CN105759823A - Track-information-based control system and method for two-wheel self-balancing dolly - Google Patents
Track-information-based control system and method for two-wheel self-balancing dolly Download PDFInfo
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- CN105759823A CN105759823A CN201610269942.9A CN201610269942A CN105759823A CN 105759823 A CN105759823 A CN 105759823A CN 201610269942 A CN201610269942 A CN 201610269942A CN 105759823 A CN105759823 A CN 105759823A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Abstract
The invention discloses a track-information-based control system and method for a two-wheel self-balancing dolly. With a self-balancing control method using a gyroscope and an acceleration sensor to form a dolly, a problem of the large vibration interference and large drift error of the existing self-balancing dolly sensor can be solved and the precision and real-time performance of the attitude inclination angle measurement are improved. Meanwhile, a camera is used for carrying out track information capturing and thus a control module can receive an accurate and complete road image signal to control the balance and speed of the two-wheel self-balancing dolly at a curve or a narrow path conveniently, so that the stability of the two-wheel self-balancing dolly as well as the system robustness are improved. With a motor drive chip, a peripheral circuit is simplified; the MCU control circuit can control the motor well and the real-time performance of the motor control is enhanced.
Description
Technical field
The present invention relates to auto-control Design technical field, be specifically related to a kind of double-wheel self-balancing trolley control system based on orbit information and method.
Background technology
The similar reversible pendulum system of double-wheel self-balancing cart system is non-linear strong coupling and multiple variable and naturally unstable system as controll plant, will enable two-wheeled dolly self-balancing, it is necessary to assure the center of gravity of system is on two wheel axis.In two-wheeled dolly self-balancing control process, the accuracy of dolly attitude measurement of dip angle and real-time determine control accuracy and the stability of dolly.At present the detection at attitude inclination angle there are following two kinds of methods.
One is to adopt gyroscope to measure inclination angle.What gyroscope was measured is that the rotary motion Output speed signal rotation more big angular velocity data of its output valve more fast take integration and can obtain car body inclination value.Gyroscope is subject to vibrations temperature and destabilizing moment etc. to be affected when producing drift error counting of carriers attitude inclination angle owing to its measurement error of integral action can be increasing.
Another is to adopt accelerometer measures inclination angle.Accelerometer measures is that the linear movement output more fast output valve of acceleration signal velocity variations can obtain the angle of accelerometer and gravity direction by triangular transformation more greatly.But accelerometer does not have cumulative errors accelerometer to be subject to vibrations interference.
After obtaining dolly inclination angle, will controlling dolly and travel in orbit, conventional has two kinds of methods.One is to adopt infrared sensor, at Vehicular body front equipped with three, left, center, right infrared sensor, can regulate detecting distance easily by the power of sensors towards ambient light line adaptive capacity.This infrared sensor has infrared emission and receives pipe, and transmitting tube launches the infrared ray of certain frequency, receives pipe and receives the infrared ray reflected, and processor judges, by detecting the situation of change receiving pipe end resistance, the track that dolly travels.Infrared sensor obtains the information such as orbit information inaccuracy, the size of such as camber, the width of track, thus the velocity variations that dolly travels in orbit can not be controlled.
Another is to adopt electromagnetic mode to track.To the copper cash indirect current being laid on orbit centre, making generation alternating magnetic field in track, dolly is travelled on track by this magnetic field that tracks.Although this tracks, mode is simple, but it is many to there is required external equipment, it is impossible to well control the problems such as dolly turning.
Summary of the invention
It is an object of the invention to overcome above-mentioned technical deficiency, propose a kind of double-wheel self-balancing dolly that can better control in bend, the balance at arrow path place and speed, improve the double-wheel self-balancing trolley control system based on orbit information and the method for the stability of double-wheel self-balancing dolly.
For reaching above-mentioned technical purpose, technical scheme provides a kind of double-wheel self-balancing trolley control system based on orbit information, and it includes,
For gathering the inclination angle acquisition module of balancing trolley attitude obliquity information；
For gathering the image capture module of road video information；
For gathering the speed acquisition module of two wheel speed information of self-balancing trolley；
For controlling the rate control module of two wheel velocities of self-balancing trolley；
And one control module, the input of described control module respectively with described inclination angle acquisition module, image capture module, speed acquisition module outfan be connected, the outfan of described control module is connected with the input of described rate control module.
Preferably, described image capture module is connected with the input controlling module each through an A/D modular converter with the outfan of inclination angle acquisition module.
Preferably, the outfan of described speed acquisition module is connected with the input controlling module by a waveform-shaping module.
Preferably, described inclination angle acquisition module includes the gyroscope and the acceleration transducer that are arranged on car body, and the data fusion unit being simultaneously connected with the collection outfan of described gyroscope and acceleration transducer, and the data amplifying unit being connected with the data output end of described data analysis unit, described data fusion unit is for carrying out Kalman filtering and Data Fusion to the inclination data of gyroscope and acceleration transducer collection.
Preferably, described speed acquisition module includes the coding disk being fixedly mounted on motor shaft, and relative coding dish is fixedly mounted on car body side, rotates the photoelectric sensor of the number of turns for capturing and coding dish.
Preferably, described rate control module includes motor drive ic and independently controls the left and right execution drive motor of driving of described self-balancing trolley two-wheeled, and described left and right execution drive motor is electrically connected with motor drive ic respectively.
Preferably, described image capture module includes the CCD camera for gathering road video information, and is connected, is used for gathering the video signal extraction unit of the picture signal in video information with CCD camera output end of image.
Preferably, described control module includes
Information receiving unit, is used for receiving attitude obliquity information, road video information and wheel speed information；
Pretreatment unit, for being sequentially carried out filtering, binaryzation and Satellite Orbit Smoothing operation, it is thus achieved that obtain accurate orbit information to road video information；
Data analysis unit, for judging after being combined with attitude obliquity information, wheel speed information by the orbit information of acquisition, obtains track camber and narrow degree information；
Perform control unit, for exporting the PWM ripple of corresponding dutycycle according to track camber and narrow degree information to rate control module.
A kind of double-wheel self-balancing dolly control method based on orbit information, the described double-wheel self-balancing dolly control method based on orbit information comprises the following steps:
S1, Real-time Collection balancing trolley attitude obliquity information and speed information, and gather the video information of road ahead, from video information, extract picture signal；
S2, picture signal is converted into two dimensional image array, and image array is carried out Image semantic classification, it is thus achieved that accurate orbit information；
S3, attitude obliquity information, speed information and orbit information are carried out Kalman filtering and data fusion, obtain track camber and narrow degree information；
S4, export the PWM ripple of corresponding dutycycle according to track camber and narrow degree, the speed of car wheel is adjusted in real time.
Double-wheel self-balancing trolley control system based on orbit information of the present invention and method, it by forming the self-balancing control method of dolly in conjunction with gyroscope and acceleration transducer, there is the problem of significant shock interference and drift error in the fabulous sensor in existing self-balancing trolley that solves, and improves accuracy and the real-time of attitude measurement of dip angle.Simultaneously, by adopting photographic head to carry out orbit information seizure, control module is made to be able to receive that accurate, complete road image signal, it is easy to better control double-wheel self-balancing dolly in bend, the balance at arrow path place and speed, improve the stability of double-wheel self-balancing dolly, enhance the robustness of system；And employing motor drive ic, simplify peripheral circuit, be conducive to the MCU control circuit control to motor, improve the real-time that motor controls.
Accompanying drawing explanation
The module that Fig. 1 is the double-wheel self-balancing trolley control system based on orbit information of the present invention controls schematic diagram；
The module that Fig. 2 is the double-wheel self-balancing trolley control system based on orbit information of the present invention controls refinement schematic diagram；
Fig. 3 is the FB(flow block) of the double-wheel self-balancing dolly control method based on orbit information of the present invention.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention.
The embodiment provides a kind of double-wheel self-balancing trolley control system based on orbit information, as it is shown in figure 1, it includes, for gathering the inclination angle acquisition module 10 of balancing trolley attitude obliquity information；For gathering the image capture module 20 of road video information；For gathering the speed acquisition module 30 of two wheel speed information of self-balancing trolley；For controlling the rate control module 40 of two wheel velocities of self-balancing trolley；And one control module 50, the input of described control module 50 respectively with described inclination angle acquisition module 10, image capture module 20, speed acquisition module 30 outfan be connected, the outfan of described control module 50 is connected with the input of described rate control module 40.
Preferably, controller circuitry 1 adopts 16 super low power consuming single chip processors, American TI Company 430 series monolithic F5529, described control module 50 for obtaining the scheme of carrying out ahead of schedule of dolly according to attitude obliquity information, road video information and wheel speed information analysis, Negotiation speed control module 40 control two wheel velocities of self-balancing trolley perform described in carry out ahead of schedule scheme.
Wherein, described image capture module 20 is connected with the input controlling module 50 each through an A/D modular converter 60 with the outfan of inclination angle acquisition module 10；The outfan of described speed acquisition module 30 is connected with the input controlling module 50 by a waveform-shaping module 70.
As shown in Figure 2, described inclination angle acquisition module 10 includes the gyroscope 11 and the acceleration transducer 12 that are arranged on car body, and the data fusion unit 13 being simultaneously connected with the collection outfan of described gyroscope 11 and acceleration transducer 12, and the data amplifying unit 14 being connected with the data output end of described data analysis unit, described data fusion unit 13 carries out Kalman filtering and Data Fusion for the inclination data that gyroscope 11 and acceleration transducer 12 are gathered.
Concrete, described inclination angle acquisition module 10 is by the gyroscope 11 that model is ENC-03 and acceleration transducer test pose obliquity information that model is 12MMA7361, described attitude obliquity information carries out Kalman filtering and Data Fusion through data fusion unit 13, and adopts instrument amplification chip INA331 to give A/D modular converter 60 after amplifying.
By forming the self-balancing control method of dolly in conjunction with gyroscope 11 and acceleration transducer 12, there is the problem of significant shock interference and drift error in the fabulous sensor in existing self-balancing trolley that solves, and improves accuracy and the real-time of attitude measurement of dip angle.
Described rate control module 40 includes motor drive ic 41 and independently controls the left and right execution drive motor 42,43 of driving of described self-balancing trolley two-wheeled, described left and right execution drive motor 42,43 is controlled by motor drive ic 41, preferably, described motor drive ic 41 is motor drive ic MC33886, described motor drive ic MC33886 is responsible for receiving the pwm signal from controlling module 50, controls the operating of left and right execution drive motor 42,43 respectively according to pwm signal.
Described speed acquisition module 30 includes the coding disk 31 being fixedly mounted on the motor shaft of left and right execution drive motor 42,43, and relative coding dish 31 is fixedly mounted on car body side, rotates the photoelectric sensor 32 of the number of turns for capturing and coding dish 31；Can produce impulse waveform when coding disk 31 turns over photoelectric sensor 32, described impulse waveform is transferred to control module 50 after the square-wave signal that waveform-shaping module 70 shaping changes into standard；Preferably, described waveform-shaping module 70 is made up of comparator LM393.
Described image capture module 20 includes the CCD camera 21 for gathering road video information, and is connected, is used for gathering the video signal extraction unit 22 of the picture signal in video information with CCD camera 21 output end of image.
The video information that described CCD camera 21 gathers contains picture signal, blanking signal and synchronizing signal, for the picture signal of acquisition camera effectively, it is necessary to video information is easily separated.
Described video signal extraction unit 22 is preferably LM1881 video synchronization signal separating chips, described LM1881 video synchronization signal separating chips can separate trip picture signal, blanking signal and synchronizing signal from video information, when image video signal arrives, the respective pins of described LM1881 video synchronization signal separating chips there will be the change of level, namely if picture signal, then pin can produce high level, if blanking signal, then level is lower than the level of picture signal, if synchronizing signal, then pin can produce low level.Therefore, described image capture module 20 gathers high level signal and is sent to control module 50, isolates by picture signal, and passes to control module 50 after AD conversion module quantifies.
By adopting photographic head to carry out orbit information seizure, control module 50 is made to be able to receive that accurate, complete road image signal, it is easy to better control double-wheel self-balancing dolly in bend, the balance at arrow path place and speed, improve the stability of double-wheel self-balancing dolly, enhance the robustness of system.
Described control module 50 includes,
Information receiving unit 51, is used for receiving attitude obliquity information, road video information and wheel speed information；
Pretreatment unit 52, for being sequentially carried out filtering, binaryzation and Satellite Orbit Smoothing operation, it is thus achieved that obtain accurate orbit information to road video information；
Data analysis unit 53, for judging after being combined with attitude obliquity information, wheel speed information by the orbit information of acquisition, obtains track camber and narrow degree information；
Perform control unit 54, for exporting the PWM ripple of corresponding dutycycle according to track camber and narrow degree information to rate control module 40.
Concrete, after control module 50 receives high level, it is judged that picture signal arrives, picture signal is sent into AD conversion module and carries out quantifying to be formed two dimensional image array, and two dimensional image array is passed to control module 50.Described control module 50 obtain image video signal quantified after two dimensional image array, two dimensional image array is sequentially carried out filtering, binaryzation and Satellite Orbit Smoothing operation, it is thus achieved that accurate orbit information.Judge after the orbit information of acquisition is combined with attitude obliquity information, wheel speed information, obtain track camber and narrow degree information；Described control module 50 exports the PWM ripple of corresponding dutycycle according to track camber and narrow degree information to rate control module 40, controlled the rotating speed of left and right execution drive motor 42,43 by motor drive ic 41MC33886, reach purpose steady, quick control double-wheel self-balancing dolly traveling.
The described double-wheel self-balancing trolley control system based on orbit information also includes a power module 80, described power module 80 is connected with control module 50, inclination angle acquisition module 10, image capture module 20, speed acquisition module 30, rate control module 40, A/D modular converter 60 and waveform-shaping module 70 respectively, 12V power source change is 5V, 3.3V by DC/DC converter circuit by it is system power supply.
As it is shown on figure 3, the present invention also provides for a kind of double-wheel self-balancing dolly control method based on orbit information, the described double-wheel self-balancing dolly control method based on orbit information comprises the following steps:
S1, Real-time Collection balancing trolley attitude obliquity information and speed information, and gather the video information of road ahead, from video information, extract picture signal；
S2, picture signal is converted into two dimensional image array, and image array is carried out Image semantic classification, it is thus achieved that accurate orbit information；
S3, attitude obliquity information, speed information and orbit information are carried out Kalman filtering and data fusion, obtain track camber and narrow degree information；
S4, export the PWM ripple of corresponding dutycycle according to track camber and narrow degree, the speed of car wheel is adjusted in real time.
Double-wheel self-balancing trolley control system based on orbit information of the present invention and method, it by forming the self-balancing control method of dolly in conjunction with gyroscope 11 and acceleration transducer 12, there is the problem of significant shock interference and drift error in the fabulous sensor in existing self-balancing trolley that solves, and improves accuracy and the real-time of attitude measurement of dip angle.Simultaneously, by adopting photographic head to carry out orbit information seizure, control module 50 is made to be able to receive that accurate, complete road image signal, it is easy to better control double-wheel self-balancing dolly in bend, the balance at arrow path place and speed, improve the stability of double-wheel self-balancing dolly, enhance the robustness of system；And adopt motor drive ic 41, simplify peripheral circuit, be conducive to the MCU control circuit control to motor, improve the real-time that motor controls.
The detailed description of the invention of present invention described above, is not intended that limiting the scope of the present invention.Any technology according to the present invention is conceived made various other and is changed accordingly and deformation, should be included in the protection domain of the claims in the present invention.
Claims (9)
1. the double-wheel self-balancing trolley control system based on orbit information, it is characterised in that include,
For gathering the inclination angle acquisition module (10) of balancing trolley attitude obliquity information；
For gathering the image capture module (20) of road video information；
For gathering the speed acquisition module (30) of two wheel speed information of self-balancing trolley；
For controlling the rate control module (40) of two wheel velocities of self-balancing trolley；
And one control module (50), the input of described control module (50) respectively with described inclination angle acquisition module (10), image capture module (20), speed acquisition module (30) outfan be connected, the outfan of described control module (50) is connected with the input of described rate control module (40).
2. according to claim 1 based on the double-wheel self-balancing trolley control system of orbit information, it is characterized in that, described image capture module (20) is connected with the input controlling module (50) each through an A/D modular converter (60) with the outfan of inclination angle acquisition module (10).
3. according to claim 1 based on the double-wheel self-balancing trolley control system of orbit information, it is characterized in that, the outfan of described speed acquisition module (30) is connected with the input controlling module (50) by a waveform-shaping module (70).
4. according to claim 1 based on the double-wheel self-balancing trolley control system of orbit information, it is characterized in that, described inclination angle acquisition module (10) includes the gyroscope (11) and the acceleration transducer (12) that are arranged on car body, and the data fusion unit (13) being simultaneously connected with the collection outfan of described gyroscope (11) and acceleration transducer (12), and the data amplifying unit (14) being connected with the data output end of described data analysis unit, described data fusion unit (13) carries out Kalman filtering and Data Fusion for the inclination data that gyroscope (11) and acceleration transducer (12) are gathered.
5. according to claim 1 based on the double-wheel self-balancing trolley control system of orbit information, it is characterized in that, described rate control module (40) includes motor drive ic (41) and independently controls the left and right execution drive motor (42) of driving of described self-balancing trolley two-wheeled, (43), and described left and right execution drive motor (42), (43) are electrically connected with motor drive ic (41) respectively.
6. according to claim 5 based on the double-wheel self-balancing trolley control system of orbit information, it is characterized in that, described speed acquisition module (30) includes the coding disk (31) being fixedly mounted on the motor shaft of left and right execution drive motor (42), (43), and relative coding dish (31) is fixedly mounted on car body side, rotates the photoelectric sensor (32) of the number of turns for capturing and coding dish (31).
7. according to claim 1 based on the double-wheel self-balancing trolley control system of orbit information, it is characterized in that, described image capture module (20) includes the CCD camera (21) for gathering road video information, and is connected, is used for gathering the video signal extraction unit (22) of the picture signal in video information with CCD camera (21) output end of image.
8. according to claim 1 based on the double-wheel self-balancing trolley control system of orbit information, it is characterised in that described control module (50) includes
Information receiving unit (51), is used for receiving attitude obliquity information, road video information and wheel speed information；
Pretreatment unit (52), for being sequentially carried out filtering, binaryzation and Satellite Orbit Smoothing operation, it is thus achieved that obtain accurate orbit information to road video information；
Data analysis unit (53), for judging after being combined with attitude obliquity information, wheel speed information by the orbit information of acquisition, obtains track camber and narrow degree information；
Perform control unit (54), for exporting the PWM ripple of corresponding dutycycle according to track camber and narrow degree information to rate control module (40).
9. the double-wheel self-balancing dolly control method based on orbit information, it is characterised in that the described double-wheel self-balancing dolly control method based on orbit information comprises the following steps:
S1, Real-time Collection balancing trolley attitude obliquity information and speed information, and gather the video information of road ahead, from video information, extract picture signal；
S2, picture signal is converted into two dimensional image array, and image array is carried out Image semantic classification, it is thus achieved that accurate orbit information；
S3, attitude obliquity information, speed information and orbit information are carried out Kalman filtering and data fusion, obtain track camber and narrow degree information；
S4, export the PWM ripple of corresponding dutycycle according to track camber and narrow degree, the speed of car wheel is adjusted in real time.
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Cited By (6)
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| CN107757795A (en) * | 2017-11-21 | 2018-03-06 | 南阳师范学院 | A kind of self-balancing trolley control system and method based on myRIO platforms |
| CN108425310A (en) * | 2018-04-20 | 2018-08-21 | 东莞理工学院 | A kind of spray robot, spraying method and spray equipment with teaching effect |
| CN108534666A (en) * | 2018-03-30 | 2018-09-14 | 苏州诺登德智能科技有限公司 | A kind of inclination detecting device based on dynamic induction |
| CN108693877A (en) * | 2018-04-08 | 2018-10-23 | 深圳职业技术学院 | A kind of intelligentized Two-wheeled standing Automatic Vehicle |
| CN110888441A (en) * | 2019-11-29 | 2020-03-17 | 广州乐比计算机有限公司 | Gyroscope-based wheelchair control system |
| CN108162802B (en) * | 2018-02-12 | 2024-04-05 | 廊坊中建机械有限公司 | Material transport vehicle, moving system and control method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107757795A (en) * | 2017-11-21 | 2018-03-06 | 南阳师范学院 | A kind of self-balancing trolley control system and method based on myRIO platforms |
| CN108162802B (en) * | 2018-02-12 | 2024-04-05 | 廊坊中建机械有限公司 | Material transport vehicle, moving system and control method |
| CN108534666A (en) * | 2018-03-30 | 2018-09-14 | 苏州诺登德智能科技有限公司 | A kind of inclination detecting device based on dynamic induction |
| CN108693877A (en) * | 2018-04-08 | 2018-10-23 | 深圳职业技术学院 | A kind of intelligentized Two-wheeled standing Automatic Vehicle |
| CN108425310A (en) * | 2018-04-20 | 2018-08-21 | 东莞理工学院 | A kind of spray robot, spraying method and spray equipment with teaching effect |
| CN110888441A (en) * | 2019-11-29 | 2020-03-17 | 广州乐比计算机有限公司 | Gyroscope-based wheelchair control system |
| CN110888441B (en) * | 2019-11-29 | 2023-04-07 | 广州乐比计算机有限公司 | Gyroscope-based wheelchair control system |
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Application publication date: 20160713 |