CN113311844B - Servo control method and device, computer equipment and storage medium - Google Patents
Servo control method and device, computer equipment and storage medium Download PDFInfo
- Publication number
- CN113311844B CN113311844B CN202110854053.XA CN202110854053A CN113311844B CN 113311844 B CN113311844 B CN 113311844B CN 202110854053 A CN202110854053 A CN 202110854053A CN 113311844 B CN113311844 B CN 113311844B
- Authority
- CN
- China
- Prior art keywords
- mobile robot
- target object
- error
- determining
- object support
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 65
- 238000003860 storage Methods 0.000 title claims abstract description 32
- 239000013598 vector Substances 0.000 claims description 85
- 230000001133 acceleration Effects 0.000 claims description 14
- 238000011217 control strategy Methods 0.000 claims description 12
- 238000012545 processing Methods 0.000 claims description 11
- 239000011159 matrix material Substances 0.000 claims description 9
- 238000004590 computer program Methods 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000012937 correction Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 description 10
- 239000000463 material Substances 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 238000005286 illumination Methods 0.000 description 2
- 238000009776 industrial production Methods 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000010845 search algorithm Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a servo control method, a servo control device, computer equipment and a storage medium. The method comprises the following steps: when a target object support is detected through a ranging sensor arranged on a mobile robot, acquiring a data point set acquired by the ranging sensor; determining the central position coordinate of the central point of the target object support under a world coordinate system according to the data point set; determining a distance error of a vertical distance from a geometric central point of the mobile robot to a central line of the mobile robot, an included angle error of an included angle formed by the central line of the mobile robot and the central line of the target object support and a position error of the mobile robot according to the central position coordinate, the target object angle of the target object support in a world coordinate system and the position information of the mobile robot; and performing servo control on the mobile robot according to the distance error, the included angle error and the position error of the mobile robot. The method can identify the target object bracket at any angle and carry out effective and accurate servo control on the mobile robot.
Description
Technical Field
The embodiment of the invention relates to the technical field of measurement control, in particular to a servo control method, a servo control device, computer equipment and a storage medium.
Background
To meet certain objectives, generating motion and controlling the motion of objects are one of the most important activities of our human beings. The servo control is effective control of the variation of the position, speed, acceleration and the like of the motion of an object, and is one of control methods for realizing high-precision parameters in industrial production.
A common servo control method of the mobile robot is visual servo control, wherein visual servo control is realized by establishing a visual control system based on image information feedback, sensing the external environment by using a visual servo unit, tracking a target object by using an image error and guiding the mobile robot to move according to instruction operation given by a control unit.
The principle of the scheme is image error, so that certain requirements are met on illumination, target position and environmental conditions, the calculated data are large, and the interference factors are more.
Disclosure of Invention
The embodiment of the invention provides a servo control method, a servo control device, computer equipment and a storage medium, which can identify a target object bracket at any angle and effectively and accurately servo control a mobile robot.
In a first aspect, an embodiment of the present invention provides a servo control method, including:
when a target object support is detected through a ranging sensor arranged on a mobile robot, acquiring a data point set collected by the ranging sensor, wherein the data point set is a set formed by data points on the target object support;
determining the central position coordinate of the central point of the target object bracket under a world coordinate system according to the data point set;
determining a distance error of a vertical distance from a geometric central point of the mobile robot to a central line of the mobile robot, an included angle error of an included angle formed by the central line of the mobile robot and the central line of the target object support and a position error of the mobile robot according to the central position coordinate, the target object angle of the target object support in a world coordinate system and the position information of the mobile robot;
and carrying out servo control on the mobile robot according to the distance error, the included angle error and the position error of the mobile robot so that the mobile robot can safely reach the position below the target object bracket.
In a second aspect, an embodiment of the present invention further provides a servo control apparatus, including:
the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring a data point set acquired by a distance measuring sensor when the distance measuring sensor arranged on a mobile robot detects a target object support, and the data point set is a set formed by data points on the target object support;
the first determination module is used for determining the central position coordinate of the central point of the target object support under a world coordinate system according to the data point set;
and the second determination module is used for determining the distance error of the vertical distance from the geometric central point of the mobile robot to the central line of the mobile robot, the included angle error of the included angle formed by the central line of the mobile robot and the central line of the target object support and the position error of the mobile robot according to the central position coordinate, the target object angle of the target object support in the world coordinate system and the position information of the mobile robot.
And the control module is used for performing servo control on the mobile robot according to the distance error, the included angle error and the position error of the mobile robot so that the mobile robot can safely reach the position below the target object support.
In a third aspect, an embodiment of the present invention further provides a computer device, including:
one or more processors;
storage means for storing one or more programs;
the one or more programs are executed by the one or more processors, so that the one or more processors are used to implement the servo control method described in any embodiment of the present invention.
In a fourth aspect, embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the servo control method provided in any embodiment of the present invention.
The embodiment of the invention provides a servo control method, a servo control device, computer equipment and a storage medium, wherein a data point set collected by a distance measuring sensor is obtained when the distance measuring sensor arranged on a mobile robot detects a target object support, and the data point set is a set formed by data points on the target object support; then, determining the central position coordinate of the central point of the target object bracket under a world coordinate system according to the data point set; then determining a distance error of a vertical distance from a geometric central point of the mobile robot to a central line of the mobile robot, an included angle error of an included angle formed by the central line of the mobile robot and the central line of the target object support and a position error of the mobile robot according to the central position coordinate, the target object angle of the target object support in a world coordinate system and the position information of the mobile robot; and finally, performing servo control on the mobile robot according to the distance error, the included angle error and the position error of the mobile robot so that the mobile robot can safely reach the position below the target object support. By utilizing the technical scheme, the target object support can be identified at any angle, and the mobile robot can be effectively and accurately controlled through servo.
Drawings
Fig. 1 is a schematic flowchart of a servo control method according to an embodiment of the present invention;
fig. 2 is a schematic view of a scene in a servo control method according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of a servo control method according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a servo control device according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of a computer device according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.
The term "include" and variations thereof as used herein are intended to be open-ended, i.e., "including but not limited to". The term "based on" is "based, at least in part, on". The term "one embodiment" means "at least one embodiment".
Example one
Fig. 1 is a flowchart of a servo control method according to an embodiment of the present invention, where the method is applicable to servo-controlling a mobile robot to move the mobile robot to a position below a target object support, and the method may be executed by a servo control device, where the servo control device may be implemented by software and/or hardware and is generally integrated on a computer device, and the computer device may be a third-party computer device or a computer device disposed inside the mobile robot.
As shown in fig. 1, a servo control method according to a first embodiment of the present invention includes the following steps:
and S110, acquiring a data point set collected by a ranging sensor when the ranging sensor arranged on the mobile robot detects the target object support.
Wherein the data point set is a set formed by data points on the target object bracket.
In this embodiment, the mobile robot may be an omnidirectional mobile robot, that is, an intelligent robot capable of moving in any direction, and the mobile robot may move forward, move sideways, and move rotationally. The ranging sensor can be any sensor capable of detecting obstacles, and can be a laser radar, the number of the ranging sensors is not particularly limited, the installation position of the ranging sensors on the mobile robot is not particularly limited, and the ranging sensors can be set according to actual conditions.
It should be noted that the target object in this embodiment may be a target object with a rectangular bracket, for example, if the target object is a table with a matrix, four legs of the table are target object brackets; the target can be composed of a material and a material support, wherein the material support is a rectangular support.
Optionally, the mobile robot may move to the theoretical position of the target object according to a pre-planned route, and in the moving process, when the distance between the mobile robot and the target object is smaller than a preset value, the pose of the target object support may be calculated through data collected by the ranging sensor, and if the ranging sensor does not detect the target object support, the theoretical pose of the target object support may be used as a control target, and data collected by the ranging sensor is re-used, and the theoretical pose of the target object support is re-calculated until the ranging sensor detects the target object support. Wherein the pose of the target object support may be calculated by a target search algorithm, and may include a position of the target object support relative to the mobile robot and an angle of the target object support in the robot coordinate system, and a position of the target object support relative to the mobile robot and an angle of the target object support in the world coordinate system.
And S120, determining the central position coordinate of the central point of the target object support in the world coordinate system according to the data point set.
In this embodiment, determining the central position coordinates of the central point of the target object support under the world coordinate system according to the data point set may include: determining centerline position information of the target object support according to the data point set; and determining the central position coordinate of the central point of the object support under the world coordinate system according to the central line position information.
Specifically, the determining the central position coordinate of the central point of the target object support in the world coordinate system according to the data point set includes: determining centerline position information of the target object holder from the set of data points; and selecting a middle point from the central line position information as a central point of the target object bracket, and determining the central position coordinate of the central point of the target object bracket under a world coordinate system.
The specific process of determining the centerline position information of the target object holder according to the data point set may be as follows: traversing the data point set, acquiring data points suspected to belong to the same stent, forming a subset of the data points belonging to the same stent, and obtaining a set consisting of a plurality of subsets; traversing the set can calculate a central point corresponding to each subset, the central point can constitute a central line of the target object support, and the central line position information can include coordinates of all the central points.
Selecting a middle point from the center line position information as a center point of the target object support, wherein the selecting of the middle point from the center point position information may be selecting a data point at the middle position from the center point set as the center point of the target object support, and determining a coordinate of the center point of the target object support under the world coordinate as a center position coordinate.
S130, according to the central position coordinate, the target object angle of the target object support in a world coordinate system and the position information of the mobile robot, determining the distance error of the vertical distance from the geometric central point of the mobile robot to the central line of the mobile robot, the included angle error of the included angle formed by the central line of the mobile robot and the central line of the target object support and the position error of the mobile robot.
In this embodiment, the target angle may be an angle of the target holder in the world coordinate system, and the position information of the mobile robot may include a center position coordinate of the mobile robot in the world coordinate system and a current angle of the mobile robot in the world coordinate system. The position error of the mobile robot may be understood as an error between the current position of the mobile robot and the position of the center point of the target holder.
In the embodiment, an included angle error between a geometric center of the mobile robot and a target point is determined according to a target object angle of the target object support in a world coordinate system and a current angle of the mobile robot in the world coordinate system; determining the position error of the mobile robot according to the central position coordinate and the current position coordinate of the mobile robot in a world coordinate system; and determining the distance error of the vertical distance from the geometric central point of the mobile robot to the central line of the mobile robot according to the direction unit vector corresponding to the angle of the target object and the position error of the mobile robot.
Specifically, confirm that the geometric centre point of mobile robot arrives the distance error of the perpendicular distance of mobile robot's central line, mobile robot's central line with the contained angle error of the contained angle that the central line of target support formed and mobile robot's position error includes: taking the difference between the target object angle of the target object support in a world coordinate system and the current angle as the included angle error of the included angle formed by the central line of the mobile robot and the central line of the target object support; taking the difference between the central position coordinate and the current position coordinate as the position error of the mobile robot; determining a direction unit vector corresponding to the angle of the target object; performing dot product operation on the direction unit vector and the position error of the mobile robot to obtain an operation result; determining the positive and negative of the direction unit vector according to the judgment result of whether the operation result is less than 0; and taking the cross multiplication result of the determined positive and negative direction unit vectors and the position error of the mobile robot as the distance error of the vertical distance from the geometric central point of the mobile robot to the central line of the mobile robot.
For example, the process of determining the distance error of the vertical distance from the geometric center point of the mobile robot to the center line of the mobile robot, the included angle error of the included angle formed by the center line of the mobile robot and the center line of the target object support, and the position error of the mobile robot is as follows:
1. acquiring a central position coordinate po = (xo, yo), a target angle to of a target support in a world coordinate system, and a current position coordinate pv = (x) of the mobile robot in the world coordinate systemv,yv) The current angle tv of the mobile robot in the world coordinate system.
2. And calculating the included angle error te = to-tv between the geometric center of the mobile robot and the target point.
3. The direction unit vector no = (cos (to), sin (to)) is calculated from to.
4. And calculating the position error pe = po-pv of the mobile robot according to po and pv.
5. If the result obtained after the point multiplication operation is carried out on the no and the pe is less than 0, the no is reversed: no = -no.
6. Will be provided withAnd performing cross multiplication on the no and the pe to obtain a distance error de of the vertical distance from the geometric central point of the mobile robot to the central line of the mobile robot. Wherein,
。
s140, according to the distance error, the included angle error and the position error of the mobile robot, performing servo control on the mobile robot so that the mobile robot can safely reach the position below the target object support.
The servo control is effective control of the variation of the position, speed, acceleration and the like of the motion of an object, and is one of control methods for realizing high-precision parameters in industrial production.
In this embodiment, performing servo control on the mobile robot according to the distance error, the included angle error, and the position error of the mobile robot so that the mobile robot safely reaches the position below the target object support may include: determining control parameters of the mobile robot according to the included angle error; determining an error unit vector under a robot coordinate system according to the position error of the mobile robot; determining a lateral error control coefficient of the mobile robot for lateral movement according to the distance error; and determining a final moving speed vector of the mobile robot based on the lateral error control coefficient, the corrected direction vector of the moving direction of the mobile robot and the theoretical moving speed vector of the mobile robot.
It should be noted that the mobile robot can accurately reach the lower part of the target object support through servo control, so that the mobile robot can smoothly jack up the material on the target object support, and the mobile robot can move the material.
The servo control method provided by the embodiment of the invention comprises the steps that firstly, when a target object support is detected through a distance measuring sensor arranged on a mobile robot, a data point set collected by the distance measuring sensor is obtained, wherein the data point set is a set formed by data points on the target object support; then, determining the central position coordinate of the central point of the target object bracket under a world coordinate system according to the data point set; then determining a distance error of a vertical distance from a geometric central point of the mobile robot to a central line of the mobile robot, an included angle error of an included angle formed by the central line of the mobile robot and the central line of the target object support and a position error of the mobile robot according to the central position coordinate, the target object angle of the target object support in a world coordinate system and the position information of the mobile robot; and finally, performing servo control on the mobile robot according to the distance error, the included angle error and the position error of the mobile robot so that the mobile robot can safely reach the position below the target object support. By the method, the target object support can be identified at any angle, and the mobile robot can be effectively and accurately servo-controlled.
Fig. 2 is a schematic view of a scene in a servo control method according to an embodiment of the present invention, as shown in fig. 2, 1 denotes a mobile robot, 2 denotes a ranging sensor mounted on the mobile robot, 3 denotes a matrix target object holder, 4 denotes a center line of the target object holder, 5 denotes a center line of the mobile robot, 6 denotes a geometric center point of the mobile robot, 7 denotes a vertical distance from the geometric center point of the mobile robot to the center line of the target object holder, and 8 denotes an angle between the center line of the mobile robot and the center line of the target object holder.
Example two
Fig. 3 is a schematic flow chart of a servo control method according to a second embodiment of the present invention, which is optimized based on the above embodiments. In this embodiment, the servo control of the mobile robot is performed according to the distance error, the included angle error, and the position error of the mobile robot, and is further embodied as: processing the included angle error according to a control strategy to obtain a control parameter of the mobile robot; determining an error unit vector of the position error of the mobile robot under a robot coordinate system according to a conversion matrix corresponding to the world coordinate system and the robot coordinate system and the position error of the mobile robot; processing the distance error according to the control strategy to obtain a lateral error control coefficient of the lateral movement of the mobile robot; determining a final moving velocity vector of the mobile robot based on the lateral error control coefficient, the corrected direction vector of the moving direction of the mobile robot and the theoretical moving velocity vector of the mobile robot; the corrected direction vector is the vector of the moving direction of the mobile robot obtained by rotating the error unit vector by a preset radian; and taking the control parameters and the final moving speed as a result obtained after servo control. Please refer to the first embodiment for a detailed description of the present embodiment.
As shown in fig. 2, a servo control method provided in the second embodiment of the present invention includes the following steps:
s210, when the target object support is detected through the ranging sensor installed on the mobile robot, a data point set collected by the ranging sensor is obtained.
And S220, determining the central position coordinate of the central point of the target object support in the world coordinate system according to the data point set.
S230, according to the central position coordinate, the target object angle of the target object support in a world coordinate system and the position information of the mobile robot, determining the distance error of the vertical distance from the geometric central point of the mobile robot to the central line of the mobile robot, the included angle error of the included angle formed by the central line of the mobile robot and the central line of the target object support and the position error of the mobile robot.
And S240, processing the included angle error according to a control strategy to obtain a control parameter of the mobile robot.
Among them, the control strategy may be proportional-Integral-derivative (PID), and PID is widely used in industrial process control. The principle of PID control is that a control deviation is formed according to a given value and an actual output value, the deviation is linearly combined according to proportion, integral and differential to form a control quantity, and a controlled object is controlled. A typical conventional PID controller is a linear controller.
In this embodiment, after an angle error between a geometric center point of the mobile robot and a target point is input to the PID controller as an input, a control parameter of the mobile robot can be obtained according to a control strategy.
And S250, determining an error unit vector of the position error of the mobile robot in the robot coordinate system according to a conversion matrix corresponding to the world coordinate system and the robot coordinate system and the position error of the mobile robot.
In this embodiment, the transformation matrix may transform the position error of the mobile robot in the world coordinate system to the mobile robot coordinate system, so as to obtain the position error in the robot coordinate system; a unit direction vector of a position error of the mobile robot in the robot coordinate system is calculated as an error unit vector.
Specifically, the transformation matrix may be obtained by calculation according to the current position coordinate of the mobile robot in the world coordinate system and the current angle of the mobile robot in the world coordinate system, and the specific calculation process is not described herein again. The product of the transformation matrix and the position error of the mobile robot may be used as the position error of the mobile robot in the robot coordinate system, and the position error of the mobile robot is in the world coordinate system. Wherein, can pass through the formula
A vector of the unit of error is calculated,
indicating the position error of the mobile robot in the robot coordinate system,
representing a unit vector of error.
And S260, processing the distance error according to the control strategy to obtain a lateral error control coefficient of the lateral movement of the mobile robot.
The lateral error control coefficient can be a coefficient for controlling the lateral error, and can be understood as a coefficient for controlling the lateral error by adjusting the lateral error control coefficient to control the mobile robot to drive on a correct route in the moving process. In this embodiment, after the distance error is input to the PID controller as an input, the lateral error control coefficient may be obtained by calculation according to a control strategy. How to calculate the lateral error control coefficient according to the control strategy is not the focus of the present invention, and will not be described in detail herein.
And S270, determining a final moving speed vector of the mobile robot based on the lateral error control coefficient, the corrected direction vector of the moving direction of the mobile robot and the theoretical moving speed vector of the mobile robot.
The final moving speed vector of the mobile robot may be an actual moving speed that the mobile robot should have, and the final moving speed vector may include a moving speed in a horizontal direction and a moving speed in a vertical direction. The method for determining the corrected direction vector of the moving direction of the mobile robot may be as follows: and taking the product of the error unit vector and the preset radian as a correction direction vector of the moving direction of the mobile robot.
Further, the determining a final moving speed vector of the mobile robot based on the lateral error control coefficient, the corrected direction vector of the moving direction of the mobile robot, and the theoretical moving speed vector of the mobile robot includes: determining the product of the lateral error control coefficient and a correction direction vector of the moving direction of the mobile robot; and taking the sum of the product and the theoretical movement velocity vector of the mobile robot as the final movement velocity vector of the mobile robot.
In this embodiment, the theoretical moving velocity vector of the mobile robot may be a moving velocity that the mobile robot should have at a certain position in order to reach the target object with a smooth and uniform deceleration. The theoretical moving velocity vector of the mobile robot may include a theoretical moving velocity in a horizontal direction and a theoretical moving velocity in a vertical direction.
Further, the determination method of the theoretical moving velocity vector of the mobile robot is as follows: and determining the product of the error unit vector and the movement control speed of the mobile robot as a theoretical movement speed vector of the mobile robot.
Wherein, the determination mode of the movement control speed of the mobile robot comprises the following steps: and determining the movement control speed of the mobile robot according to the preset acceleration of the mobile robot, the distance between the mobile robot and the target object support and the preset movement speed of the mobile robot.
In this embodiment, the manner of determining the movement control speed of the mobile robot may be: determining a preset moving speed of the mobile robot according to a preset acceleration of the mobile robot and an actual distance between the mobile robot and the target object support; and determining the movement control speed of the mobile robot according to the preset movement speed and the preset movement speed of the mobile robot.
Further, determining a movement control speed of the mobile robot according to a preset acceleration of the mobile robot, a distance between the mobile robot and the target object support, and a preset moving speed of the mobile robot, includes: performing evolution operation on the product of the preset acceleration of the mobile robot and the distance between the mobile robot and the target object support by 2 times to obtain the preset moving speed of the mobile robot; and selecting the minimum value from the preset moving speed of the mobile robot and the preset moving speed as the moving control speed of the mobile robot.
For example, the calculation formula of the movement control speed of the mobile robot is as follows:
wherein,
represents a preset moving speed of the mobile robot,
represents a preset acceleration of the mobile robot,
indicating the distance of the mobile robot from the object holder,
indicating the movement control speed of the mobile robot.
And S280, taking the control parameters and the final moving speed as a result obtained after servo control.
The servo control method provided by the second embodiment of the invention embodies a process of performing servo control on the mobile robot according to the distance error, the included angle error and the position error of the mobile robot. By the method, the distance measuring sensor can be used for accurately detecting the target object support, compared with a visual servo control method, the method has the advantages that the required computing resources are less, the acquisition of data by the distance measuring sensor is not influenced by illumination in the environment, and the acquired data are more accurate.
EXAMPLE III
Fig. 4 is a schematic structural diagram of a servo control apparatus according to a third embodiment of the present invention, which is applicable to a situation where a mobile robot performs servo control to move the mobile robot to a position below a target object support, where the apparatus can be implemented by software and/or hardware and is generally integrated on a computer device.
As shown in fig. 4, the apparatus includes: an acquisition module 310, a first determination module 320, a second determination module 330, and a control module 340.
The acquisition module 310 is configured to acquire a data point set acquired by a ranging sensor installed on a mobile robot when the ranging sensor detects a target object support, where the data point set is a set formed by data points on the target object support;
the first determining module 320 is configured to determine, according to the data point set, a central position coordinate of a central point of the target object holder in a world coordinate system;
the second determining module 330 is configured to determine, according to the central position coordinate, the target angle of the target holder in the world coordinate system, and the position information of the mobile robot, a distance error of a vertical distance between a geometric central point of the mobile robot and a center line of the mobile robot, an included angle error of an included angle formed by the center line of the mobile robot and the center line of the target holder, and a position error of the mobile robot.
And the control module 340 is configured to perform servo control on the mobile robot according to the distance error, the included angle error and the position error of the mobile robot, so that the mobile robot can safely reach the position below the target object support.
In this embodiment, the apparatus is first configured to, through the obtaining module 310, obtain a data point set collected by a ranging sensor installed on a mobile robot when the ranging sensor detects a target object holder, where the data point set is a set formed by data points on the target object holder; then, the first determining module 320 determines the central position coordinate of the central point of the target object bracket under the world coordinate system according to the data point set; then, determining a distance error of a vertical distance from a geometric center point of the mobile robot to a center line of the mobile robot, an included angle error of an included angle formed by the center line of the mobile robot and the center line of the target object support, and a position error of the mobile robot by a second determining module 330 according to the center position coordinate, the target object angle of the target object support in a world coordinate system, and the position information of the mobile robot; and finally, performing servo control on the mobile robot through a control module 340 according to the distance error, the included angle error and the position error of the mobile robot so that the mobile robot can safely reach the position below the target object bracket.
The embodiment provides a servo control device which can identify a target object bracket at any angle and effectively and accurately perform servo control on a mobile robot.
Further, the first determining module 320 is specifically configured to: determining centerline position information of the target object holder from the set of data points; and selecting a middle point from the central line position information as a central point of the target object bracket, and determining the central position coordinate of the central point of the target object bracket under a world coordinate system.
Further, the position information of the mobile robot comprises a current position coordinate of the mobile robot in a world coordinate system and a current angle of the mobile robot in the world coordinate system; the second determining module 330 is specifically configured to: taking the difference between the target object angle of the target object support in a world coordinate system and the current angle as the included angle error of the included angle formed by the central line of the mobile robot and the central line of the target object support; taking the difference between the central position coordinate and the current position coordinate as the position error of the mobile robot; determining a direction unit vector corresponding to the angle of the target object; performing dot product operation on the direction unit vector and the position error of the mobile robot to obtain an operation result; determining the positive and negative of the direction unit vector according to the judgment result of whether the operation result is less than 0; and taking the cross multiplication result of the determined positive and negative direction unit vectors and the position error of the mobile robot as the distance error of the vertical distance from the geometric central point of the mobile robot to the central line of the mobile robot.
Further, the control module 340 is specifically configured to: processing the included angle error according to a control strategy to obtain a control parameter of the mobile robot; determining an error unit vector of the position error of the mobile robot under a robot coordinate system according to a conversion matrix corresponding to the world coordinate system and the robot coordinate system and the position error of the mobile robot; processing the distance error according to the control strategy to obtain a lateral error control coefficient of the lateral movement of the mobile robot; determining a final moving velocity vector of the mobile robot based on the lateral error control coefficient, the corrected direction vector of the moving direction of the mobile robot and the theoretical moving velocity vector of the mobile robot; the corrected direction vector is the vector of the moving direction of the mobile robot obtained by rotating the error unit vector by a preset radian; and taking the control parameters and the final moving speed as a result obtained after servo control.
Further, the determining of the movement control speed of the mobile robot includes: and determining the movement control speed of the mobile robot according to the preset acceleration of the mobile robot, the distance between the mobile robot and the target object support and the preset movement speed of the mobile robot. The determining a final moving speed vector of the mobile robot based on the lateral error control coefficient, the corrected direction vector of the moving direction of the mobile robot and the theoretical moving speed vector of the mobile robot comprises: determining the product of the lateral error control coefficient and a correction direction vector of the moving direction of the mobile robot; taking the sum of the product and the theoretical moving velocity vector of the mobile robot as the final moving velocity vector of the mobile robot; the determination method of the theoretical moving velocity vector of the mobile robot comprises the following steps: and determining the product of the error unit vector and the movement control speed of the mobile robot as a theoretical movement speed vector of the mobile robot.
Further, the determining of the movement control speed of the mobile robot includes: and determining the movement control speed of the mobile robot according to the preset acceleration of the mobile robot, the distance between the mobile robot and the target object support and the preset movement speed of the mobile robot.
Further, determining a movement control speed of the mobile robot according to a preset acceleration of the mobile robot, a distance between the mobile robot and the target object support, and a preset moving speed of the mobile robot, includes: performing evolution operation on the product of the preset acceleration of the mobile robot and the distance between the mobile robot and the target object support by 2 times to obtain the preset moving speed of the mobile robot; and selecting the minimum value from the preset moving speed of the mobile robot and the preset moving speed as the moving control speed of the mobile robot.
The servo control device can execute the servo control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 5 is a schematic structural diagram of a computer device according to a fourth embodiment of the present invention. As shown in fig. 5, a computer device provided in the fourth embodiment of the present invention includes: one or more processors 51 and storage 52; the processor 51 in the computer device may be one or more, and fig. 5 illustrates one processor 51 as an example; storage 52 is used to store one or more programs; the one or more programs are executed by the one or more processors 51, so that the one or more processors 51 implement the servo control method according to any one of the embodiments of the present invention.
The computer device may further include: an input device 53 and an output device 54.
The processor 51, the storage means 52, the input means 53 and the output means 54 in the computer apparatus may be connected by a bus or other means, which is exemplified in fig. 5.
The storage device 52 in the computer device is used as a computer readable storage medium for storing one or more programs, which may be software programs, computer executable programs, and modules, such as program instructions/modules corresponding to the servo control method provided in one or two embodiments of the present invention (for example, the modules in the servo control device shown in fig. 4 include the obtaining module 310, the first determining module 320, the second determining module 330, and the control module 340). The processor 51 executes various functional applications and data processing of the computer device by running software programs, instructions and modules stored in the storage device 52, that is, implements the servo control method in the above-described method embodiment.
The storage device 42 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the computer device, and the like. Further, the storage 42 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, storage 42 may further include memory located remotely from processor 41, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 43 may be used to receive input numeric or character information and to generate key signal inputs related to user settings and function controls of the computer apparatus. The output device 44 may include a display device such as a display screen.
And, when one or more programs included in the above-described computer apparatus are executed by the one or more processors 41, the programs perform the following operations:
when a target object support is detected through a ranging sensor arranged on a mobile robot, acquiring a data point set collected by the ranging sensor, wherein the data point set is a set formed by data points on the target object support;
determining the central position coordinate of the central point of the target object bracket under a world coordinate system according to the data point set;
determining a distance error of a vertical distance from a geometric central point of the mobile robot to a central line of the mobile robot, an included angle error of an included angle formed by the central line of the mobile robot and the central line of the target object support and a position error of the mobile robot according to the central position coordinate, the target object angle of the target object support in a world coordinate system and the position information of the mobile robot;
and carrying out servo control on the mobile robot according to the distance error, the included angle error and the position error of the mobile robot so that the mobile robot can safely reach the position below the target object bracket.
EXAMPLE five
An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program is used, when executed by a processor, to execute a servo control method, where the method includes:
when a target object support is detected through a ranging sensor arranged on a mobile robot, acquiring a data point set collected by the ranging sensor, wherein the data point set is a set formed by data points on the target object support;
determining the central position coordinate of the central point of the target object bracket under a world coordinate system according to the data point set;
determining a distance error of a vertical distance from a geometric central point of the mobile robot to a central line of the mobile robot, an included angle error of an included angle formed by the central line of the mobile robot and the central line of the target object support and a position error of the mobile robot according to the central position coordinate, the target object angle of the target object support in a world coordinate system and the position information of the mobile robot;
and carrying out servo control on the mobile robot according to the distance error, the included angle error and the position error of the mobile robot so that the mobile robot can safely reach the position below the target object bracket.
Alternatively, the program may be used to execute the servo control method provided in any embodiment of the present invention when executed by a processor.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM), a flash Memory, an optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. A computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take a variety of forms, including, but not limited to: an electromagnetic signal, an optical signal, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, Radio Frequency (RF), etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. A servo control method, comprising:
when a target object support is detected through a ranging sensor arranged on a mobile robot, acquiring a data point set collected by the ranging sensor, wherein the data point set is a set formed by data points on the target object support;
determining the central position coordinate of the central point of the target object bracket under a world coordinate system according to the data point set;
determining a distance error of a vertical distance from a geometric central point of the mobile robot to a central line of the mobile robot, an included angle error of an included angle formed by the central line of the mobile robot and the central line of the target object support and a position error of the mobile robot according to the central position coordinate, the target object angle of the target object support in a world coordinate system and the position information of the mobile robot;
according to the distance error, the included angle error and the position error of the mobile robot, performing servo control on the mobile robot so that the mobile robot can safely reach the position below the target object bracket;
the position information of the mobile robot comprises the current position coordinate of the mobile robot in a world coordinate system and the current angle of the mobile robot in the world coordinate system; correspondingly, according to the central position coordinate, the target object angle of the target object support in the world coordinate system, and the position information of the mobile robot, determining a distance error of a vertical distance from a geometric central point of the mobile robot to a center line of the mobile robot, an included angle error of an included angle formed by the center line of the mobile robot and the center line of the target object support, and a position error of the mobile robot, the method includes:
taking the difference between the target object angle of the target object support in a world coordinate system and the current angle as the included angle error of the included angle formed by the central line of the mobile robot and the central line of the target object support;
taking the difference between the central position coordinate and the current position coordinate as the position error of the mobile robot;
determining a direction unit vector corresponding to the angle of the target object;
performing dot product operation on the direction unit vector and the position error of the mobile robot to obtain an operation result;
determining the positive and negative of the direction unit vector according to the judgment result of whether the operation result is less than 0;
and taking the cross multiplication result of the determined positive and negative direction unit vectors and the position error of the mobile robot as the distance error of the vertical distance from the geometric central point of the mobile robot to the central line of the mobile robot.
2. The method of claim 1, wherein determining center position coordinates of a center point of the target object holder under a world coordinate system from the set of data points comprises:
determining centerline position information of the target object holder from the set of data points;
and selecting a middle point from the central line position information as a central point of the target object bracket, and determining the central position coordinate of the central point of the target object bracket under a world coordinate system.
3. The method of claim 1, wherein servo-controlling the mobile robot based on the distance error, the included angle error, and the position error of the mobile robot comprises:
processing the included angle error according to a control strategy to obtain a control parameter of the mobile robot;
determining an error unit vector of the position error of the mobile robot under a robot coordinate system according to a conversion matrix corresponding to the world coordinate system and the robot coordinate system and the position error of the mobile robot;
processing the distance error according to the control strategy to obtain a lateral error control coefficient of the lateral movement of the mobile robot;
determining a final moving velocity vector of the mobile robot based on the lateral error control coefficient, the corrected direction vector of the moving direction of the mobile robot and the theoretical moving velocity vector of the mobile robot; the corrected direction vector is the vector of the moving direction of the mobile robot obtained by rotating the error unit vector by a preset radian;
and taking the control parameters and the final moving speed as a result obtained after servo control.
4. The method of claim 3, wherein determining a final movement velocity vector of the mobile robot based on the lateral error control coefficient, the modified direction vector of the mobile robot movement direction, and the theoretical movement velocity vector of the mobile robot comprises:
determining the product of the lateral error control coefficient and a correction direction vector of the moving direction of the mobile robot;
taking the sum of the product and the theoretical moving velocity vector of the mobile robot as the final moving velocity vector of the mobile robot;
the determination method of the theoretical moving velocity vector of the mobile robot comprises the following steps:
and determining the product of the error unit vector and the movement control speed of the mobile robot as a theoretical movement speed vector of the mobile robot.
5. The method of claim 4, wherein the movement control speed of the mobile robot is determined in a manner comprising:
and determining the movement control speed of the mobile robot according to the preset acceleration of the mobile robot, the distance between the mobile robot and the target object support and the preset movement speed of the mobile robot.
6. The method of claim 5, wherein determining the movement control speed of the mobile robot based on the preset acceleration of the mobile robot, the distance of the mobile robot from the target object support, and the preset movement speed of the mobile robot comprises:
performing evolution operation on the product of the preset acceleration of the mobile robot and the distance between the mobile robot and the target object support by 2 times to obtain the preset moving speed of the mobile robot;
and selecting the minimum value from the preset moving speed of the mobile robot and the preset moving speed as the moving control speed of the mobile robot.
7. A servo control apparatus, comprising:
the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring a data point set acquired by a distance measuring sensor when the distance measuring sensor arranged on a mobile robot detects a target object support, and the data point set is a set formed by data points on the target object support;
the first determination module is used for determining the central position coordinate of the central point of the target object support under a world coordinate system according to the data point set;
the second determination module is used for determining a distance error of a vertical distance from a geometric central point of the mobile robot to a central line of the mobile robot, an included angle error of an included angle formed by the central line of the mobile robot and the central line of the target object support and a position error of the mobile robot according to the central position coordinate, the target object angle of the target object support in a world coordinate system and the position information of the mobile robot;
the control module is used for performing servo control on the mobile robot according to the distance error, the included angle error and the position error of the mobile robot so that the mobile robot can safely reach the position below the target object support;
the position information of the mobile robot comprises the current position coordinate of the mobile robot in a world coordinate system and the current angle of the mobile robot in the world coordinate system;
the second determining module is specifically configured to: taking the difference between the target object angle of the target object support in a world coordinate system and the current angle as the included angle error of the included angle formed by the central line of the mobile robot and the central line of the target object support; taking the difference between the central position coordinate and the current position coordinate as the position error of the mobile robot; determining a direction unit vector corresponding to the angle of the target object; performing dot product operation on the direction unit vector and the position error of the mobile robot to obtain an operation result; determining the positive and negative of the direction unit vector according to the judgment result of whether the operation result is less than 0; and taking the cross multiplication result of the determined positive and negative direction unit vectors and the position error of the mobile robot as the distance error of the vertical distance from the geometric central point of the mobile robot to the central line of the mobile robot.
8. A computer device, comprising:
one or more processors;
storage means for storing one or more programs;
the one or more programs are executable by the one or more processors to cause the one or more processors to perform the servo control method of any of claims 1-6.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the servo control method according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110854053.XA CN113311844B (en) | 2021-07-28 | 2021-07-28 | Servo control method and device, computer equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110854053.XA CN113311844B (en) | 2021-07-28 | 2021-07-28 | Servo control method and device, computer equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113311844A CN113311844A (en) | 2021-08-27 |
| CN113311844B true CN113311844B (en) | 2021-11-12 |
Family
ID=77381999
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110854053.XA Active CN113311844B (en) | 2021-07-28 | 2021-07-28 | Servo control method and device, computer equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113311844B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114035540B (en) * | 2021-10-26 | 2024-03-22 | 嘉兴市敏硕智能科技有限公司 | Omnidirectional mobile platform error self-calibration method, system, device and storage medium |
| CN115635222A (en) * | 2022-11-09 | 2023-01-24 | 珠海格力智能装备有限公司 | Lantern ring control method, lantern ring control system and storage medium |
| WO2024114682A1 (en) * | 2022-12-02 | 2024-06-06 | 北京极智嘉科技股份有限公司 | Positioning method and apparatus, and computing device and storage medium |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20120021064A (en) * | 2010-08-31 | 2012-03-08 | 엘지전자 주식회사 | Mobile robot and controlling method of the same |
| EP3505959A1 (en) * | 2017-12-29 | 2019-07-03 | Acconeer AB | An autonomous mobile cleaning robot |
| US20190241180A1 (en) * | 2018-02-07 | 2019-08-08 | Baidu Usa Llc | Lane self-localization system using multiple cameras for autonomous driving vehicles |
| CN108562889B (en) * | 2018-07-20 | 2021-09-14 | 苏州艾吉威机器人有限公司 | Laser radar coordinate correction method |
| CN109213173B (en) * | 2018-09-30 | 2022-09-23 | 青岛港国际股份有限公司 | Anti-collision protection method for AGV (automatic guided vehicle) to enter and exit interactive bracket |
| CN110135439B (en) * | 2019-05-09 | 2021-05-04 | 上海木木聚枞机器人科技有限公司 | Method and device for automatically identifying goods shelf and mobile robot |
| CN112363503B (en) * | 2020-11-06 | 2022-11-18 | 南京林业大学 | Orchard vehicle automatic navigation control system based on laser radar |
| CN112928799B (en) * | 2021-02-04 | 2022-08-09 | 北京工业大学 | Automatic butt-joint charging method of mobile robot based on laser measurement |
-
2021
- 2021-07-28 CN CN202110854053.XA patent/CN113311844B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113311844A (en) | 2021-08-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113311844B (en) | Servo control method and device, computer equipment and storage medium | |
| CN110927740B (en) | Mobile robot positioning method | |
| CN111427026B (en) | Laser radar calibration method and device, storage medium and self-moving equipment | |
| WO2017041730A1 (en) | Method and system for navigating mobile robot to bypass obstacle | |
| CN111209978B (en) | Three-dimensional visual repositioning method and device, computing equipment and storage medium | |
| WO2021003983A1 (en) | Return guide method, return guide apparatus, mobile robot, and storage medium | |
| CN108646729A (en) | A kind of robot and its paths planning method, robot system | |
| US20200401151A1 (en) | Device motion control | |
| Miller et al. | Optimal planning for target localization and coverage using range sensing | |
| Che et al. | Research on improved ACO algorithm-based multi-robot odor source localization | |
| CN117270545A (en) | Convolutional neural network-based substation wheel type inspection robot and method | |
| CN112148017B (en) | Error calibration method and device, electronic equipment and storage medium | |
| WO2019171491A1 (en) | Mobile body control device, mobile body, mobile body control system, mobile body control method, and recording medium | |
| Wang et al. | Research on autonomous planning method based on improved quantum Particle Swarm Optimization for Autonomous Underwater Vehicle | |
| CN112987713A (en) | Control method and device for automatic driving equipment and storage medium | |
| WO2023236476A1 (en) | Lane line-free method and apparatus for determining tracking trajectory | |
| CN110554687B (en) | Multi-robot self-adaptive detection method oriented to unknown environment | |
| CN110007680B (en) | Robot obstacle avoidance algorithm based on topological relation | |
| Elsheikh et al. | Practical path planning and path following for a non-holonomic mobile robot based on visual servoing | |
| Eqab et al. | Development of source seeking algorithm for mobile robots | |
| KR20130047278A (en) | Method and apparatus of path planning of robot | |
| Li et al. | Comparison and evaluation of SLAM algorithms for AGV navigation | |
| CN112099513A (en) | Method and system for accurately taking materials by mobile robot | |
| Jiang et al. | Accurate data-driven sliding mode parking control for autonomous ground vehicles with efficient trajectory planning in dynamic industrial scenarios | |
| Wang et al. | Bearing-only nonlinear formation control for nonholonomic unicycles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |