CN101100059A - Flexible double-wheel self-balancing robot attitude detecting method - Google Patents

Flexible double-wheel self-balancing robot attitude detecting method Download PDF

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CN101100059A
CN101100059A CNA2007101196230A CN200710119623A CN101100059A CN 101100059 A CN101100059 A CN 101100059A CN A2007101196230 A CNA2007101196230 A CN A2007101196230A CN 200710119623 A CN200710119623 A CN 200710119623A CN 101100059 A CN101100059 A CN 101100059A
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information
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CN100491083C (en
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阮晓钢
赵建伟
李欣源
于乃功
刘江
狄海江
孙亮
赵岗金
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Beijing University of Technology
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Beijing University of Technology
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Abstract

The method of detecting posture of flexible two-wheel self-balanced robot belongs to the field of robot controlling technology. The method includes acquiring the angle data and angular speed data of three clinometers and three gyroscopes mounted separately in the head, trunk and pedestal of flexible two-wheel self-balanced robot with one parallel acquisition module; processing the angle data and angular speed data in a information fusing device to obtain established mass center angle and established mass center angular speed. The method can obtain output values in high accuracy in the deviation to the measured value of 10<-2> order.

Description

The attitude detecting method of flexible double-wheel self-balancing robot
Technical field
The invention belongs to robot control field, particularly robot pose detects.
Background technology
Usually said flexible robot generally is meant flexible mechanical arm, and the flexible mechanical arm attitude detection is to ignore the influence of the strain of structure to the structure rigid motion mostly, its attitude detection is converted into rigidity measures.It is not real flexible robot.
Though also use the information fusion device to calculate attitude information in the flexible mechanical arm attitude detection, this information fusion device can not be effectively at real flexible robot.
Summary of the invention
The purpose of this invention is to provide a kind of attitude detecting method that is used for flexible double-wheel self-balancing robot, the barycenter that this method can effectively detect robot changes, and measured deviation is in tolerance interval.
Method of the present invention is provided with three groups of inclinators 1 and gyroscope 2 at robot head, trunk and base at first respectively, then the head angle information θ that three inclinators 1 are exported 1, trunk angle information θ 2, base angle information θ 3Head angular velocity information with 2 outputs of three gyroscopes The angle of body velocity information
Figure A20071011962300032
The base angular velocity information
Figure A20071011962300033
By the information fusion device 8 of parallel acquisition module 7 inputs, by information fusion device 8 output centroid estimation angles
Figure A20071011962300034
With centroid estimation angular speed
Figure A20071011962300035
Information; Described information fusion device 8 by multiplier with head angle information θ 1, trunk angle information θ 2, base angle information θ 3Respectively with weights K 1, K 2, K 3Multiply each other after the adder addition obtains the centroid estimation angle
Figure A20071011962300036
Then by multiplier with the head angular velocity information The angle of body velocity information
Figure A20071011962300038
The base angular velocity information
Figure A20071011962300039
Respectively with weights K 4, K 5, K 6Multiply each other after the adder addition obtains centroid estimation angular speed
Figure A200710119623000310
K wherein 1More than or equal to 0, smaller or equal to 2.0, K 2More than or equal to-490, smaller or equal to-110.0, K 3More than or equal to 179, smaller or equal to 718, K 4More than or equal to 0.2, smaller or equal to 1.9, K 5More than or equal to-12, smaller or equal to 0.8, K 6More than or equal to 31, smaller or equal to 112.
Algorithm Analysis obtains K according to particle filter (PF) 1, K 2, K 3, K 4, K 5, K 6Preferred value be 1.2 ,-170.1,276.411,1.3541 ,-3.456,81.1241 or 1 ,-231.11,326.3442,0.9843 ,-5.564,52.3631.
Believe and it will be appreciated by persons skilled in the art that information fusion device 8 can also can be an all-purpose computer, as PC by special hardware circuit realization.
The flexible double-wheel self-balancing robot barycenter that adopts device of the present invention to record changes the very for a short time 10-2 order of magnitude that reaches of its deviation.
Description of drawings
Accompanying drawing 1, inclinator and gyrostatic position view among the present invention;
Accompanying drawing 2, the logic module schematic diagram of apparatus of the present invention;
Accompanying drawing 3, the measured barycenter parameter change curve of device of the present invention during for start angle=0.12 radian;
Accompanying drawing 4, actual measurement barycenter parameter change curve during for start angle=0.12 radian;
Accompanying drawing 5, the measured barycenter parameter change curve of device of the present invention during for start angle=0.26 radian;
Accompanying drawing 6, actual measurement barycenter parameter change curve during for start angle=0.26 radian;
The specific embodiment
Ask for an interview Fig. 1, Fig. 2, the present invention at robot be flexible double-wheel self-balancing robot, place three pairs of inclinators 1 and gyroscope 2 respectively at head, trunk and base position, measure the angle and the angular velocity information of head, trunk and base respectively, measured value is respectively with (θ 1,
Figure A20071011962300041
θ 2, θ 3,
Figure A20071011962300043
) set and represent.
Information fusion device 8 is all-purpose computers, and parallel acquisition module 7 is mounted in the computer interface card on the information fusion device 8.
During measurement, the information fusion software on the log-on message fusion device 8 at first, the initializing computer internal memory, and with weights K 1, K 2, K 3, K 4, K 5, K 6Be set to initial value, initial value can select 1.2 ,-170.1,276.411,1.3541 ,-3.456,81.1241 or 1 ,-231.11,326.3442,0.9843 ,-5.564,52.3631.When robot moves, measured value (θ 1,
Figure A20071011962300044
θ 2, θ 3,
Figure A20071011962300046
) be input in the aforesaid calculator memory by the data acquisition interface card that connects on computers; Then by the information fusion software that moves on the computer with head angle information θ 1Take advantage of weights K 1, trunk angle information θ 2Take advantage of weights K 2, base angle information θ 3Take advantage of weights K 3, three product additions are obtained the centroid estimation angle Again by information fusion software with the head angular velocity information
Figure A20071011962300048
Take advantage of weights K 4, the angle of body velocity information Take advantage of weights K 5, the base angular velocity information
Figure A200710119623000410
Take advantage of weights K 6, three products are obtained centroid estimation angular speed
Figure A200710119623000411
At last with the resulting centroid estimation angle in front
Figure A200710119623000412
With centroid estimation angular speed
Figure A200710119623000413
Output.
Ask for an interview Fig. 3-6, as can be seen from the figure, the barycenter parameter change curve and the measured curve of the output of information fusion device are quite approaching, have reached the requirement of goal of the invention.

Claims (3)

1. the attitude detecting method of a flexible double-wheel self-balancing robot is characterized in that: at robot head, trunk and base three groups of inclinators (1) and gyroscope (2) are set at first respectively, then the head angle information (θ that three inclinators (1) are exported 1), trunk angle information (θ 2), base angle information (θ 3) and the head angular velocity information of three gyroscopes (2) output The angle of body velocity information
Figure A2007101196230002C2
The base angular velocity information
Figure A2007101196230002C3
By the information fusion device (8) of parallel acquisition module (7) input, by information fusion device (8) output centroid estimation angle
Figure A2007101196230002C4
With centroid estimation angular speed
Figure A2007101196230002C5
Information; Described information fusion device (8) by multiplier with head angle information (θ 1), trunk angle information (θ 2), base angle information (θ 3) respectively with weights K 1, K 2, K 3Multiply each other after the adder addition obtains the centroid estimation angle
Figure A2007101196230002C6
Then by multiplier with the head angular velocity information
Figure A2007101196230002C7
The angle of body velocity information
Figure A2007101196230002C8
The base angular velocity information
Figure A2007101196230002C9
Respectively with weights K 4, K 5, K 6Multiply each other after the adder addition obtains centroid estimation angular speed K wherein 1More than or equal to 0, smaller or equal to 2.0, K 2More than or equal to-490, smaller or equal to-110.0, K 3More than or equal to 179, smaller or equal to 718, K 4More than or equal to 0.2, smaller or equal to 1.9, K 5More than or equal to-12, smaller or equal to 0.8, K 6More than or equal to 31, smaller or equal to 112.
2. method according to claim 1 is characterized in that: K 1Be 1.2, K 2Be-170.1, K 3Be 276.411, K 4Be 1.3541, K 5Be-3.456, K 6Be 81.1241.
3. device according to claim 1 is characterized in that: K 1Be 1, K 2Be-231.11, K 3Be 326.3442, K 4Be 0.9843, K 5Be-5.564, K 6Be 52.3631.
CNB2007101196230A 2007-07-27 2007-07-27 Flexible double-wheel self-balancing robot posture detecting method Expired - Fee Related CN100491083C (en)

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WO2010130179A1 (en) * 2009-05-15 2010-11-18 北京工业大学 Flexible two-wheel self-balance robot system and motion control method thereof
CN102121828A (en) * 2010-12-21 2011-07-13 浙江大学 Method for estimating body posture angle of humanoid robot in real time
CN103019093A (en) * 2011-09-26 2013-04-03 东莞易步机器人有限公司 Obtaining method of fusion angle of sensor for two-wheeled vehicle
CN103076045A (en) * 2011-10-25 2013-05-01 上海新世纪机器人有限公司 Head posture sensing device and method
CN103170962A (en) * 2013-03-08 2013-06-26 北京工业大学 Desktop type double-wheel self-balancing robot
CN105116729A (en) * 2015-08-17 2015-12-02 杭州电子科技大学 A two-wheeled self-balance robot self-adaptive sliding mode changing structure control method and system
CN105945994A (en) * 2016-05-10 2016-09-21 华讯方舟科技有限公司 Calibrating method and device for robot head joint steering engine positions and robot
CN107186736A (en) * 2017-05-10 2017-09-22 华中科技大学 A kind of double-wheel self-balancing service robot of automatic swing arm
CN108436875A (en) * 2018-02-11 2018-08-24 坎德拉（深圳）科技创新有限公司 Robot
CN109693233A (en) * 2017-10-20 2019-04-30 深圳市优必选科技有限公司 Robot pose detection method, device, terminal device and computer storage medium
CN110614637A (en) * 2019-10-19 2019-12-27 上海麦艺文化艺术设计有限公司 Portrait action control method and system
CN112454376A (en) * 2020-10-28 2021-03-09 北京工业大学 Deployable coupling mechanism containing twenty-four rings
CN113478479A (en) * 2021-06-17 2021-10-08 北京工业大学 Acceleration selection method based on industrial robot quintic polynomial trajectory planning intermediate point
CN113715042A (en) * 2021-10-10 2021-11-30 北京工业大学 Spiral coiling type multi-section flexible robot
CN113894781A (en) * 2021-10-08 2022-01-07 北京工业大学 Robot bolt assembling and disassembling method based on geometric and torque parameter combined drive
CN117656101A (en) * 2024-02-01 2024-03-08 南京信息工程大学 STM 32-based self-balancing desktop robot system

Cited By (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101554726B (en) * 2009-05-15 2011-01-19 北京工业大学 Flexible two-wheel self-balance robot system and motion control method thereof
WO2010130179A1 (en) * 2009-05-15 2010-11-18 北京工业大学 Flexible two-wheel self-balance robot system and motion control method thereof
CN102121828A (en) * 2010-12-21 2011-07-13 浙江大学 Method for estimating body posture angle of humanoid robot in real time
CN102121828B (en) * 2010-12-21 2012-12-19 浙江大学 Method for estimating body posture angle of humanoid robot in real time
CN103019093A (en) * 2011-09-26 2013-04-03 东莞易步机器人有限公司 Obtaining method of fusion angle of sensor for two-wheeled vehicle
CN103019093B (en) * 2011-09-26 2015-10-07 东莞易步机器人有限公司 The preparation method of two-wheel vehicle used sensor fusion angle
CN103076045B (en) * 2011-10-25 2016-04-13 上海新世纪机器人有限公司 Head pose induction installation and method
CN103076045A (en) * 2011-10-25 2013-05-01 上海新世纪机器人有限公司 Head posture sensing device and method
CN103170962A (en) * 2013-03-08 2013-06-26 北京工业大学 Desktop type double-wheel self-balancing robot
CN105116729A (en) * 2015-08-17 2015-12-02 杭州电子科技大学 A two-wheeled self-balance robot self-adaptive sliding mode changing structure control method and system
CN105116729B (en) * 2015-08-17 2017-11-07 杭州电子科技大学 A kind of double-wheel self-balancing robot adaptive sliding mode variable structure control method
CN105945994A (en) * 2016-05-10 2016-09-21 华讯方舟科技有限公司 Calibrating method and device for robot head joint steering engine positions and robot
CN105945994B (en) * 2016-05-10 2021-05-25 华讯方舟科技有限公司 Method and device for calibrating position of steering engine of robot head joint and robot
CN107186736A (en) * 2017-05-10 2017-09-22 华中科技大学 A kind of double-wheel self-balancing service robot of automatic swing arm
CN107186736B (en) * 2017-05-10 2018-06-12 华中科技大学 A kind of double-wheel self-balancing service robot of automatic swing arm
CN109693233B (en) * 2017-10-20 2020-11-24 深圳市优必选科技有限公司 Robot posture detection method and device, terminal equipment and computer storage medium
CN109693233A (en) * 2017-10-20 2019-04-30 深圳市优必选科技有限公司 Robot pose detection method, device, terminal device and computer storage medium
US10821604B2 (en) 2017-10-20 2020-11-03 UBTECH Robotics Corp. Computer-implemented method for robot posture detection and robot
CN108436875A (en) * 2018-02-11 2018-08-24 坎德拉（深圳）科技创新有限公司 Robot
CN110614637A (en) * 2019-10-19 2019-12-27 上海麦艺文化艺术设计有限公司 Portrait action control method and system
CN112454376A (en) * 2020-10-28 2021-03-09 北京工业大学 Deployable coupling mechanism containing twenty-four rings
CN112454376B (en) * 2020-10-28 2023-08-01 北京工业大学 Deployable coupling mechanism containing twenty-four rings
CN113478479A (en) * 2021-06-17 2021-10-08 北京工业大学 Acceleration selection method based on industrial robot quintic polynomial trajectory planning intermediate point
CN113478479B (en) * 2021-06-17 2023-08-01 北京工业大学 Acceleration selection method based on five-time polynomial trajectory planning intermediate point of industrial robot
CN113894781A (en) * 2021-10-08 2022-01-07 北京工业大学 Robot bolt assembling and disassembling method based on geometric and torque parameter combined drive
CN113894781B (en) * 2021-10-08 2023-08-18 北京工业大学 Robot bolt assembling and disassembling method based on geometric and torque parameter combined driving
CN113715042A (en) * 2021-10-10 2021-11-30 北京工业大学 Spiral coiling type multi-section flexible robot
CN113715042B (en) * 2021-10-10 2023-07-21 北京工业大学 Spiral coiling type multi-section flexible robot
CN117656101A (en) * 2024-02-01 2024-03-08 南京信息工程大学 STM 32-based self-balancing desktop robot system

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