CN106292741A - A kind of mobile machine user tripod head system based on brushless electric machine - Google Patents
A kind of mobile machine user tripod head system based on brushless electric machine Download PDFInfo
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- CN106292741A CN106292741A CN201610853168.6A CN201610853168A CN106292741A CN 106292741 A CN106292741 A CN 106292741A CN 201610853168 A CN201610853168 A CN 201610853168A CN 106292741 A CN106292741 A CN 106292741A
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- brushless electric
- electric machine
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- yaw
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of mobile machine user tripod head system based on brushless electric machine, including micro controller module, inertial attitude sensor assembly, Drive Module and brushless electric machine module, inertial attitude sensor assembly, micro controller module, Drive Module, brushless electric machine module sequentially communicate to connect.The present invention is the clouds terrace system of three axle degree of freedom, carries out attitude regulation by three axle brushless electric machines, it is ensured that vision sensor of robot relative inertness space all-the-time stable.The present invention has higher real-time and positioning precision, uses the mode personalized simultaneously, by the head that three axle clouds terrace system simulations are people, then determines angular range, more conforms to the application demand of mobile robot.
Description
Technical field
The invention belongs to mobile robot technology field, be specifically related to a kind of mobile machine user tripod head based on brushless electric machine
The design of system.
Background technology
Along with social development and scientific and technological progress, mobile robot has obtained the most widely should in current productive life
With.A usual mobile robot is made up of the equipment carried on mobile platform and platform.Navigation and location are mobile robots
Two major issues of research, the autonomic movement of mobile robot to depend on its various sensors carried.And The Cloud Terrace is general
Referring to install, fix the support equipment of vision sensor, it mainly has both sides effect, and one can (actively) isolation external world
Disturbance, it is ensured that vision sensor relative inertness space all-the-time stable；Two is the rotation of (passively) fast-response control device to refer to
Order.Mobile platform is interfered the most unavoidably, it is impossible to held stationary, moreover carrier itself also results in disturbance, if The Cloud Terrace
System can overcome these to disturb, and accurately adjusts and keeps its attitude steady, then the vision sensor on The Cloud Terrace just can be real
Now monitoring and the tracking to target.So the mobile target recognition of robot, image acquisition, motor control and tracking are had by The Cloud Terrace
Vital impact, thus extensively apply in military and civilian field.
Two the most common axle The Cloud Terraces, trunnion axis and vertical axis are by different motor-driven, so rotating
Speed is divided into horizontal velocity and vertical speed.Its horizontal maximum speed up to 40～50 °s/sec, vertical rotating speed up to 10～24 °/
Second, owing to its vertical rotating speed is relatively slow, therefore poor to the regulation real-time of vision sensor of robot.On the other hand, existing
Two axle The Cloud Terraces are for eliminating shooting dead angle, and it horizontally rotates angle and vertical rotation angle all can reach 360 °, thus ensures shooting
Head has the broader visual field, it is contemplated that The Cloud Terrace is applied to mobile robot, and mobile robot regional location below is not
In image pickup scope, the degree that is therefore applied to existing two axle The Cloud Terraces during mobile robot not only to personalize is relatively low, and also pole has
It is likely to be due to forward to affect the regulation real-time to vision sensor of robot outside mobile robot image pickup scope.
Summary of the invention
The invention aims to solve two axle The Cloud Terraces common on market are applied to mobile machine by prior art
During people, the regulation real-time to vision sensor of robot is poor, and the problem personalized not, it is proposed that a kind of based on brushless
The mobile robot three axle clouds terrace system of motor.
The technical scheme is that a kind of mobile machine user tripod head system based on brushless electric machine, including microcontroller
Module, inertial attitude sensor assembly, Drive Module and brushless electric machine module, inertial attitude sensor assembly, microcontroller
Device module, Drive Module, brushless electric machine module sequentially communicate to connect；Inertial attitude sensor assembly is used in real time The Cloud Terrace system
System carries out attitude algorithm and calculation result is sent to micro controller module, and micro controller module is for sensing according to inertial attitude
The calculation result of device module is to the control signal of Drive Module output correspondence, and Drive Module is for defeated according to controller module
The signal that drives gone out carries out double-closed-loop control to position and the speed of brushless electric machine module, and brushless electric machine module is for The Cloud Terrace system
System carries out attitude regulation, it is ensured that vision sensor of robot relative inertness space all-the-time stable.
Preferably, inertial attitude sensor assembly includes that three-axis gyroscope and three axis accelerometer, three axles are respectively as follows:
Yaw axle, i.e. yaw axis；
Pitch axle, i.e. pitch axis；
Roll axle, i.e. roll axle；
Three-axis gyroscope and three axis accelerometer are with the use of, detection clouds terrace system rotating speed on each axle and angle in real time
Degree.
Preferably, inertial attitude sensor assembly also includes Yaw axle angular transducer, is used for revising clouds terrace system at Yaw
Angular error on axle.
Preferably, brushless electric machine module includes Yaw brushless electric machine, Pitch brushless electric machine and Roll brushless electric machine；Yaw
Brushless electric machine controls clouds terrace system and makees horizontal yaw motion, and range of movement is more than-90 °～90 °, and maximal rate is more than 60 °/s；
Pitch brushless electric machine controls clouds terrace system and nods up and down motion, and range of movement is more than-60 °～60 °, and maximal rate is more than
40°/s；Roll brushless electric machine controls clouds terrace system and makees hunt motion, and range of movement is more than-20 °～20 °, and maximal rate is big
In 30 °/s.
Preferably, micro controller module exports control signal by SPWM technology to Drive Module.
The invention has the beneficial effects as follows:
(1) in the present invention, the maximum (top) speed of three axle brushless electric machines is all higher than 30 °/s, and the maximum (top) speed of Yaw brushless electric machine is more
It is greater than 60 °/s, it is possible in time the attitude of clouds terrace system and vision sensor of robot is effectively regulated, have higher
Real-time.
(2) present invention uses the mode personalized, and by the head that three axle clouds terrace system simulations are people, then determines angle model
Enclose, more conform to the application demand of mobile robot.
(3) present invention positioning precision on each axle is respectively less than ± 1.0 °, and positioning precision is high, it is possible to adjust machine more accurately
The attitude of device people's vision sensor so that it is held stationary.
Accompanying drawing explanation
A kind of based on brushless electric machine the mobile machine user tripod head system architecture diagram that Fig. 1 provides for the present invention.
Fig. 2 is Yaw, Pitch, Roll tri-direction of principal axis schematic diagram of the embodiment of the present invention.
Fig. 3 is the SPWM equivalent schematic diagram of the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawings embodiments of the invention are further described.
The invention provides a kind of mobile machine user tripod head system based on brushless electric machine, as it is shown in figure 1, include microcontroller
Device module, inertial attitude sensor assembly, Drive Module and brushless electric machine module, inertial attitude sensor assembly, micro-control
Device module processed, Drive Module, brushless electric machine module sequentially communicate to connect.
Wherein, inertial attitude sensor assembly includes three-axis gyroscope and three axis accelerometer.Three axles in the present invention divide
It is not: Yaw (driftage) axle, Pitch (pitching) axle and Roll (roll) axle, each direction of principal axis is as shown in Figure 2.
Say survey on three axis accelerometer stricti jurise is not acceleration, but its inertia force of being subject to.Accelerometer is real
It is the miniature deformation caused with MEMS technology detection inertia force on border, so when accelerometer horizontal stationary is placed on desk
Time, although now it not motion produce acceleration, but its Z axis output is the acceleration of 1g, because its Z-direction
It is pulled downward by gravity out a deformation.Static or uniform motion (linear uniform motion) when, accelerometer is only surveyed
Amount is acceleration of gravity, and acceleration of gravity and absolute coordinate system are connected, by this connected relation, can be added
Angular relationship between velometer place plane and ground level, namely roll angle and luffing angle.
Three-axis gyroscope is for measuring clouds terrace system angular velocity on each axle, but if it is intended to obtain angle, needs
By angular velocity to time integral, so determining that gyroscope records the maximum factor of angle order of accuarcy is integral error.Integration
Error mainly has two sources: one is the time of integration, and the time of integration, Dt was the least, and output angle is the most accurate；Another is device basis
The error of body, the accumulation of error also limit gyroscope only has the biggest reference value at short notice.Gyroscope measuring basis is
Chip self, the not absolute object of reference outside system, gravity axis is a perfect object of reference, it is therefore desirable to gyroscope and acceleration
Degree meter with the use of.
Considering, accelerometer is easily sensor by external disturbance, but measured value is the most relative
Less；Gyroscope can obtain angular relationship with integration, and dynamic property is good, little by external disturbance, but measured value changes over ratio
Bigger.So the present invention uses three axis accelerometer and three-axis gyroscope to have complementary advantages, combine and reach more preferable angle
Degree measurement effect.
Additionally, due to YAW axle is more special, because yaw angle normal direction is just parallel with terrestrial gravitation, this direction
Angle directly cannot be recorded by accelerometer, can be simple record yaw angle by angular velocity integration, but a disadvantage is that
Owing to integral element existing integrator drift, yaw angle As time goes on can deviation increasing.Therefore, inertial attitude passes
Sensor module also includes Yaw axle angular transducer, for revising clouds terrace system angular error on Yaw axle.The present invention implements
In example, Yaw axle angular transducer uses D type hole paster SV01A rotational potentiometer or contactless Hall magnetic coder
MLX90316。
Brushless electric machine module includes Yaw brushless electric machine, Pitch brushless electric machine and Roll brushless electric machine.Yaw brushless electric machine
Controlling clouds terrace system and make horizontal yaw motion, range of movement is more than-90 °～90 °, and maximal rate is more than 60 °/s；Pitch is brushless
Motor controls clouds terrace system and nods up and down motion, and range of movement is more than-60 °～60 °, and maximal rate is more than 40 °/s；Roll without
Brush motor controls clouds terrace system and makees hunt motion, and range of movement is more than-20 °～20 °, and maximal rate is more than 30 °/s.Due to
The reason of load-carrying, Pitch brushless electric machine and the Roll brushless electric machine moment of torsion when starting and run holding is more than Yaw brushless electric machine
Moment of torsion, when adding actual shooting, requirement to Yaw axle rotating speed is higher than other two axles, the most in general The Cloud Terrace
Yaw axle rotating speed is the highest.Yaw brushless electric machine, Pitch brushless electric machine and Roll brushless electric machine in the embodiment of the present invention all use
Disc type DC brushless motor GM6008H.
Operation principle and the process of the present invention are as follows:
Inertial attitude sensor assembly carries out attitude algorithm in real time and calculation result is sent to microcontroller clouds terrace system
Device module, micro controller module exports corresponding control according to the calculation result of inertial attitude sensor assembly to Drive Module
Signal.In the embodiment of the present invention, micro controller module exports control signal by SPWM technology to Drive Module.
SPWM (Sinusoidal Pulse Width Modulation, sinusoidal pulse width modulation) technology uses isoceles triangle
Ripple is as carrier wave, and the sine wave identical with expectation phase voltage frequency is as modulating wave.By the intersection point of modulating wave Yu carrier wave, permissible
Determine the turn-on and turn-off moment of inverter power switch tube such that it is able to obtain that amplitude is equal, width is according to sinusoidal wave rule
The pulse train of change.DC equivalency transform is become AC by the most basic purpose exactly, the principle of equivalence be in the by stages such as each just
The area of string ripple and the area equation of square wave, as shown in Figure 3.
Position and the speed of brushless electric machine module are carried out by the signal that drives that Drive Module exports according to controller module
Two-loop system, its control process belongs to general knowledge known in this field, does not repeats them here.Brushless electric machine module is to The Cloud Terrace system
System carries out attitude regulation, it is ensured that vision sensor of robot relative inertness space all-the-time stable.
Present invention encompasses tri-rotational freedoms of Yaw, Roll, Pitch, there is the biggest typicality.Mobile machine
The photographic head of people is arranged on Pitch armshaft, in robot kinematics, owing to the present invention includes oneself of three orientation rotations
By spending, it is thus possible to ensure the isolation of vision sensor and robot motion.Meanwhile, present invention positioning precision on each axle is the least
In ± 1.0 °, positioning precision is high, it is possible to adjust the attitude of vision sensor of robot more accurately so that it is held stationary.
Those of ordinary skill in the art it will be appreciated that embodiment described here be to aid in reader understanding this
Bright principle, it should be understood that protection scope of the present invention is not limited to such special statement and embodiment.This area
It is each that those of ordinary skill can make various other without departing from essence of the present invention according to these technology disclosed by the invention enlightenment
Planting concrete deformation and combination, these deform and combine the most within the scope of the present invention.
Claims (5)
1. a mobile machine user tripod head system based on brushless electric machine, it is characterised in that include micro controller module, inertia appearance
State sensor assembly, Drive Module and brushless electric machine module；Described inertial attitude sensor assembly, micro controller module,
Drive Module, brushless electric machine module sequentially communicate to connect；Described inertial attitude sensor assembly is used in real time clouds terrace system
Carry out attitude algorithm and calculation result is sent to micro controller module；Described micro controller module is for passing according to inertial attitude
The calculation result of sensor module is to the control signal of Drive Module output correspondence；Described Drive Module is for according to controller
The signal that drives of module output carries out double-closed-loop control to position and the speed of brushless electric machine module；Described brushless electric machine module is used
In clouds terrace system is carried out attitude regulation, it is ensured that vision sensor of robot relative inertness space all-the-time stable.
Mobile machine user tripod head system based on brushless electric machine the most according to claim 1, it is characterised in that described inertia
Attitude transducer module includes three-axis gyroscope and three axis accelerometer；Described three axles are respectively as follows:
Yaw axle, i.e. yaw axis；
Pitch axle, i.e. pitch axis；
Roll axle, i.e. roll axle；
Described three-axis gyroscope and three axis accelerometer are with the use of, detection clouds terrace system rotating speed on each axle and angle in real time
Degree.
Mobile machine user tripod head system based on brushless electric machine the most according to claim 2, it is characterised in that described inertia
Attitude transducer module also includes Yaw axle angular transducer, for revising clouds terrace system angular error on Yaw axle.
Mobile machine user tripod head system based on brushless electric machine the most according to claim 2, it is characterised in that described brushless
Motor module includes Yaw brushless electric machine, Pitch brushless electric machine and Roll brushless electric machine；Described Yaw brushless electric machine controls The Cloud Terrace
System makees horizontal yaw motion, and range of movement is more than-90 °～90 °, and maximal rate is more than 60 °/s；Described Pitch brushless electric machine
Controlling clouds terrace system to nod up and down motion, range of movement is more than-60 °～60 °, and maximal rate is more than 40 °/s；Described Roll without
Brush motor controls clouds terrace system and makees hunt motion, and range of movement is more than-20 °～20 °, and maximal rate is more than 30 °/s.
Mobile machine user tripod head system based on brushless electric machine the most according to claim 1, it is characterised in that described micro-control
Device module processed exports control signal by SPWM technology to Drive Module.
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| CN201610853168.6A CN106292741A (en) | 2016-09-27 | 2016-09-27 | A kind of mobile machine user tripod head system based on brushless electric machine |
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| CN201610853168.6A CN106292741A (en) | 2016-09-27 | 2016-09-27 | A kind of mobile machine user tripod head system based on brushless electric machine |
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| CN106873641A (en) * | 2017-03-20 | 2017-06-20 | 普宙飞行器科技（深圳）有限公司 | The miniature head of three axles and its control method |
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| CN107203223A (en) * | 2017-06-16 | 2017-09-26 | 中国科学院长春光学精密机械与物理研究所 | Driving control system and the stable head with the control system |
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| CN109621260B (en) * | 2018-11-27 | 2021-03-30 | 北京建筑大学 | Control system of fire extinguishing vehicle |
| CN109621260A (en) * | 2018-11-27 | 2019-04-16 | 北京建筑大学 | A kind of control system of extinguishing vehicle |
| CN113227931A (en) * | 2020-07-28 | 2021-08-06 | 深圳市大疆创新科技有限公司 | Holder control method, device, equipment and computer readable storage medium |
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Application publication date: 20170104 |