HK1231578A1 - A motion control device and motion control method - Google Patents
A motion control device and motion control method Download PDFInfo
- Publication number
- HK1231578A1 HK1231578A1 HK17105088.3A HK17105088A HK1231578A1 HK 1231578 A1 HK1231578 A1 HK 1231578A1 HK 17105088 A HK17105088 A HK 17105088A HK 1231578 A1 HK1231578 A1 HK 1231578A1
- Authority
- HK
- Hong Kong
- Prior art keywords
- robot
- unit
- data
- point cloud
- collected data
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to the technical field of robot device positioning control, and especially relates to a motion control device and a motion control method, comprising an acquisition unit, used for obtaining point cloud data of the robot in the environment in which it is currently located, and forming an acquisition data output according to the point cloud data; a control unit, used for receiving acquired data and forming a control signal output according to the acquired data; a motion mechanism which, under the effect of the control signal, drives the robot to execute corresponding movements. In comparison with the prior art, the position of the robot is determined by means of the acquisition unit acquiring in real time the information of the distances between the robot and each of the obstacles in its environment; arranging a plurality of transmitters is unnecessary and costs are low; further, the manner of measuring distance is changed from passively receiving a signal transmitted by a transmitter to actively transmitting distance measurement information; resource utilization is increased and an acquisition device carries out acquisition; the distance measurement information is accurate, and according to the accurate distance measurement information, positioning is highly accurate, and efficiency is higher.
Description
Technical Field
The present invention relates to the field of positioning control technology for a robot device, and in particular, to a movement control device and a control method.
Background
A robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of the robot is to assist or replace the work of human work, currently, an indoor mobile robot generally carries out indoor positioning and navigation through Bluetooth or WIFI, a plurality of indoor robots which are distributed with emitters (Bluetooth emitting devices or WIFI hot spots) calculate and judge the distance between the emitter and the position in which the robot is positioned according to the strength of received signals of different emitting points and by combining a built-in indoor plane diagram matched with the environment, and then the position information of the robot is acquired. However, the existing indoor positioning technology has the following defects: (1) the robot itself needs prior knowledge of the indoor plan; (2) the emission points are reasonably installed indoors as many as possible, the more the emission points are, the higher the cost is, and the less the number of the emission points is, the lower the positioning accuracy is; the signals of the transmitting points can bring uncertain factors to positioning errors due to the obstruction or reflection of walls; (3) the robot enters a new unknown environment and cannot be positioned immediately.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a mobile control device and a control method with accurate positioning and simple structure.
The invention is realized by the following method:
a movement control device is applied to a robot control system, wherein: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
the acquisition unit is arranged at a preset position of the robot and used for acquiring point cloud data of the robot in the current environment and forming an acquisition data output according to the point cloud data;
the control unit is used for receiving the acquired data and forming a control signal to be output according to the acquired data;
and the moving mechanism receives the control signal and drives the robot to execute corresponding movement under the action of the control signal.
The movement control device described above, wherein: the control unit comprises
And the modeling unit is used for receiving the acquired data and forming a space plan matched with the current environment according to the acquired data and the current pose information of the robot.
The movement control device described above, wherein: a space plan matched with the current environment is formed in the modeling unit, and the control unit also comprises
A judging unit for reading the collected data and the space plan respectively and forming a judging result according to the collected data and the space plan,
and the computing unit receives the judgment result, forms a computing result containing the position information of the robot according to the judgment result and outputs the computing result.
The movement control device described above, wherein: prefabricating a space plan matched with the current environment in the control unit, and also comprising
A judging unit for reading the collected data and the space plan respectively and forming a judging result according to the collected data and the space plan,
and the computing unit receives the judgment result, forms a computing result containing the position information of the robot according to the judgment result and outputs the computing result.
The movement control device described above, wherein: the system also comprises an updating unit, wherein the acquisition unit acquires the point cloud data in real time, and the updating unit updates the space plan in real time according to the point cloud data.
The movement control device described above, wherein: the acquisition unit is a laser scanning distance measuring sensor which is used for acquiring the point cloud data in the current environment of the robot.
The movement control device described above, wherein: the moving mechanism is mainly formed by a plurality of driving wheels and a universal wheel, and the driving wheels and the universal wheel are arranged at the bottom of the robot in a triangular shape.
A movement control method is applied to a robot control system, wherein: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
step S1, controlling an acquisition unit to acquire point cloud data of the robot in the current environment, and forming an acquisition data output according to the point cloud data;
step S2, the control unit receives the collected data and forms a control signal output according to the collected data;
and step S3, controlling a moving mechanism to drive the robot to execute corresponding movement under the action of the control signal.
The movement control method comprises: the step S2 specifically includes the following steps:
step S21, judging whether a space plan is arranged in the control unit;
step S22, in the state that the control unit is not provided with the space plane graph, the modeling unit receives the collected data and forms a space plane graph matched with the current environment according to the collected data and the current pose information of the robot,
step S23, the determining unit reads the collected data and the spatial plane map, respectively, and forms a determination result according to the collected data and the spatial plane map,
and step S24, the calculating unit receives the judgment result and forms a calculation result containing the robot position information according to the judgment result and outputs the calculation result.
Compared with the prior art, the invention has the advantages that:
according to the invention, the acquisition unit acquires the distance information between the robot and each obstacle in the current environment in real time to judge the position of the robot, a plurality of transmitters are not required to be arranged, the cost is lower, the distance measurement mode is changed from passive receiving of signals transmitted by the transmitters to active sending of distance measurement information, the resource utilization rate is improved, the acquisition device acquires the distance measurement information accurately, the positioning accuracy is high according to the accurate distance measurement information, and the efficiency is higher.
Drawings
FIG. 1 is a schematic structural diagram of a mobile control device according to the present invention;
fig. 2 is a flow chart of a mobility control method according to the present invention.
Detailed Description
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
As shown in fig. 1, a movement control device is applied to a robot control system, in which: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
the acquisition unit is arranged at a preset position of the robot and used for acquiring a plurality of point cloud data of the robot in the current environment and forming an acquisition data output according to the point cloud data; further, the acquisition unit is a laser scanning distance measuring sensor, wherein the laser scanning distance measuring sensor can be arranged at a position 150mm away from the horizontal plane, the laser scanning distance measuring sensor can rotate 360 degrees, and the laser scanning distance measuring sensor is used for acquiring the point cloud data in the current environment where the robot is located. Each point cloud data comprises three-dimensional coordinate information, color information and reflection intensity information. The laser scanning ranging sensor can measure the distance between the robot and the obstacle by rotating the laser ranging module in the interior without rotating the laser ranging module every 1 degree, the laser ranging module rotates in the horizontal direction, the distance between the position of the robot and the obstacle can be obtained by rotating the ranging module for multiple times, and meanwhile, an indoor plan of the robot in the current environment can also be obtained.
The control unit is used for receiving the acquired data and forming a control signal to be output according to the acquired data; the control unit judges the spatial position information of the robot according to the acquired data acquired by the acquisition unit, and then forms a control signal according to a control command input by a user and the spatial position information.
And the moving mechanism receives the control signal and drives the robot to execute corresponding movement under the action of the control signal.
According to the invention, the acquisition unit acquires the distance information between the robot and each obstacle in the current environment in real time to judge the position of the robot, a plurality of transmitters are not required to be arranged, the cost is lower, the distance measurement mode is changed from passive receiving of signals transmitted by the transmitters to active sending of distance measurement information, the resource utilization rate is improved, the acquisition device acquires the distance measurement information accurately, the positioning accuracy is high according to the accurate distance measurement information, and the efficiency is higher.
A specific embodiment is illustrated herein: taking a dish conveying robot as an example, the dish conveying robot needs to walk back and forth from a kitchen to an unsynchronized target position, a user sets the target position of the robot, the acquisition device acquires and judges the distance between the current position and an obstacle (the obstacle comprises a fixed obstacle and a movable obstacle), the control unit combines a space plan of the current environment and the target position set by the user according to the acquired data to form a control signal, and the control signal drives the transmission mechanism to execute movement matched with the control signal until the control signal reaches the target position.
The movement control device described above, wherein: the control unit comprises
And the modeling unit is used for receiving the acquired data and forming a space plan matched with the current environment according to the acquired data and the current pose information of the robot. When the robot enters an unknown environment or a user uses the robot for the first time, the space plan matched with the current environment is not stored in the robot, and the robot enters the environment without position movement. Firstly, a plurality of point cloud data of the robot in the current environment are obtained through an acquisition device, and a modeling unit forms a space plan matched with the current environment according to the acquired data and the current pose information of the robot.
The movement control device described above, wherein: a space plan matched with the current environment is formed in the modeling unit, and the control unit also comprises
A judging unit for reading the collected data and the space plan respectively and forming a judging result according to the collected data and the space plan,
and the computing unit receives the judgment result, forms a computing result containing the position information of the robot according to the judgment result and outputs the computing result.
And the modeling unit is provided with a space plan matched with the current environment, the judging unit reads the acquired data and the space plan and forms a judging result according to the acquired data and the space plan, and the calculating unit receives the judging result and forms a calculating result containing the position information of the robot according to the judging structure to output.
The movement control device described above, wherein: prefabricating a space plan matched with the current environment in the control unit, and also comprising
A judging unit for reading the collected data and the space plan respectively and forming a judging result according to the collected data and the space plan,
and the computing unit receives the judgment result, forms a computing result containing the position information of the robot according to the judgment result and outputs the computing result.
The movement control device described above, wherein: the system also comprises an updating unit, wherein the acquisition unit acquires the point cloud data in real time, and the updating unit updates the space plan in real time according to the point cloud data. And the space plane graph is updated in real time through the updating unit, so that the positioning accuracy of the robot is improved.
The movement control device described above, wherein: the moving mechanism is mainly formed by a plurality of driving wheels and a universal wheel, and the driving wheels and the universal wheel are arranged at the bottom of the robot in a triangular shape.
As shown in fig. 2, a movement control method is applied to a robot control system, in which: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
step S1, controlling an acquisition unit to acquire point cloud data of the robot in the current environment, and forming an acquisition data output according to the point cloud data;
step S2, the control unit receives the collected data and forms a control signal output according to the collected data;
and step S3, controlling a moving mechanism to drive the robot to execute corresponding movement under the action of the control signal.
The movement control method provided by the present invention is similar to the working principle of the movement control device, and is not described herein again.
The movement control method comprises: the step S2 specifically includes the following steps:
step S21, judging whether a space plan is arranged in the control unit;
step S22, in the state that the control unit is not provided with the space plane graph, the modeling unit receives the collected data and forms a space plane graph matched with the current environment according to the collected data and the current pose information of the robot,
step S23, the determining unit reads the collected data and the spatial plane map, respectively, and forms a determination result according to the collected data and the spatial plane map,
and step S24, the calculating unit receives the judgment result and forms a calculation result containing the robot position information according to the judgment result and outputs the calculation result.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (9)
1. The utility model provides a movement control device, is applied to robot control system which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
the acquisition unit is arranged at a preset position of the robot and used for acquiring point cloud data of the robot in the current environment and forming an acquisition data output according to the point cloud data;
the control unit is used for receiving the acquired data and forming a control signal to be output according to the acquired data;
and the moving mechanism receives the control signal and drives the robot to execute corresponding movement under the action of the control signal.
2. The movement control apparatus according to claim 1, characterized in that: the control unit comprises
And the modeling unit is used for receiving the acquired data and forming a space plan matched with the current environment according to the acquired data and the current pose information of the robot.
3. The movement control apparatus according to claim 2, characterized in that: a space plan matched with the current environment is formed in the modeling unit, and the control unit also comprises
A judging unit for reading the collected data and the space plan respectively and forming a judging result according to the collected data and the space plan,
and the computing unit receives the judgment result, forms a computing result containing the position information of the robot according to the judgment result and outputs the computing result.
4. The movement control apparatus according to claim 1, characterized in that: prefabricating a space plan matched with the current environment in the control unit, and also comprising
A judging unit for reading the collected data and the space plan respectively and forming a judging result according to the collected data and the standard space plan,
and the computing unit receives the judgment result, forms a computing result containing the position information of the robot according to the judgment result and outputs the computing result.
5. The movement control apparatus according to claim 3 or 4, characterized in that: the system also comprises an updating unit, wherein the acquisition unit acquires the point cloud data in real time, and the updating unit updates the space plan in real time according to the point cloud data.
6. The mobile control device of claim 1, wherein the acquisition unit is a laser scanning ranging sensor configured to acquire the point cloud data of the current environment where the robot is located.
7. The movement control apparatus according to claim 1, wherein the moving mechanism is mainly formed of a plurality of driving wheels and a universal wheel, the driving wheels and the universal wheel being provided in a triangular shape at a bottom of the robot.
8. A mobile control method is applied to a robot control system and is characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
step S1, controlling an acquisition unit to acquire point cloud data of the robot in the current environment, and forming an acquisition data output according to the point cloud data;
step S2, the control unit receives the collected data and forms a control signal output according to the collected data;
and step S3, controlling a moving mechanism to drive the robot to execute corresponding movement under the action of the control signal.
9. The movement control method according to claim 8, characterized in that: the step S2 specifically includes the following steps:
step S21, judging whether a space plan is arranged in the control unit;
step S22, in the state that the control unit is not provided with the space plane graph, the modeling unit receives the collected data and forms a space plane graph matched with the current environment according to the collected data and the current pose information of the robot,
step S23, the determining unit reads the collected data and the standard space plan respectively, and forms a determination result according to the collected data and the standard space plan,
and step S24, the calculating unit receives the judgment result and forms a calculation result containing the robot position information according to the judgment result and outputs the calculation result.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510381495.1A CN106325268A (en) | 2015-06-30 | 2015-06-30 | Mobile control device and mobile control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| HK1231578A1 true HK1231578A1 (en) | 2017-12-22 |
Family
ID=57607879
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| HK17105088.3A HK1231578A1 (en) | 2015-06-30 | 2017-05-19 | A motion control device and motion control method |
Country Status (4)
| Country | Link |
|---|---|
| CN (1) | CN106325268A (en) |
| HK (1) | HK1231578A1 (en) |
| TW (1) | TW201701091A (en) |
| WO (1) | WO2017000784A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108287345A (en) * | 2017-11-10 | 2018-07-17 | 广东康云多维视觉智能科技有限公司 | Spacescan method and system based on point cloud data |
| 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 |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4262196B2 (en) * | 2004-12-14 | 2009-05-13 | 本田技研工業株式会社 | Autonomous mobile robot |
| CN102426455B (en) * | 2011-12-31 | 2013-10-30 | 浙江中控研究院有限公司 | Solar mirror surface cleaning robot system |
| CN102566574B (en) * | 2012-01-20 | 2014-12-31 | 北人机器人系统（苏州）有限公司 | Robot trajectory generation method and device based on laser sensing |
| CN103885443B (en) * | 2012-12-20 | 2017-02-08 | 联想(北京)有限公司 | Device, system and method for simultaneous localization and mapping unit |
| CN103885444B (en) * | 2012-12-21 | 2017-05-24 | 联想(北京)有限公司 | Information processing method, mobile electronic equipment and decision-making control equipment |
| CN103884330B (en) * | 2012-12-21 | 2016-08-10 | 联想(北京)有限公司 | Information processing method, mobile electronic equipment, guiding equipment and server |
| CN103412565B (en) * | 2013-05-17 | 2016-01-27 | 浙江中控研究院有限公司 | A kind of robot localization method with the quick estimated capacity of global position |
| 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 |
| CN104634328A (en) * | 2013-11-14 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Spatial measurement robot and spatial measurement method thereof |
| CN104536445B (en) * | 2014-12-19 | 2018-07-03 | 深圳先进技术研究院 | Mobile navigation method and system |
-
2015
- 2015-06-30 CN CN201510381495.1A patent/CN106325268A/en active Pending
-
2016
- 2016-06-15 WO PCT/CN2016/085908 patent/WO2017000784A1/en not_active Ceased
- 2016-06-29 TW TW105120435A patent/TW201701091A/en unknown
-
2017
- 2017-05-19 HK HK17105088.3A patent/HK1231578A1/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| CN106325268A (en) | 2017-01-11 |
| TW201701091A (en) | 2017-01-01 |
| WO2017000784A1 (en) | 2017-01-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105116378B (en) | A kind of wireless, the compound positioning system of ultrasonic wave and its localization method | |
| CN107238385B (en) | A system and method for detecting absolute pose of a shearer | |
| CN102927980B (en) | Indoor positioning system and indoor positioning method based on three-dimensional multipoint wireless and micro-inertia navigation | |
| CN105682047A (en) | UWB-based indoor mobile robot navigation and positioning system | |
| HK1231578A1 (en) | A motion control device and motion control method | |
| CN107992035A (en) | A kind of Multi Mobile Robots Formation's control method based on indoor Global localization | |
| CN104062633A (en) | Indoor positioning system and method based on ultrasonic waves | |
| CN111465908B (en) | A segmented autonomous charging docking method, mobile equipment, and charging station | |
| CN106802412B (en) | Short-distance mobile positioning system and method based on laser and wireless technology | |
| WO2018228203A1 (en) | Human and machine intelligence cooperation-based robot system having sweeping function | |
| Prorok et al. | Indoor navigation research with the Khepera III mobile robot: An experimental baseline with a case-study on ultra-wideband positioning | |
| WO2018228254A1 (en) | Mobile electronic device and method for use in mobile electronic device | |
| KR101094465B1 (en) | Method and apparatus for simultaneous operation of multiple moving objects and recording medium storing computer readable program for performing the same | |
| CN110007275A (en) | A kind of Multi objective Planar position coordinates localization method and system | |
| CN102436260A (en) | A 2D Navigation System for Indoor Autonomous Positioning and Orientation | |
| CN105865456B (en) | A kind of Position Fixing Navigation System and method of the AGV trolleies based on RFID and ultrasonic wave | |
| CN114625122A (en) | Robot following and obstacle avoiding method and system based on UWB and laser radar | |
| CN104202725A (en) | Indoor fingerprint collection method, device and apparatus | |
| CN117406727A (en) | Control system for brick laying robot and brick laying method | |
| JP4675822B2 (en) | Wireless communication area measurement system, method and program | |
| CN109884589B (en) | Indoor robot positioner of higher accuracy visible light | |
| CN209656897U (en) | A kind of Multi objective Planar position coordinates positioning system | |
| JP2016191735A (en) | Map creation device, autonomous vehicle, autonomous vehicle system, portable terminal, map creation method, map creation program, and computer-readable recording medium | |
| CN109974705A (en) | A method and system for optimizing the cleaning path of a sweeping robot | |
| CN106155051A (en) | Avoidance communication system for robot or unmanned plane |