TW201701091A - A motion control device and motion control method - Google Patents
A motion control device and motion control method Download PDFInfo
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Abstract
Description
本發明涉及一種機器人裝置的定位控制技術領域，尤其涉及一種移動控制裝置及控制方法。The invention relates to the technical field of positioning control of a robot device, in particular to a mobile control device and a control method.
機器人是自動執行工作的機器裝置。它既可以接受人類指揮，又可以運行預先編排的程序，也可以根據以人工智能技術制定的原則綱領行動。它的任務是協助或取代人類工作的工作，目前室內移動機器人一般通過藍牙或者WIFI爲進行室內的定位與尋航，於室內多個地方布局發射器（藍牙發射裝置或WIFI熱點）機器人根據接收的不同發射點信號的强弱，結合內置的與該環境相匹配的室內平面圖計算判斷所處位置於發射器的距離，進而獲取自身所處爲位置信息。但是現有此種室內定位的技術存在以下缺陷：（1）機器人自身需要室內平面圖的先驗知識；（2）需要在室內合理地安裝儘量多的發射點，發射點越多，則成本就越高，而發射點的數量越少，定位的精度越低；發射點的信號會因爲牆壁的阻隔或反射，會給定位的誤差帶來不確定的因素；（3）機器人進入一個新的未知環境無法馬上進行定位。A robot is a machine that automatically performs work. It can accept human command, run pre-programmed procedures, or act on principles that are based on artificial intelligence techniques. Its mission is to assist or replace the work of human work. At present, indoor mobile robots generally perform indoor positioning and navigation through Bluetooth or WIFI, and deploy transmitters (Bluetooth launchers or WIFI hotspots) in various places in the room according to the received The strength of different signal of the transmitting point is combined with the built-in indoor floor plan matching the environment to calculate the distance of the position at the transmitter, and then obtain the position information of the position. However, the existing indoor positioning technology has the following defects: (1) the robot itself needs prior knowledge of the indoor floor plan; (2) it is necessary to properly install as many launch points as possible indoors, and the more the launch points, the higher the cost. The less the number of launch points, the lower the accuracy of the positioning; the signal of the launch point will cause uncertainties in the positioning error due to the barrier or reflection of the wall; (3) the robot cannot enter a new unknown environment. Position it right away.
針對現有技術的不足，本發明提供一種定位準確、結構簡單的移動控制裝置及控制方法。In view of the deficiencies of the prior art, the present invention provides a mobile control device and a control method with accurate positioning and simple structure.
本發明通過如下方法實現：The invention is achieved by the following method:
一種移動控制裝置，應用於機器人控制系統，其中：包括，A mobile control device applied to a robot control system, wherein:
採集單元，設置於所述機器人的預定位置處，用以獲取所述機器人於當前所處環境中的點雲數據，並根據所述點雲數據形成一採集數據輸出；An acquisition unit is disposed at a predetermined position of the robot, configured to acquire point cloud data of the robot in a current environment, and form an collected data output according to the point cloud data;
控制單元，用以接收所述採集數據，並根據所述採集數據形成一控制信號輸出；a control unit, configured to receive the collected data, and form a control signal output according to the collected data;
移動機構，接收所述控制信號，並於所述控制信號的作用下，驅動所述機器人執行相應的移動。The moving mechanism receives the control signal and, under the action of the control signal, drives the robot to perform a corresponding movement.
上述的移動控制裝置，其中：所述控制單元包括The above mobile control device, wherein: the control unit includes
一建模單元，用以接收所述採集數據，並根據所述採集數據結合所述機器人當前位姿信息形成一與當前所處環境相匹配的空間平面圖。A modeling unit is configured to receive the collected data, and form a spatial plan corresponding to the current environment according to the collected data and the current pose information of the robot.
上述的移動控制裝置，其中：於所述建模單元中形成有一與當前所述環境相匹配的空間平面圖，所述控制單元還包括In the above mobile control apparatus, a spatial plan view matching the current environment is formed in the modeling unit, and the control unit further includes
一判斷單元，分別讀取所述採集數據與所述空間平面圖，並根據所述採集數據與所述空間平面圖形成一判斷結果，a judging unit respectively reading the collected data and the space plan, and forming a judgment result according to the collected data and the space plan,
一計算單元，接受所述判斷結果，並根據所述判斷結果形成一含有所述機器人位置信息的計算結果輸出。a calculation unit that accepts the determination result and forms a calculation result output containing the position information of the robot according to the determination result.
上述的移動控制裝置，其中：於所述控制單元中預製一與當前所述環境相匹配的空間平面圖，還包括The above mobile control device, wherein: pre-fabricating a space plan matching the current environment in the control unit, further comprising
一判斷單元，分別讀取所述採集數據與所述空間平面圖，並根據所述採集數據與所述空間平面圖形成一判斷結果，a judging unit respectively reading the collected data and the space plan, and forming a judgment result according to the collected data and the space plan,
一計算單元，接受所述判斷結果，並根據所述判斷結果形成一含有所述機器人位置信息的計算結果輸出。a calculation unit that accepts the determination result and forms a calculation result output containing the position information of the robot according to the determination result.
上述的移動控制裝置，其中：還包括一更新單元，所述採集單元實時採集所述點雲數據，所述更新單元根據所述點雲數據實時更新所述空間平面圖。The above mobile control device further includes an update unit, the collection unit collects the point cloud data in real time, and the update unit updates the space plan in real time according to the point cloud data.
上述的移動控制裝置，其中：所述採集單元爲雷射掃描測距傳感器，所述雷射掃描測距傳感器用以獲取所述機器人當前所處環境中的所述點雲數據。In the above mobile control device, the acquisition unit is a laser scanning ranging sensor, and the laser scanning ranging sensor is configured to acquire the point cloud data in an environment in which the robot is currently located.
上述的移動控制裝置，其中：所述移動機構主要由複數個驅動輪和一個萬向輪形成，所述驅動輪與所述萬向輪按照一三角形狀設置於所述機器人底部。In the above mobile control device, the moving mechanism is mainly formed by a plurality of driving wheels and a universal wheel, and the driving wheel and the universal wheel are disposed at a bottom of the robot in a triangular shape.
一種移動控制方法，應用於機器人控制系統，其中：包括，A mobile control method applied to a robot control system, wherein:
步驟S1，控制採集單元用以獲取所述機器人於當前所處環境中的點雲數據，並根據所述點雲數據形成一採集數據輸出；Step S1, the control collection unit is configured to acquire point cloud data of the robot in the current environment, and form an collected data output according to the point cloud data;
步驟S2，控制單元接收所述採集數據，並根據所述採集數據形成一控制信號輸出；Step S2, the control unit receives the collected data, and forms a control signal output according to the collected data;
步驟S3、控制移動機構於所述控制信號的作用下，驅動所述機器人執行相應的移動。Step S3: Control the moving mechanism to drive the robot to perform corresponding movement under the action of the control signal.
上述的移動控制方法，其中：所述步驟S2具體包括如下步驟：The above mobile control method, wherein: the step S2 specifically includes the following steps:
步驟S21、判斷所述控制單元中是否設置有一空間平面圖；Step S21: determining whether a space plan is set in the control unit;
步驟S22，於所述控制單元中未設置有所述空間平面圖的狀態下，建模單元接收所述採集數據，並根據所述採集數據結合所述機器人當前位姿信息形成一與當前所處環境相匹配的空間平面圖，Step S22, in a state where the space plan is not set in the control unit, the modeling unit receives the collected data, and forms a current environment with the current position information of the robot according to the collected data. Matching space plan,
步驟S23、判斷單元分別讀取所述採集數據與所述空間平面圖，並根據所述採集數據與所述空間平面圖形成一判斷結果，Step S23: The determining unit respectively reads the collected data and the space plan, and forms a judgment result according to the collected data and the space plan.
步驟S24，計算單元接受所述判斷結果，並根據所述判斷結果形成一含有所述機器人位置信息的計算結果輸出。Step S24, the calculation unit accepts the determination result, and forms a calculation result output containing the robot position information according to the determination result.
與現有技術相比，本發明的優點是：The advantages of the present invention over the prior art are:
本發明中，通過採集單元實時採集機器人與當前環境中的各個障礙物之間的距離信息判斷機器人所處位置，無需設置多個發射器，成本較低，且測距方式從被動的接收發射器發射的信號轉爲主動發出測距信息，資源利用率提高，同時採集裝置實施採集，測距信息準確，根據較爲準確的測距信息，定位準確率高，效率較高。In the invention, the acquisition unit collects the distance information between the robot and each obstacle in the current environment in real time to determine the position of the robot, without setting a plurality of transmitters, the cost is low, and the ranging method is from the passive receiving transmitter. The transmitted signal is switched to actively send ranging information, and the resource utilization rate is improved. At the same time, the collecting device performs acquisition, and the ranging information is accurate. According to the more accurate ranging information, the positioning accuracy is high and the efficiency is high.
下面結合附圖和具體實施例對本發明作進一步說明，但不作爲本發明的限定。The invention is further illustrated by the following figures and specific examples, but is not to be construed as limiting.
下面將結合本發明實施例中的附圖，對本發明實施例中的技術方案進行清楚、完整地描述，顯然，所描述的實施例僅僅是本發明一部分實施例，而不是全部的實施例。基於本發明中的實施例，本領域普通技術人員在沒有作出創造性勞動的前提下所獲得的所有其他實施例，都屬於本發明保護的範圍。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
需要說明的是，在不衝突的情况下，本發明中的實施例及實施例中的特徵可以相互組合。It should be noted that the embodiments in the present invention and the features in the embodiments may be combined with each other without conflict.
下面結合附圖和具體實施例對本發明作進一步說明，但不作爲本發明的限定。The invention is further illustrated by the following figures and specific examples, but is not to be construed as limiting.
如圖1所示，一種移動控制裝置，應用於機器人控制系統，其中：包括，As shown in FIG. 1, a mobile control device is applied to a robot control system, wherein:
採集單元，設置於所述機器人的預定位置處，用以獲取所述機器人於當前所處環境中的複數個點雲數據，並根據所述點雲數據形成一採集數據輸出；進一步地，所述採集單元爲雷射掃描測距傳感器，其中所述雷射掃描測距傳感器可設置距離水平面150mm的位置，雷射掃描測距傳感器可360°旋轉，所述雷射掃描測距傳感器用以獲取所述機器人當前所處環境中的所述點雲數據。每個所述點雲數據包含有三維坐標信息、顔色信息、以及反射强度信息。其中雷射掃描測距傳感器通過不行旋轉內部的雷射測距模塊，每旋轉1°即可測量到機器人與障礙物的距離，雷射測距模塊成水平方向旋轉，通過多次旋轉測距，可以獲取機器人當前所述位置與障礙物的距離，同時也可獲取機器人當前所處環境中的室內平面圖。An acquisition unit is disposed at a predetermined position of the robot to acquire a plurality of point cloud data of the robot in a current environment, and form an collected data output according to the point cloud data; further, the The acquisition unit is a laser scanning ranging sensor, wherein the laser scanning distance measuring sensor can be set at a position 150 mm away from the horizontal plane, and the laser scanning ranging sensor can be rotated 360°, and the laser scanning ranging sensor is used for acquiring The point cloud data in the environment in which the robot is currently located. Each of the point cloud data includes three-dimensional coordinate information, color information, and reflection intensity information. The laser scanning distance measuring sensor can measure the distance between the robot and the obstacle by rotating the internal laser ranging module by 1°, and the laser ranging module rotates in a horizontal direction, and the distance is controlled by multiple rotations. The distance between the current position of the robot and the obstacle can be obtained, and the indoor floor plan in the environment where the robot is currently located can also be obtained.
控制單元，用以接收所述採集數據，並根據所述採集數據形成一控制信號輸出；控制單元根據採集單元獲取的採集數據判斷機器人所處的空間位置信息，進而根據用戶輸入的控制命令，結合空間位置信息形成一控制信號。The control unit is configured to receive the collected data, and form a control signal output according to the collected data; the control unit determines the spatial position information of the robot according to the collected data acquired by the collecting unit, and then combines according to the control command input by the user. The spatial position information forms a control signal.
移動機構，接收所述控制信號，並於所述控制信號的作用下，驅動所述機器人執行相應的移動。The moving mechanism receives the control signal and, under the action of the control signal, drives the robot to perform a corresponding movement.
本發明中，通過採集單元實時採集機器人與當前環境中的各個障礙物之間的距離信息判斷機器人所處位置，無需設置多個發射器，成本較低，且測距方式從被動的接收發射器發射的信號轉爲主動發出測距信息，資源利用率提高，同時採集裝置實施採集，測距信息準確，根據較爲準確的測距信息，定位準確率高，效率較高。In the invention, the acquisition unit collects the distance information between the robot and each obstacle in the current environment in real time to determine the position of the robot, without setting a plurality of transmitters, the cost is low, and the ranging method is from the passive receiving transmitter. The transmitted signal is switched to actively send ranging information, and the resource utilization rate is improved. At the same time, the collecting device performs acquisition, and the ranging information is accurate. According to the more accurate ranging information, the positioning accuracy is high and the efficiency is high.
此處列舉一具體實施方式：以傳菜機器人爲例，傳菜機器人需要從廚房到不同步的目標位置之間來回走動，用戶設置機器人的目標位置，採集裝置實時採集判斷當前所處位置與障礙物（障礙物包括固定障礙物和可移動障礙物）之間的距離，控制單元根據採集數據結合當前所處環境的空間平面圖、以及用戶設置的目標位置形成控制信號，控制信號驅動傳動機構根據該控制信號執行與之相匹配的移動，直至到達目標位置。Here is a specific implementation method: taking the vegetable robot as an example, the food conveying robot needs to move back and forth between the kitchen and the unsynchronized target position, the user sets the target position of the robot, and the collecting device collects and judges the current position and obstacle in real time. The distance between the object (the obstacle includes the fixed obstacle and the movable obstacle), the control unit forms a control signal according to the collected data in combination with the spatial plan of the current environment and the target position set by the user, and the control signal drives the transmission mechanism according to the The control signal performs a matching movement until it reaches the target position.
上述的移動控制裝置，其中：所述控制單元包括The above mobile control device, wherein: the control unit includes
一建模單元，用以接收所述採集數據，並根據所述採集數據結合所述機器人當前位姿信息形成一與當前所處環境相匹配的空間平面圖。當機器人進入一個未知環境或者用戶首次使用機器人時，機器人內部未保存有與當前所處環境相匹配的空間平面圖，則機器人進入該環境中，不發生位置移動。首先通過採集裝置獲取所述機器人於當前所處環境中的複數個點雲數據，建模單元根據所述採集數據結合所述機器人當前位姿信息形成一與當前所處環境相匹配的空間平面圖。A modeling unit is configured to receive the collected data, and form a spatial plan corresponding to the current environment according to the collected data and the current pose information of the robot. When the robot enters an unknown environment or the user first uses the robot, the interior of the robot does not store a space plan that matches the current environment, and the robot enters the environment without positional movement. First, the plurality of point cloud data of the robot in the current environment is acquired by the acquiring device, and the modeling unit forms a spatial plan corresponding to the current environment according to the collected data and the current pose information of the robot.
上述的移動控制裝置，其中：於所述建模單元中形成有一與當前所述環境相匹配的空間平面圖，所述控制單元還包括In the above mobile control apparatus, a spatial plan view matching the current environment is formed in the modeling unit, and the control unit further includes
一判斷單元，分別讀取所述採集數據與所述空間平面圖，並根據所述採集數據與所述空間平面圖形成一判斷結果，a judging unit respectively reading the collected data and the space plan, and forming a judgment result according to the collected data and the space plan,
一計算單元，接受所述判斷結果，並根據所述判斷結果形成一含有所述機器人位置信息的計算結果輸出。a calculation unit that accepts the determination result and forms a calculation result output containing the position information of the robot according to the determination result.
於所述建模單元中形成有一與當前所述環境相匹配的空間平面圖，判斷單元讀取所述採集數據與所述空間平面圖，並根據所述採集數據與所述空間平面圖形成一判斷結果，計算單元，接受所述判斷結果，並根據所述判斷結構形成一含有所述機器人位置信息的計算結果輸出。Forming a space plan in the modeling unit that matches the current environment, the determining unit reads the collected data and the space plan, and forms a judgment result according to the collected data and the space plan. The calculating unit accepts the judgment result, and forms a calculation result output containing the robot position information according to the judgment structure.
上述的移動控制裝置，其中：於所述控制單元中預製一與當前所述環境相匹配的空間平面圖，還包括The above mobile control device, wherein: pre-fabricating a space plan matching the current environment in the control unit, further comprising
一判斷單元，分別讀取所述採集數據與所述空間平面圖，並根據所述採集數據與所述空間平面圖形成一判斷結果，a judging unit respectively reading the collected data and the space plan, and forming a judgment result according to the collected data and the space plan,
一計算單元，接受所述判斷結果，並根據所述判斷結果形成一含有所述機器人位置信息的計算結果輸出。a calculation unit that accepts the determination result and forms a calculation result output containing the position information of the robot according to the determination result.
上述的移動控制裝置，其中：還包括一更新單元，所述採集單元實時採集所述點雲數據，所述更新單元根據所述點雲數據實時更新所述空間平面圖。通過更新單元，實時更新所述空間平面圖，提高機器人定位的準確度。The above mobile control device further includes an update unit, the collection unit collects the point cloud data in real time, and the update unit updates the space plan in real time according to the point cloud data. The space plan is updated in real time through the update unit to improve the accuracy of the robot positioning.
上述的移動控制裝置，其中：所述移動機構主要由複數個驅動輪和一個萬向輪形成，所述驅動輪與所述萬向輪按照一三角形狀設置於所述機器人底部。In the above mobile control device, the moving mechanism is mainly formed by a plurality of driving wheels and a universal wheel, and the driving wheel and the universal wheel are disposed at a bottom of the robot in a triangular shape.
如圖2所示，一種移動控制方法，應用於機器人控制系統，其中：包括，As shown in FIG. 2, a mobile control method is applied to a robot control system, wherein:
步驟S1，控制採集單元用以獲取所述機器人於當前所處環境中的點雲數據，並根據所述點雲數據形成一採集數據輸出；Step S1, the control collection unit is configured to acquire point cloud data of the robot in the current environment, and form an collected data output according to the point cloud data;
步驟S2，控制單元接收所述採集數據，並根據所述採集數據形成一控制信號輸出；Step S2, the control unit receives the collected data, and forms a control signal output according to the collected data;
步驟S3、控制移動機構於所述控制信號的作用下，驅動所述機器人執行相應的移動。Step S3: Control the moving mechanism to drive the robot to perform corresponding movement under the action of the control signal.
本發明提供的一種移動控制方法，與上述的移動控制裝置工作原理相似，此處不做贅述。The mobile control method provided by the present invention is similar to the working principle of the above mobile control device, and is not described herein.
上述的移動控制方法，其中：所述步驟S2具體包括如下步驟：The above mobile control method, wherein: the step S2 specifically includes the following steps:
步驟S21、判斷所述控制單元中是否設置有一空間平面圖；Step S21: determining whether a space plan is set in the control unit;
步驟S22，於所述控制單元中未設置有所述空間平面圖的狀態下，建模單元接收所述採集數據，並根據所述採集數據結合所述機器人當前位姿信息形成一與當前所處環境相匹配的空間平面圖，Step S22, in a state where the space plan is not set in the control unit, the modeling unit receives the collected data, and forms a current environment with the current position information of the robot according to the collected data. Matching space plan,
步驟S23、判斷單元分別讀取所述採集數據與所述空間平面圖，並根據所述採集數據與所述空間平面圖形成一判斷結果，Step S23: The determining unit respectively reads the collected data and the space plan, and forms a judgment result according to the collected data and the space plan.
步驟S24，計算單元接受所述判斷結果，並根據所述判斷結果形成一含有所述機器人位置信息的計算結果輸出。Step S24, the calculation unit accepts the determination result, and forms a calculation result output containing the robot position information according to the determination result.
以上所述僅爲本發明較佳的實施例，並非因此限制本發明的實施方式及保護範圍，對於本領域技術人員而言，應當能夠意識到凡運用本發明說明書及圖示內容所作出的等同替換和顯而易見的變化所得到的方案，均應當包含在本發明的保護範圍內。The above is only a preferred embodiment of the present invention, and is not intended to limit the scope of the embodiments and the scope of the present invention, and those skilled in the art should be able to Alternatives and obvious variations are intended to be included within the scope of the invention.
S1-S3‧‧‧步驟S1-S3‧‧‧ steps
圖1爲本發明一種移動控制裝置結構示意圖； 圖2爲本發明一種移動控制方法流程示意圖。1 is a schematic structural view of a mobile control device according to the present invention; and FIG. 2 is a schematic flowchart of a mobile control method according to the present invention.
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| CN108364340A (en) * | 2017-12-03 | 2018-08-03 | 广东康云多维视觉智能科技有限公司 | The method and system of synchronous spacescan |
| CN109144072A (en) * | 2018-09-30 | 2019-01-04 | 亿嘉和科技股份有限公司 | A kind of intelligent robot barrier-avoiding method based on three-dimensional laser |
| CN112141734B (en) * | 2020-09-30 | 2023-07-25 | 大连华锐重工集团股份有限公司 | Material taking control system and material taking method for scraper reclaimer |
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| CN102566574B (en) * | 2012-01-20 | 2014-12-31 | 北人机器人***（苏州）有限公司 | Robot trajectory generation method and device based on laser sensing |
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| CN103400416B (en) * | 2013-08-15 | 2016-01-13 | 东南大学 | A kind of urban environment robot navigation method based on probability multilayer landform |
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