CN106227227A - A kind of have alleviate collision injury and the control system of overturning-preventing function and method - Google Patents
A kind of have alleviate collision injury and the control system of overturning-preventing function and method Download PDFInfo
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- CN106227227A CN106227227A CN201610763308.0A CN201610763308A CN106227227A CN 106227227 A CN106227227 A CN 106227227A CN 201610763308 A CN201610763308 A CN 201610763308A CN 106227227 A CN106227227 A CN 106227227A
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 208000027418 Wounds and injury Diseases 0.000 title claims abstract description 28
- 230000006378 damage Effects 0.000 title claims abstract description 28
- 208000014674 injury Diseases 0.000 title claims abstract description 28
- 230000001133 acceleration Effects 0.000 claims abstract description 62
- 230000000875 corresponding effect Effects 0.000 claims description 25
- 230000008569 process Effects 0.000 claims description 19
- 238000012795 verification Methods 0.000 claims description 9
- 238000001914 filtration Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 7
- 230000004044 response Effects 0.000 claims description 6
- 230000001276 controlling effect Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000002567 autonomic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to robotics, particularly relate to a kind of have alleviate collision injury and the control system of overturning-preventing function and method；Described control system includes gyroscope, acceleration transducer, central processing unit and drives controller, and described gyroscope, described acceleration transducer and described driving controller electrically connect with described central processing unit respectively.Disclosed in this invention have alleviate collision injury and the control system of overturning-preventing function and method, by arranging acceleration filter processing module, anticollision controls processing module and attitude filter processing module, anti-collision algorithm, overturning-preventing algorithm are the most efficient, efficiently reduce the burst collision that is subject to of collision rift mobile platform to injure, improve mobile platform overturning-preventing ability.
Description
Technical field
The present invention relates to robotics, particularly relate to a kind of have alleviate collision injury and the control of overturning-preventing function
System and method processed.
Background technology
The mobile autonomous mobile platform such as robot, unmanned vehicle can rely on self-sensor device identification surrounding enviroment, hides obstacle,
Autonomic movement is to being set the goal, but runs into emergency case, when sensor cannot correctly identify road conditions or periphery obstacle, is susceptible to
Collision or the accident such as topple over.
For improving further the motion credibility of autonomous mobile platform, alleviate and be subject to when mobile platform runs into accident
Collision injury or prevent to topple over accident, be badly in need of invention a kind of have alleviate collision injury and the control system of overturning-preventing function
And method.
Summary of the invention
It is an object of the invention to: provide a kind of have alleviate collision injury and the control system of overturning-preventing function and side
Method, to improve the motion credibility of autonomous mobile platform further, alleviates the collision being subject to when mobile platform runs into accident
Injure or prevent to topple over accident.
The invention provides following proposal:
A kind of have alleviate collision injury and the control system of overturning-preventing function, including:
Gyroscope, for identifying mobile platform attitude with respect to the horizontal plane；
Acceleration transducer, for obtaining the 3-axis acceleration of mobile platform；
Central processing unit, for the attitude information received and acceleration information are processed by strobe utility, with
Exempt from system and produce wrong report；Then generate motion control signal by corresponding algorithm and be sent to drive controller, and drive described
Motion controller controls mobile platform and performs corresponding action response；
And driving controller, it is used for controlling the corresponding action of execution of described mobile platform corresponding；
Described gyroscope, described acceleration transducer and described driving controller are electrically connected with described central processing unit respectively
Connect.
Preferably, described central processing unit includes:
Acceleration filter processing module, carries out strobe utility for the 3-axis acceleration obtaining described acceleration transducer
Process；
Anticollision controls processing module, is controlled and processes in time colliding mobile platform；
And attitude filter processing module, carry out strobe utility process for the attitude information that described gyroscope is obtained.
Preferably, described acceleration filter processing module and described attitude filter processing module respectively with described anticollision control
Processing module processed electrically connects, and described anticollision controls processing module and electrically connects with described driving controller.
Preferably, described attitude filter processing module includes horizontal check unit and zero verification unit, described horizontal check
Unit and zero verification unit electrically connect with described gyroscope respectively.
Preferably, described gyroscope includes attitude transducer, described attitude transducer respectively with described horizontal check unit
With zero verification unit electrical connection.
Preferably, described acceleration filter processing module includes acceleration filtration treatment unit and threshold detection unit, institute
State acceleration filtration treatment unit and described threshold detection unit electrically connects with described acceleration transducer respectively.
Preferably, described central processing unit also includes that DMP resolves module, for accurately calculating quaternary number and Eulerian angles, subtracts
The computation burden of few described driving controller so that it is can preferably complete the control of attitude；Described DMP resolve module respectively with
Described gyroscope, described acceleration transducer electrically connect.
Further, present invention also offers a kind of described in have alleviate collision injury and the control system of overturning-preventing function
The control method realized, including:
Utilize described gyroscope identification mobile platform attitude with respect to the horizontal plane；
Described acceleration transducer is utilized to obtain the 3-axis acceleration of mobile platform；
The described central processing unit attitude information to receiving and acceleration information is utilized to be processed by strobe utility,
In order to avoid system produces wrong report；Then generate motion control signal by corresponding algorithm to be sent to drive controller, and drive institute
State motion controller and control the mobile platform corresponding action response of execution；
Described driving controller is utilized to control the corresponding action of execution of described mobile platform corresponding.
Preferably, described control method also includes:
The 3-axis acceleration utilizing described acceleration filter processing module to obtain described acceleration transducer filters
Mechanism processes；
Described anticollision control processing module is utilized to be controlled and process when mobile platform is collided；
The attitude information utilizing described attitude filter processing module to obtain described gyroscope carries out strobe utility process.
Preferably, described control method also includes: utilizes described DMP to resolve module and accurately calculates quaternary number and Eulerian angles,
Reduce the computation burden of described driving controller so that it is can preferably complete the control of attitude.
The beneficial effect that the present invention produces:
Disclosed in this invention have alleviate collision injury and the control system of overturning-preventing function and method, added by setting
Speed filter processing module, anticollision control processing module and attitude filter processing module, anti-collision algorithm, overturning-preventing algorithm
Reliable efficiently efficiently reducing the collision that burst collision rift mobile platform is subject to and injure, improve mobile platform anti-dumping could
Power.
Accompanying drawing explanation
Fig. 1 is the block diagram with the control system alleviating collision injury and overturning-preventing function of the present invention；
Fig. 2 is the flow chart with the control method alleviating collision injury and overturning-preventing function of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme is clearly and completely described, it is clear that described enforcement
Example is a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under not making creative work premise, broadly falls into the scope of protection of the invention.
In describing the invention, it should be noted that term " " center ", " on ", D score, "left", "right", " vertically ",
Orientation or the position relationship of the instruction such as " level ", " interior ", " outward " they are based on orientation shown in the drawings or position relationship, merely to
Be easy to describe the present invention and simplifying describe rather than instruction or the hint device of indication or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.Additionally, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that indicate or hint relative importance.
In describing the invention, it should be noted that unless otherwise clearly defined and limited, term " is installed ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be fixing connection, it is also possible to be to removably connect, or be integrally connected；Can
To be mechanical connection, it is also possible to be electrical connection；Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, can understand that above-mentioned term is at this with concrete condition
Concrete meaning in invention.
Shown in Figure 1, a kind of have alleviate collision injury and the control system of overturning-preventing function, including:
Gyroscope, for identifying mobile platform attitude with respect to the horizontal plane；
Acceleration transducer, for obtaining the 3-axis acceleration of mobile platform；
Central processing unit, for the attitude information received and acceleration information are processed by strobe utility, with
Exempt from system and produce wrong report；Then generate motion control signal by corresponding algorithm and be sent to drive controller, and drive described
Motion controller controls mobile platform and performs corresponding action response；
And driving controller, it is used for controlling the corresponding action of execution of described mobile platform corresponding；
Described gyroscope, described acceleration transducer and described driving controller are electrically connected with described central processing unit respectively
Connect.
Described central processing unit includes:
Acceleration filter processing module, carries out strobe utility for the 3-axis acceleration obtaining described acceleration transducer
Process；
Anticollision controls processing module, is controlled and processes in time colliding mobile platform；
And attitude filter processing module, carry out strobe utility process for the attitude information that described gyroscope is obtained.
Described acceleration filter processing module and described attitude filter processing module process with described anticollision control respectively
Module electrically connects, and described anticollision controls processing module and electrically connects with described driving controller.
Described attitude filter processing module includes horizontal check unit and zero verification unit, described horizontal check unit and zero
Verification unit electrically connects with described gyroscope respectively.
Described gyroscope includes attitude transducer, and described attitude transducer verifies with described horizontal check unit and zero respectively
Unit electrically connects.
Described acceleration filter processing module includes acceleration filtration treatment unit and threshold detection unit, described acceleration
Filtration treatment unit and described threshold detection unit electrically connect with described acceleration transducer respectively.
Described central processing unit also includes that DMP resolves module, for accurately calculating quaternary number and Eulerian angles, drives described in minimizing
The computation burden of movement controller so that it is can preferably complete the control of attitude；Described DMP resolve module respectively with described gyro
Instrument, described acceleration transducer electrically connect.
Shown in Figure 2, a kind of described in have alleviate collision injury and overturning-preventing function control system realize control
Method, including:
Utilize described gyroscope identification mobile platform attitude with respect to the horizontal plane；
Described acceleration transducer is utilized to obtain the 3-axis acceleration of mobile platform；
The described central processing unit attitude information to receiving and acceleration information is utilized to be processed by strobe utility,
In order to avoid system produces wrong report；Then generate motion control signal by corresponding algorithm to be sent to drive controller, and drive institute
State motion controller and control the mobile platform corresponding action response of execution；
Described driving controller is utilized to control the corresponding action of execution of described mobile platform corresponding.
Described control method also includes:
The 3-axis acceleration utilizing described acceleration filter processing module to obtain described acceleration transducer filters
Mechanism processes；
Described anticollision control processing module is utilized to be controlled and process when mobile platform is collided；
The attitude information utilizing described attitude filter processing module to obtain described gyroscope carries out strobe utility process.
Described control method also includes: utilizes described DMP to resolve module and accurately calculates quaternary number and Eulerian angles, reduces described
Drive the computation burden of controller so that it is can preferably complete the control of attitude.
Disclosed in this invention have alleviate collision injury and the control system of overturning-preventing function and method, added by setting
Speed filter processing module, anticollision control processing module and attitude filter processing module, anti-collision algorithm, overturning-preventing algorithm
Reliable efficiently efficiently reducing the collision that burst collision rift mobile platform is subject to and injure, improve mobile platform anti-dumping could
Power.
The present embodiment resolves accurately quaternary number and Eulerian angles by hardware DMP, reduces the computation burden of control chip,
Can preferably complete the control of attitude.Owing to having attitude transducer and horizontal plane to have certain inclination angle, at intelligent mobile
The when that platform (including but not limited to robot) turning to, attitude data has the change of certain amplitude, now needs to lead to
Cross data filtering, control the processing modes such as feedback, filter off these influential data, it is ensured that the accuracy of control；Pass through simultaneously
Analysis to normal data, it is ensured that it can be by the slope of certain number of degrees, when occurring energy mobile platform (including but not limited to machine
Device people) adventurous inclination angle time, intelligent family moving platform (including but not limited to robot) can be controlled and be braked and mask
Increase the control of dangerous play.Owing to having attitude transducer and horizontal plane to have certain inclination angle, by horizontal check and zero verification
Mode, make data immediate stability, it is achieved the effect quickly started.And by the process to data variation, remain to quickly examine
When surveying under open state the most on the slope, accident is prevented.Intelligent family moving platform can be made (including but not limited to machine based on power
Device people) produce certain acceleration, operate by three axial acceleration informations being carried out filtration treatment, threshold values detection etc.,
Make it only the impact of certain dynamics be produced feedback, make intelligent family moving platform (including but not limited to robot) produce corresponding control
Braking is made.
Described in the present embodiment reduce collision injury and prevent tilt method, can realize intelligent family moving platform (comprise but
Be not limited to robot) motion or static in the case of, because unknown situation occurs so that self with other objects or
When people bumps against (by hitting), it is possible to avoid producing other unnecessary injuries by braking and type of alarm.Sense based on attitude
The certain inclination angle and the kinestate of self having installed by device, calculates self real attitude data and acceleration information in real time
Method.
Last it is noted that various embodiments above is only in order to illustrate technical scheme, it is not intended to limit；To the greatest extent
The present invention has been described in detail by pipe with reference to foregoing embodiments, it will be understood by those within the art that: it depends on
So the technical scheme described in foregoing embodiments can be modified, or the most some or all of technical characteristic is entered
Row equivalent；And these amendments or replacement, do not make the essence of appropriate technical solution depart from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. one kind have alleviate collision injury and the control system of overturning-preventing function, it is characterised in that: including:
Gyroscope, for identifying mobile platform attitude with respect to the horizontal plane；
Acceleration transducer, for obtaining the 3-axis acceleration of mobile platform；
Central processing unit, for processing by strobe utility the attitude information received and acceleration information, in order to avoid being
System produces wrong report；Then generate motion control signal by corresponding algorithm to be sent to drive controller, and drive described motion
Controller controls mobile platform and performs corresponding action response；
And driving controller, it is used for controlling the corresponding action of execution of described mobile platform corresponding；
Described gyroscope, described acceleration transducer and described driving controller electrically connect with described central processing unit respectively.
The most according to claim 1 have alleviate collision injury and the control system of overturning-preventing function, it is characterised in that: institute
State central processing unit to include:
Acceleration filter processing module, is carried out at strobe utility for the 3-axis acceleration obtaining described acceleration transducer
Reason；
Anticollision controls processing module, is controlled and processes in time colliding mobile platform；
And attitude filter processing module, carry out strobe utility process for the attitude information that described gyroscope is obtained.
The most according to claim 2 have alleviate collision injury and the control system of overturning-preventing function, it is characterised in that: institute
State acceleration filter processing module and described attitude filter processing module control processing module with described anticollision respectively and electrically connects,
Described anticollision controls processing module and electrically connects with described driving controller.
The most according to claim 3 have alleviate collision injury and the control system of overturning-preventing function, it is characterised in that: institute
State attitude filter processing module and include that horizontal check unit and zero verification unit, described horizontal check unit and zero verification unit are divided
Do not electrically connect with described gyroscope.
The most according to claim 4 have alleviate collision injury and the control system of overturning-preventing function, it is characterised in that: institute
Stating gyroscope and include attitude transducer, described attitude transducer is electrically connected with described horizontal check unit and zero verification unit respectively
Connect.
The most according to claim 5 have alleviate collision injury and the control system of overturning-preventing function, it is characterised in that: institute
State acceleration filter processing module and include acceleration filtration treatment unit and threshold detection unit, described acceleration filtration treatment list
First and described threshold detection unit electrically connects with described acceleration transducer respectively.
The most according to claim 6 have alleviate collision injury and the control system of overturning-preventing function, it is characterised in that: institute
State central processing unit and also include that DMP resolves module, for accurately calculating quaternary number and Eulerian angles, reduce described driving controller
Computation burden so that it is can preferably complete the control of attitude；Described DMP resolve module respectively with described gyroscope, described in add
Velocity sensor electrically connects.
8. one kind alleviates the control system of collision injury and overturning-preventing function in fact according to described having arbitrary in claim 1-7
Existing control method, it is characterised in that: including:
Utilize described gyroscope identification mobile platform attitude with respect to the horizontal plane；
Described acceleration transducer is utilized to obtain the 3-axis acceleration of mobile platform；
The described central processing unit attitude information to receiving and acceleration information is utilized to be processed by strobe utility, in order to avoid
System produces wrong report；Then generate motion control signal by corresponding algorithm to be sent to drive controller, and drive described fortune
Movement controller controls mobile platform and performs corresponding action response；
Described driving controller is utilized to control the corresponding action of execution of described mobile platform corresponding.
The most according to claim 8 have alleviate collision injury and the control method of overturning-preventing function, it is characterised in that: also
Including:
The 3-axis acceleration utilizing described acceleration filter processing module to obtain described acceleration transducer carries out strobe utility
Process；
Described anticollision control processing module is utilized to be controlled and process when mobile platform is collided；
The attitude information utilizing described attitude filter processing module to obtain described gyroscope carries out strobe utility process.
The most according to claim 9 have alleviate collision injury and the control method of overturning-preventing function, it is characterised in that:
Also include: utilizing described DMP to resolve module and accurately calculate quaternary number and Eulerian angles, the calculating reducing described driving controller is born
Load so that it is can preferably complete the control of attitude.
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| CN201610763308.0A CN106227227A (en) | 2016-08-30 | 2016-08-30 | A kind of have alleviate collision injury and the control system of overturning-preventing function and method |
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| CN201610763308.0A CN106227227A (en) | 2016-08-30 | 2016-08-30 | A kind of have alleviate collision injury and the control system of overturning-preventing function and method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107444506A (en) * | 2017-06-27 | 2017-12-08 | 清华大学 | Robot adhesion type Overthrow preventing device and robot |
| CN107962595A (en) * | 2017-11-29 | 2018-04-27 | 北京康力优蓝机器人科技有限公司 | Robot, which falls down to the ground, protects system and method |
| CN109049006A (en) * | 2018-08-22 | 2018-12-21 | 深圳市云鼠科技开发有限公司 | A kind of anticollision detection method of sweeping robot |
| CN109491391A (en) * | 2018-11-27 | 2019-03-19 | 广东宝乐机器人股份有限公司 | The collision recognition method and apparatus of window wiping robot |
| CN110507417A (en) * | 2019-08-30 | 2019-11-29 | 上海声勤信息科技有限公司 | A kind of operating room medical mechanical arm anti-collision system |
| CN111037564A (en) * | 2019-12-27 | 2020-04-21 | 深圳市越疆科技有限公司 | Robot collision detection method, device, equipment and computer readable storage medium |
| CN111113412A (en) * | 2019-12-11 | 2020-05-08 | 桂林凯歌信息科技有限公司 | Robot based on motion posture anti-falling protection and control method thereof |
| CN112033398A (en) * | 2020-07-24 | 2020-12-04 | 江苏美的清洁电器股份有限公司 | Collision detection system and method for sweeping robot |
| CN112486167A (en) * | 2020-11-09 | 2021-03-12 | 北京爱笔科技有限公司 | Autonomous obstacle avoidance robot, anti-toppling mobile platform and anti-toppling control method |
| CN112486167B (en) * | 2020-11-09 | 2024-05-31 | 北京爱笔科技有限公司 | Autonomous obstacle avoidance robot, anti-toppling mobile platform and anti-toppling control method |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107444506B (en) * | 2017-06-27 | 2020-09-01 | 清华大学 | Robot attached type overturn preventing device and robot |
| CN107444506A (en) * | 2017-06-27 | 2017-12-08 | 清华大学 | Robot adhesion type Overthrow preventing device and robot |
| CN107962595B (en) * | 2017-11-29 | 2019-11-01 | 北京康力优蓝机器人科技有限公司 | Robot, which falls down to the ground, protects system and method |
| CN107962595A (en) * | 2017-11-29 | 2018-04-27 | 北京康力优蓝机器人科技有限公司 | Robot, which falls down to the ground, protects system and method |
| WO2020037975A1 (en) * | 2018-08-22 | 2020-02-27 | 深圳市云鼠科技开发有限公司 | Anti-collision detection method for floor sweeping robot |
| CN109049006A (en) * | 2018-08-22 | 2018-12-21 | 深圳市云鼠科技开发有限公司 | A kind of anticollision detection method of sweeping robot |
| CN109491391A (en) * | 2018-11-27 | 2019-03-19 | 广东宝乐机器人股份有限公司 | The collision recognition method and apparatus of window wiping robot |
| CN110507417A (en) * | 2019-08-30 | 2019-11-29 | 上海声勤信息科技有限公司 | A kind of operating room medical mechanical arm anti-collision system |
| CN111113412A (en) * | 2019-12-11 | 2020-05-08 | 桂林凯歌信息科技有限公司 | Robot based on motion posture anti-falling protection and control method thereof |
| CN111037564A (en) * | 2019-12-27 | 2020-04-21 | 深圳市越疆科技有限公司 | Robot collision detection method, device, equipment and computer readable storage medium |
| CN111037564B (en) * | 2019-12-27 | 2022-03-18 | 深圳市越疆科技有限公司 | Robot collision detection method, device, equipment and computer readable storage medium |
| CN112033398A (en) * | 2020-07-24 | 2020-12-04 | 江苏美的清洁电器股份有限公司 | Collision detection system and method for sweeping robot |
| CN112033398B (en) * | 2020-07-24 | 2023-01-06 | 美智纵横科技有限责任公司 | Collision detection system and method for sweeping robot |
| CN112486167A (en) * | 2020-11-09 | 2021-03-12 | 北京爱笔科技有限公司 | Autonomous obstacle avoidance robot, anti-toppling mobile platform and anti-toppling control method |
| CN112486167B (en) * | 2020-11-09 | 2024-05-31 | 北京爱笔科技有限公司 | Autonomous obstacle avoidance robot, anti-toppling mobile platform and anti-toppling control method |
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Application publication date: 20161214 |