for convenience of description, when it is necessary to adjust to the fixed posture, the posture position of the spherical clamping mechanism at the fixed posture is defined as the target position. Therefore, when the posture is adjusted for the first time, the spherical clamping mechanism can be rotated to a target position manually or by an auxiliary tool, at the moment, the position opposite to the visual center of the visual recognition module is defined as a target mark, and the target position is recognized by the visual recognition module.
In an embodiment of the present application, the target mark may be located within a second identification area previously provided on the ball surface of the ball gripping mechanism. Specifically, when the ball posture is adjusted for the first time and the ball holding mechanism is adjusted to the target position, a second mark region may be provided at the lowermost portion of the ball holding mechanism, and the target mark may be placed in the second mark region. For example, as shown in the target position diagram of fig. 4, the second identification area provided on the spherical gripper is a TAG code 6, and the target mark is a target position point 7 in the TAG code 6.
It should be noted that, the shape of the first identification area and the second identification area is not limited in the embodiments of the present application, and the shape may be a square shape as shown in fig. 2 and fig. 4, or may be other shapes, such as a circle, a diamond, and the like.
In the embodiment of the present application, position information of a target position to which the spherical clamping mechanism is finally rotated needs to be determined, and the position information reflects a specific position of the target position on the curved surface of the spherical clamping mechanism. In one implementation, the position information of the target position may include first position information and second position information, wherein the first position information includes curved surface position coordinates of a center point of the second marker region with respect to a zero point of the world coordinate system, and the second position information includes curved surface position coordinates of the target marker with respect to a center point of the second marker region.
Specifically, an initial position may be selected in advance for the spherical clamping mechanism, and the world coordinate system may be defined based on the initial position, in this embodiment of the present application, when the spherical clamping mechanism is in the initial position, the origin of the world coordinate system may be at the spherical lowest point of the spherical clamping mechanism, and in actual operation, a zero degree meridian and a zero degree latitude line may be divided by zero degree as the position origin, where the 0 degree latitude line of the spherical lowest point is taken as the X axis of the world coordinate system, and any meridian line is taken as the Y axis of the world coordinate system.
Based on this, regarding the central point of the second identification area on the spherical curved surface, it corresponds to a coordinate in the world coordinate system, and the coordinate is defined as the first position information. For example, the TAG code 6 shown in FIG. 4 has a central point of the TAG code 6 with respect to the curved surface position coordinate of the zero point of the specified world coordinate system as (X)n Yn)。
Regarding the target mark on the spherical curved surface, the target mark also corresponds to a coordinate in the local coordinate system of the second marked region, that is, the curved surface coordinate of the target mark relative to the center of the second marked region, the center point of the second marked region can be used as the origin of the local coordinate system of the second marked region, and the directions of the x axis and the y axis are the same as the world coordinate system, here, the coordinate of the target mark in the local coordinate system is defined as the second coordinate systemAnd (5) position information. For example, the coordinates of the target mark 7 shown in FIG. 4 are (x)nyn θn) Wherein, thetanIs the angle between the connecting line of the central point of the TAG code 6 and the target mark 7 and the positive direction of the x axis.
S302: and controlling the omnidirectional driving wheel set to rotate based on the position information of the target position and the position information of each first identification area so as to enable the spherical clamping mechanism to gradually rotate to the target position.
In the embodiment of the present application, each first identification region (for example, the TAG code 5 shown in fig. 2) may have a code value n, a center point of each first identification region may have a position on a spherical surface (the position of the center point may be a coordinate value in the world coordinate system), and the code value n and the center position of the first identification region constitute position information of the first identification region. Based on the position, the vision recognition module accurately controls the final position posture of the spherical clamping mechanism through the recognized code value of the first identification area and the position of the first identification area.
In one implementation manner of the embodiment of the present application, the step-by-step rotating the spherical clamping mechanism to the target position in S302 may include: and gradually rotating the spherical clamping mechanism from the initial position to the target position, wherein when the spherical clamping mechanism is at the initial position, the origin of the world coordinate system is at the lowest point of the spherical surface of the spherical clamping mechanism. That is, each time the posture of the ball clamp mechanism is controlled, the ball clamp mechanism may be first set at a predetermined initial position, and the omnidirectional drive wheel set may be controlled to rotate from the initial position, so that the ball clamp mechanism may be gradually rotated to a target position.
When the omnidirectional driving wheel set is controlled to rotate, the omnidirectional driving wheel set can only rotate around one axis of the world coordinate system at a time and cannot rotate around two or three axes simultaneously.
In an implementation manner of the embodiment of the present application, the "controlling the omnidirectional driving wheel set to rotate" in S302 may include: and controlling the omnidirectional driving wheel set to rotate for the first time, the second time and the third time in sequence.
The first rotation is clockwise rotation by a first angle along the Z axis of the world coordinate system, and the first angle is calculated according to the transverse coordinate in the first position information, the transverse coordinate in the second position information and the sphere radius of the spherical clamping mechanism; the second rotation is a rotation of a second angle around the Y axis of the world coordinate system, and the second angle is calculated according to the longitudinal coordinate in the first position information, the longitudinal coordinate in the second position information and the sphere radius of the spherical clamping mechanism; the third rotation is a rotation of a third angle around the Z axis of the world coordinate system, and the third angle is a position included angle of the target mark relative to the central point of the second identification area.
In the present implementation, first, the first angle α is clockwise rotated along the Z-axis of the world coordinate systemncAnd then rotated by a second angle lambda about the Y-axis of the world coordinate systemncAnd finally rotating by a third angle beta around the Z axis of the world coordinate systemnc：
βnc＝θn
Wherein R is the sphere radius of the spherical clamping mechanism; xnThe horizontal coordinate in the first position information is the X-axis coordinate of the central point of the second identification area in the world coordinate system; x is the number ofnThe horizontal coordinate in the second position information is the x-axis coordinate of the target mark in the local coordinate system of the second identification area; y isnThe first position information is a longitudinal coordinate in the first position information, namely a Y-axis coordinate of the central point of the second identification area under a world coordinate system; y isnThe longitudinal coordinate in the second position information is the y-axis coordinate of the target mark in the local coordinate system of the second identification area; thetanIs the position angle of the target mark relative to the central point of the second identification area, namely the central point of the second identification area and the targetThe line marked with the mark forms an included angle with the positive direction of the x axis.
In an implementation manner of the embodiment of the present application, the "controlling the omnidirectional driving wheel set to rotate" in S302 may include: and controlling the motor rotating speed of the omnidirectional driving wheel set by using the servo driver.
In this implementation manner, in order to gradually rotate the spherical clamping mechanism to the target position, that is, to make the visual recognition module finally recognize the target mark, and the target mark is located at the center of the visual recognition module, the motor rotation speed of each omnidirectional driving wheel needs to be effectively controlled, in this control process, the visual recognition module can recognize not only the first identification area but also the area between the first identification areas, however, when the area without the first identification area is recognized, the position posture of the spherical clamping mechanism can be estimated through the high-precision servo driver, and transition from one first identification area to another first identification area is realized. In a specific implementation, the position of the spherical clamping mechanism needs to be roughly calculated, so that the spherical clamping mechanism can smoothly reach the position of the next first identification region, that is, the visual recognition module can smoothly recognize the next first identification region, and the following describes the adopted control strategy:
controlling the motor rotation speed of each omnidirectional driving wheel according to the first angle, the second angle and the third angle of the rotation around the three shafts, in the process, a high-precision servo driver is adopted, the consistency of the movement speed of the spherical clamping mechanism and the theoretical speed can be effectively ensured, the theoretical attitude of the ball gripping mechanism is calculated by integrating the velocity fed back by the servo driver during the rotation about a certain axis, so that, it is possible that during the movement of the ball gripping mechanism and in case the visual recognition module recognizes other areas without the first identification area, roughly resolving the position of the spherical clamping mechanism until the visual recognition module recognizes a certain first identification area, and then accurately correcting the posture of the spherical clamping mechanism based on the currently recognized area position and posture angle of the first identification area.
In one implementation manner of the embodiment of the present application, the controlling the omnidirectional driving wheel set to rotate so as to gradually rotate the spherical clamping mechanism to the target position in S302 may include: in the process of controlling the omnidirectional driving wheel set to rotate to enable the spherical clamping mechanism to move, when the visual recognition module recognizes any first mark region on the spherical clamping mechanism, the posture of the spherical clamping mechanism is corrected according to the recognized region position and posture angle of the first mark region, so that the spherical clamping mechanism gradually rotates to a target position.
In this implementation, when the spherical clamping mechanism is in the rotation process between the initial position and the target position, because the dimensional machining error of the spherical clamping mechanism and the dimensional error of the base can not ensure that the spherical clamping mechanism can accurately rotate around a certain shaft absolutely in the rotation process, the error needs to be corrected all the time.
For example, taking the first identification areas as the TAG codes shown in fig. 2 as an example, a series of TAG codes in fig. 2 can be used to correct the error generated during the rotation of the ball, when the vision module of the base under the ball recognizes a certain TAG code, each TAG code corresponds to its own position, at this time, the vision module recognizes the area position and attitude angle on the current TAG code, i.e., recognizes a specific position and a specific attitude angle on the current TAG code, at this time, it only needs to adjust the attitude angle to 0 degree, and then performs position adjustment according to the currently wound axis, when performing position adjustment, if the ball clamp mechanism rotates around the Z axis of the world coordinate system, the X position error is adjusted to 0 (i.e., the ball clamp mechanism is adjusted to the X axis of the local coordinate system of the current TAG code), if the ball clamp mechanism rotates around the X axis of the world coordinate system, the Y-axis position needs to be adjusted to 0 (i.e. the spherical clamping mechanism is adjusted to the Y-axis of the local coordinate system of the current TAG code).
S303: and when the vision identification module identifies the target mark at the vision center, controlling the omnidirectional driving wheel set to stop rotating.
In the embodiment of the application, if the vision recognition module recognizes the target mark at the vision center, which indicates that the spherical clamping mechanism has rotated to the target position, the omnidirectional driving wheel set can be controlled to stop rotating, so that the gesture control of the spherical clamping mechanism is completed.
In the spherical attitude control method provided by the application, a spherical attitude adjusting mechanism is provided, and the spherical attitude adjusting mechanism comprises a spherical clamping mechanism, an omnidirectional driving wheel set and a visual identification module, wherein the omnidirectional driving wheel set is arranged below the spherical clamping mechanism, and a first identification area with a target number is preset on the surface of a ball of the spherical clamping mechanism. The target position to which the spherical clamping mechanism finally rotates corresponds to only one target mark on the spherical clamping mechanism, and when the spherical clamping mechanism is located at the target position, the target mark is over against the visual center of the visual identification module, so that the omnidirectional driving wheel set can be controlled to rotate based on the position information of the target position and the position information of each first identification area until the visual identification module identifies the target mark. Therefore, the first identification area with proper density is arranged on the surface of the ball, other equipment and cables are not needed to be installed, the ball clamping mechanism has the advantage of being simple in structure, the size of the ball is irrelevant to control precision, and the position to which the ball clamping mechanism needs to rotate can be accurately controlled.
Referring to fig. 5, a schematic view of a spherical attitude control device according to an embodiment of the present disclosure is shown, where the spherical attitude control device is applied to a spherical attitude adjusting mechanism, where the spherical attitude adjusting mechanism includes a spherical clamping mechanism, an omnidirectional driving wheel set disposed below the spherical clamping mechanism, and a visual recognition module disposed in a central position of each omnidirectional driving wheel of the omnidirectional driving wheel set, and a first identification area with a target number is preset on a surface of a ball of the spherical clamping mechanism; the device comprises:
a position determining unit 510, configured to determine position information of a target position to which the spherical clamping mechanism finally rotates, where the target position corresponds to only one target mark on the spherical clamping mechanism, and when the spherical clamping mechanism is located at the target position, the target mark directly faces a visual center of the visual identification module;
a first control unit 520, configured to control the omnidirectional driving wheel set to rotate based on the position information of the target position and the position information of each first identification area, so that the spherical clamping mechanism gradually rotates to the target position;
a second control unit 530, configured to control the omnidirectional driving wheel set to stop rotating after the vision recognition module recognizes the target mark at the vision center.
In one implementation of the embodiment of the present application, the target mark is located in a second identification area preset on a ball surface of the ball clamping mechanism;
the position information of the target position comprises first position information and second position information, wherein the first position information comprises curved surface position coordinates of a central point of the second identification area relative to a zero point of a world coordinate system, and the second position information comprises curved surface position coordinates of the target mark relative to the central point of the second identification area.
In an implementation manner of the embodiment of the present application, when the first control unit 520 gradually rotates the spherical clamping mechanism to the target position, the first control unit is specifically configured to:
gradually rotating the ball gripper mechanism from the initial position to the target position;
when the spherical clamping mechanism is located at the initial position, the origin of the world coordinate system is located at the lowest point of the spherical surface of the spherical clamping mechanism.
In an implementation manner of the embodiment of the present application, when the first control unit 520 controls the omnidirectional driving wheel set to rotate, the first control unit is specifically configured to:
controlling the omnidirectional driving wheel set to rotate for the first time, the second time and the third time in sequence;
the first rotation is clockwise rotation by a first angle along a Z axis of the world coordinate system, and the first angle is calculated according to a transverse coordinate in the first position information, a transverse coordinate in the second position information and a sphere radius of the spherical clamping mechanism;
the second rotation is a second angle of rotation around the Y axis of the world coordinate system, and the second angle is calculated according to the longitudinal coordinate in the first position information, the longitudinal coordinate in the second position information and the sphere radius of the spherical clamping mechanism;
the third rotation is a rotation of a third angle around the Z axis of the world coordinate system, and the third angle is a position included angle of the target mark relative to the central point of the second identification area.
In an implementation manner of the embodiment of the present application, when the first control unit 520 controls the omnidirectional driving wheel set to rotate, the first control unit is specifically configured to:
and controlling the motor rotating speed of the omnidirectional driving wheel set by using a servo driver.
In an implementation manner of the embodiment of the present application, when the first control unit 520 controls the omnidirectional driving wheel set to rotate, so that the spherical clamping mechanism gradually rotates to the target position, the first control unit is specifically configured to:
in the process of controlling the omnidirectional driving wheel set to rotate to enable the spherical clamping mechanism to move, when the vision recognition module recognizes any first mark area on the spherical clamping mechanism, the posture of the spherical clamping mechanism is corrected according to the recognized area position and posture angle of the first mark area, so that the spherical clamping mechanism gradually rotates to the target position.
In an implementation manner of the embodiment of the present application, the omnidirectional driving wheel set includes three omnidirectional driving wheels uniformly distributed below the spherical clamping mechanism.
The implementation process of the functions and actions of each unit in the above device is specifically described in the implementation process of the corresponding step in the above method, and is not described herein again.
For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and 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 modules can be selected according to actual needs to achieve the purpose of the scheme of the application. One of ordinary skill in the art can understand and implement it without inventive effort.
An embodiment of the present application further provides an electronic device, a schematic structural diagram of the electronic device is shown in fig. 6, where the electronic device 6000 includes at least one processor 6001, a memory 6002, and a bus 6003, and the at least one processor 6001 is electrically connected to the memory 6002; the memory 6002 is configured to store at least one computer-executable instruction that the processor 6001 is configured to execute in order to perform the steps of any of the ball gesture control methods as provided by any of the embodiments or any alternative embodiments herein.
Further, the processor 6001 may be an FPGA (Field-Programmable Gate Array) or other device with logic processing capability, such as an MCU (micro controller Unit) or a CPU (Central processing Unit).
By applying the embodiment of the application, only the first identification area with proper density is required to be arranged on the surface of the ball, other equipment and cables are not required to be installed, the ball clamping mechanism has the characteristic of simple structure, the size of the ball is irrelevant to the control precision, and the position to which the ball clamping mechanism needs to be rotated can be accurately controlled.
The present application further provides another computer-readable storage medium, which stores a computer program, where the computer program is used for implementing, when executed by a processor, the steps of any one of the spherical attitude control methods provided in any one of the embodiments or any one of the alternative embodiments of the present application.
The computer-readable storage medium provided by the embodiments of the present application includes, but is not limited to, any type of disk including floppy disks, hard disks, optical disks, CD-ROMs, and magneto-optical disks, ROMs (Read-Only memories), RAMs (Random Access memories), EPROMs (Erasable Programmable Read-Only memories), EEPROMs (Electrically Erasable Programmable Read-Only memories), flash memories, magnetic cards, or optical cards. That is, a readable storage medium includes any medium that stores or transmits information in a form readable by a device (e.g., a computer).
By applying the embodiment of the application, only the first identification area with proper density is required to be arranged on the surface of the ball, other equipment and cables are not required to be installed, the ball clamping mechanism has the characteristic of simple structure, the size of the ball is irrelevant to the control precision, and the position to which the ball clamping mechanism needs to be rotated can be accurately controlled.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.
Claims (10)
1. A spherical attitude control method is characterized in that the method is applied to a spherical attitude adjusting mechanism, the spherical attitude adjusting mechanism comprises a spherical clamping mechanism, an omnidirectional driving wheel set arranged below the spherical clamping mechanism and a visual identification module arranged at the center position of each omnidirectional driving wheel of the omnidirectional driving wheel set, and a first identification area with a target number is preset on the surface of a ball of the spherical clamping mechanism; the method comprises the following steps:
determining position information of a target position to which the spherical clamping mechanism finally rotates, wherein the target position only corresponds to one target mark on the spherical clamping mechanism, and when the spherical clamping mechanism is located at the target position, the target mark is over against a visual center of the visual identification module;
controlling the omnidirectional driving wheel set to rotate based on the position information of the target position and the position information of each first identification area, so that the spherical clamping mechanism gradually rotates to the target position;
and when the vision identification module identifies the target mark at the vision center, controlling the omnidirectional driving wheel set to stop rotating.
2. The method of claim 1, wherein the target mark is located within a second identified area pre-disposed on a ball surface of the ball gripping mechanism;
the position information of the target position comprises first position information and second position information, wherein the first position information comprises curved surface position coordinates of a central point of the second identification area relative to a zero point of a world coordinate system, and the second position information comprises curved surface position coordinates of the target mark relative to the central point of the second identification area.
3. The method of claim 2, wherein said incrementally rotating said ball clamp mechanism to said target position comprises:
gradually rotating the ball gripper mechanism from the initial position to the target position;
when the spherical clamping mechanism is located at the initial position, the origin of the world coordinate system is located at the lowest point of the spherical surface of the spherical clamping mechanism.
4. The method of claim 3, wherein said controlling said set of omni-directional drive wheels to rotate comprises:
controlling the omnidirectional driving wheel set to rotate for the first time, the second time and the third time in sequence;
the first rotation is clockwise rotation by a first angle along a Z axis of the world coordinate system, and the first angle is calculated according to a transverse coordinate in the first position information, a transverse coordinate in the second position information and a sphere radius of the spherical clamping mechanism;
the second rotation is a second angle of rotation around the Y axis of the world coordinate system, and the second angle is calculated according to the longitudinal coordinate in the first position information, the longitudinal coordinate in the second position information and the sphere radius of the spherical clamping mechanism;
the third rotation is a rotation of a third angle around the Z axis of the world coordinate system, and the third angle is a position included angle of the target mark relative to the central point of the second identification area.
5. The method of any of claims 1-4, wherein the controlling the omni-directional drive wheel set to rotate comprises:
and controlling the motor rotating speed of the omnidirectional driving wheel set by using a servo driver.
6. The method of any of claims 1-4, wherein said controlling said omnidirectional drive wheel set to rotate to gradually rotate said ball clamp mechanism to said target position comprises:
in the process of controlling the omnidirectional driving wheel set to rotate to enable the spherical clamping mechanism to move, when the vision recognition module recognizes any first mark area on the spherical clamping mechanism, the posture of the spherical clamping mechanism is corrected according to the recognized area position and posture angle of the first mark area, so that the spherical clamping mechanism gradually rotates to the target position.
7. The method of any of claims 1-4, wherein the omni-directional drive wheel set comprises three omni-directional drive wheels evenly distributed below the spherical gripper mechanism.
8. A spherical attitude control device is characterized in that the device is applied to a spherical attitude adjusting mechanism, the spherical attitude adjusting mechanism comprises a spherical clamping mechanism, an omnidirectional driving wheel set arranged below the spherical clamping mechanism and a visual identification module arranged at the central position of each omnidirectional driving wheel of the omnidirectional driving wheel set, and a first identification area with a target number is preset on the surface of a ball of the spherical clamping mechanism; the device comprises:
the position determining unit is used for determining position information of a target position to which the spherical clamping mechanism finally rotates, wherein the target position only corresponds to one target mark on the spherical clamping mechanism, and when the spherical clamping mechanism is located at the target position, the target mark is over against the visual center of the visual identification module;
the first control unit is used for controlling the omnidirectional driving wheel set to rotate on the basis of the position information of the target position and the position information of each first identification area so as to enable the spherical clamping mechanism to gradually rotate to the target position;
and the second control unit is used for controlling the omnidirectional driving wheel set to stop rotating after the vision identification module identifies the target mark in the vision center.
9. An electronic device, comprising: a processor, a memory;
the memory for storing a computer program;
the processor is configured to execute the spherical attitude control method according to any one of claims 1 to 7 by calling the computer program.
10. A computer-readable storage medium on which a computer program is stored, characterized in that the program, when executed by a processor, implements the spherical attitude control method according to any one of claims 1 to 7.
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