CN106904233B - A kind of two-wheel robot lifts detection method and device - Google Patents
A kind of two-wheel robot lifts detection method and device Download PDFInfo
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- CN106904233B CN106904233B CN201710307113.XA CN201710307113A CN106904233B CN 106904233 B CN106904233 B CN 106904233B CN 201710307113 A CN201710307113 A CN 201710307113A CN 106904233 B CN106904233 B CN 106904233B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
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Abstract
The invention discloses a kind of two-wheel robots to lift detection method and device, which comprises judges whether linear acceleration along the vertical direction is greater than setting linear acceleration value；If so, judging whether the revolving speed of two motors is all larger than setting motor speed value；If so, two motor stalls of control.Two-wheel robot of the invention lifts detection method and device, when linear acceleration along the vertical direction is all larger than setting motor speed value greater than the revolving speed of setting linear acceleration value and two motors, determine that robot is raised, then control two motor stalls, i.e. two wheels stop operating, waste of energy caused by high-speed rotation when avoiding wheel hanging, and then avoid being difficult to put back to ground as caused by wheel high-speed rotation, improve the adaptability and robustness of two-wheel robot；It is user-friendly convenient for robot to be put back on ground since wheel stops operating, it improves the user experience, improves the market competitiveness of robot.
Description
Technical field
The present invention relates to two-wheel robotic technology fields more particularly to a kind of two-wheel robot to lift detection method and dress
It sets.
Background technique
With the continuous development of robot technology, two-wheel robot relies on the advantages that structure is simple, activity is flexible to obtain state
The attention of inside and outside robot field.Double-wheel self-balancing robot has non-as a kind of special handstand pendulum-type wheeled robot
Completely, the features such as non-linear, drive lacking and unstability.
There is the operation for being often raised and putting down in small-sized amusement type two-wheel robot, and two-wheeled balance car keeps the original of balance
Reason is so that entire vehicle body is maintained at the state of dynamic equilibrium by rotation before and after two wheels, is led when the two-wheeled balance car is raised
When causing two-wheel hanging, broken this dynamic equilibrium, can take for continuing when robot is hanging keeping balance so
Two-wheel can quickly rotate, and the quick rotation when thinking that robot is put into ground again due to wheel is also difficult to put down, and be not easy to
It uses, influences the usage experience of user.
Summary of the invention
The present invention provides a kind of two-wheel robots to lift detection method, improves user experience.
It is achieved in order to solve the above technical problems, the present invention adopts the following technical solutions:
A kind of two-wheel robot lifts detection method, which comprises
Whether the linear acceleration of judgement along the vertical direction is greater than setting linear acceleration value；
If so, judging whether the revolving speed of two motors is all larger than setting motor speed value；
If so, two motor stalls of control.
Further, before whether the linear acceleration of the judgement along the vertical direction is greater than setting linear acceleration value, institute
State method further include:
Judge whether robot car body is in dynamic balance state；
If so, whether the linear acceleration of judgement along the vertical direction is greater than setting linear acceleration value.
Further, described to judge whether robot car body is in dynamic balance state, it specifically includes:
Judge whether the revolving speed of two wheels in the first set period of time is respectively less than setting vehicle wheel rotational speed value；
If so, determining that robot car body is in dynamic balance state.
Further, described to judge whether robot car body is in dynamic balance state, it specifically includes:
Judge whether the revolving speed of two motors in the first set period of time is respectively less than setting value；
If so, determining that robot car body is in dynamic balance state.
Further, after two motor stalls of the control, the method also includes:
Judge whether robot car body is laid down；
If so, two motor operatings of control are to keep car body dynamic equilibrium.
Preferably, described to judge that robot car body whether by under, specifically includes:
Judge car body inclination angle whether within the scope of set angle；
It is set if so, judging whether the variance of multiple angular speed around vertical axes rotation in the second set period of time is less than
Determine variance yields；
If so, determining that robot car body is laid down.
A kind of two-wheel robot lifts detection device, and described device includes: linear acceleration judgment module, for judge along erecting
Histogram to linear acceleration whether be greater than setting linear acceleration value；Motor speed judgment module, for judging turning for two motors
Whether speed is all larger than setting motor speed value；Control module accelerates for being greater than setting line in linear acceleration along the vertical direction
When the revolving speed of angle value and two motors is all larger than setting motor speed value, two motor stalls are controlled.
Further, described device further include: dynamic balance state judgment module, for judging whether robot car body is located
In dynamic balance state.
Further, described device further include: judgment module is put down, for judging whether robot car body is laid down；
The control module is also used to, and when determining that robot car body is laid down, controls two motor operatings to keep car body dynamic flat
Weighing apparatus.
Preferably, the judgment module that puts down includes: car body inclination angle judging unit, for judging whether car body inclination angle is setting
Determine in angular range；Angular speed variance judging unit, for judge in the second set period of time it is multiple around vertical axes rotation
Whether the variance of angular speed is less than setting variance yields.
Compared with prior art, the advantages and positive effects of the present invention are: two-wheel robot of the invention lifts detection side
Method and device, when the revolving speed that linear acceleration along the vertical direction is greater than setting linear acceleration value and two motors is all larger than setting
When motor speed value, determines that robot is raised, then control two motor stalls, is i.e. two wheels stop operating, avoid
Waste of energy caused by high-speed rotation when wheel hanging, and then avoid being difficult to put back to ground as caused by wheel high-speed rotation,
Improve the adaptability and robustness of two-wheel robot；Since wheel stops operating, convenient for robot to be put back on ground, just
It is used in user, improves the user experience, improve the market competitiveness of robot.
After a specific embodiment of the invention is read in conjunction with the figure, the other features and advantages of the invention will become more clear
Chu.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of two-wheel robot；
Fig. 2 is the flow chart of one embodiment that two-wheel robot proposed by the invention lifts detection method；
Fig. 3 is the flow chart of part steps in Fig. 2；
Fig. 4 is the structural block diagram of one embodiment that two-wheel robot proposed by the invention lifts detection device；
Fig. 5 is the structural block diagram that judgment module is put down in Fig. 4.
Specific embodiment
The two-wheel robot of the present embodiment lifts detection method and device, carries out lifting detection to robot, in deteminate machine
When device people are raised, two motor stalls are controlled, is placed on ground, is easy to use by users again convenient for robot,
It improves the user experience.
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below with reference to drawings and examples,
Invention is further described in detail.
In the present embodiment, robot coordinate system sets as shown in Figure 1, vertical direction is Z axis, and direction of travel is Y-axis,
The direction vertical with Z axis and X-axis is X-axis.Robot controls the operating of two motors by its internal controller, and then controls
The operating of two wheels is made, two motors and two wheels correspond.
The two-wheel robot of the present embodiment lifts detection method, specifically includes following step, described referring to fig. 2.
(such as 5ms) at regular intervals executes following step:
Step S11: judge whether linear acceleration along the vertical direction is greater than setting linear acceleration value.
The vertical direction of the present embodiment is the direction perpendicular to ground, i.e. vertical axes, Z axis.
The linear acceleration of car body along the vertical direction is obtained by accelerometer, first-order filtering is carried out, to guarantee the standard of data
True property, then judges whether linear acceleration is greater than setting linear acceleration value.
In the present embodiment, linear acceleration value is set as 9.64m/s2.
If linear acceleration is greater than setting linear acceleration value, preliminary judgement robot is raised, and thens follow the steps S12.
Step S12: judge whether the revolving speed of two motors is all larger than setting motor speed value.
Since two-wheel robot is by rotation before and after two wheels so that entire vehicle body is maintained at dynamic equilibrium shape
State has broken dynamic equilibrium when robot, which is raised, leads to two wheel hangings, and two wheels can quickly rotate, revolving speed meeting
Greater than high limit value (such as 50 πs/s) of the wheel in ground handling；Due to motor driven vehicle wheel rotation, the revolving speed and motor of wheel
Revolving speed correspond, which corresponds to the setting motor speed value of motor speed.
By judging whether motor speed is greater than setting motor speed value, to judge whether vehicle wheel rotational speed is greater than ground handling
When high limit value.Therefore, it when the revolving speed of two motors is all larger than setting motor speed value, determines that robot is raised, holds
Row step S13.
Step S13: two motor stalls of control.
After determining that robot is raised, two motor stalls are controlled, avoid waste electric energy.
The two-wheel robot of the present embodiment lifts detection method, accelerates when linear acceleration along the vertical direction is greater than setting line
When the revolving speed of angle value and two motors is all larger than setting motor speed value, determine that robot is raised, then controls two motors and stop
Rotation stop is dynamic, i.e., two wheels stop operating, waste of energy caused by high-speed rotation when avoiding wheel hanging, and then avoids due to vehicle
It is difficult to put back to ground caused by wheel high-speed rotation, improves the adaptability and robustness of two-wheel robot；Since wheel stops turning
It is dynamic, it is user-friendly convenient for robot to be put back on ground, it improves the user experience, the market for improving robot is competing
Strive power.
Normal operation when in the present embodiment, in order to avoid interference robot normal walking, when robot is in normal row
When walking, without lifting detection, i.e., step S11 is not executed；Only when robot car body is in dynamic balance state, just execute
Step S11.Therefore, before executing step S11, it is also necessary to judge whether robot car body is in dynamic balance state；If so,
Then follow the steps S11.
Since two-wheel robot is by rotation before and after two wheels so that vehicle body is maintained at dynamic balance state, vehicle at this time
The revolving speed of wheel be less than setting vehicle wheel rotational speed value (setting vehicle wheel rotational speed value, i.e., in ground normal walking vehicle wheel rotational speed the low limit
Value, such as 5 π/s)；I.e. in dynamic balance state, vehicle wheel rotational speed is less than setting vehicle wheel rotational speed value；When robot normal walking is (preceding
Into, retreat or turn round) when, the revolving speed of at least one wheel can be greater than setting vehicle wheel rotational speed value.It therefore, can be by judging two vehicles
Whether the revolving speed of wheel is respectively less than setting vehicle wheel rotational speed value, to judge whether car body is in dynamic balance state；When two wheels
When revolving speed is respectively less than setting vehicle wheel rotational speed value, determine that car body is in dynamic balance state.
In order to avoid erroneous judgement, judgment accuracy is improved, by the revolving speed for judging two wheels in the first set period of time
Whether setting vehicle wheel rotational speed value is respectively less than, to judge whether robot is in dynamic balance state；When in the first set period of time
When the revolving speed of interior two wheels is respectively less than setting vehicle wheel rotational speed value, determine that car body is in dynamic balance state.
In the present embodiment, the first set period of time is 50ms, not only avoided the time it is too short cause judgment accuracy low, but also keep away
Exempting from overlong time causes to judge that the time is longer.
Therefore, before executing step S11, it is also necessary to judge two wheels in the first set period of time revolving speed whether
Respectively less than set vehicle wheel rotational speed value；If it is not, illustrating that robot does not execute step S11 without lifting detection in normal walking；
If so, illustrating that vehicle body is maintained at dynamic balance state, carries out lifting detection, execute step S11.
In the present embodiment, 448 linear light photoelectric coders are connected on the motor output shaft of robot, it is defeated according to encoder
The reduction ratio of umber of pulse and motor out can measure the revolving speed of wheel.
Since the revolving speed of wheel and the revolving speed of motor correspond, the setting vehicle wheel rotational speed value of vehicle wheel rotational speed corresponds to motor
One setting value of revolving speed, therefore whether can also be respectively less than by judging the revolving speed of two motors in the first set period of time
The setting value, to judge whether car body is in dynamic balance state.When the revolving speed of two motors in the first set period of time is equal
When less than the setting value, determine that car body is in dynamic balance state.Since motor speed can be obtained directly by robot controller
, it is simpler than the acquisition of vehicle wheel rotational speed, therefore it is more simple and easy to judge whether car body is in equilibrium state in this way,
It shortens and judges the time.
When robot, which is in, is raised state, prepare to put back to ground to robot, when in state is lifted,
Want whether real-time detection robot is laid down, therefore after step s 13, the method also includes:
Step S14: judge whether robot car body is laid down.
Judge whether car body is laid down, can be judged by following step, it is shown in Figure 3.
Step S14-1: judge car body inclination angle whether within the scope of set angle.
Car body inclination angle, that is, car body turns forward or the angle of hypsokinesis, and the angle to lean forward is positive value, and the angle to retreat is negative value；
The angle that car body inclination angle namely car body are turned over around X-axis.In the present embodiment, the MPU6050 sensor of robot interior can be passed through
The quaternary number of output calculates the angle turned over around X-axis.
When robot is raised, the absolute value at car body inclination angle is larger, that is, has exceeded set angle range.When car body inclination angle
When within the scope of set angle, illustrate that the absolute value at car body inclination angle is smaller, preliminary judgement robot is laid down, and is thened follow the steps
S14-2。
In the present embodiment, set angle range is greater than -6 ° and less than 6 °.The angular range is selected, range is both avoided
It is excessive to cause robot not put down to be but judged to having put down, and avoid range is too small from causing robot to put down but to be determined as not
It puts down；Therefore, the angular range is selected, judgement accuracy is improved.
Therefore, when car body inclination angle is greater than -6 ° and less than 6 °, car body absolute value of inclination is smaller, preliminary judgement robot quilt
It puts down, executes step S14-2.
Step S14-2: judge whether the variance of multiple angular speed around vertical axes rotation in the second set period of time is small
In setting variance yields.
In the second set period of time, multiple angular speed turned about the Z axis are obtained by MPU6050 sensor, are then counted
It calculates variance, judges whether variance is less than and set variance yields (as set variance yields as 3).
In the present embodiment, the second set period of time is 3s.The every 25ms of MPU6050 sensor exports one and turns about the Z axis
Angular speed, 3s exports 120 angular speed altogether, calculates the variance of 120 angular speed.Judge the 120 angle speed obtained in 3s
Whether the variance of degree is less than setting variance yields.
Judge whether robot car body is laid down by judging whether variance is less than setting variance yields, avoids angular speed
Interference effect judgment accuracy present in data avoids judging by accident, improves judgment accuracy.
If the variance of multiple angular speed is less than setting variance yields, determine that robot car body is laid down, executes step S15.
Step S15: two motor operatings of control are to keep car body dynamic equilibrium.
When determining that car body is laid down, two motor operatings are controlled, two wheel operatings are driven, so that robot car body is protected
Dynamic equilibrium is held, the adaptability and robustness of two-wheel robot are improved.Therefore, dynamic can be kept flat when robot is put down
Weighing apparatus, avoids toppling over, will not influence subsequent normal operation, user-friendly, improves the user experience.
In the present embodiment, multiple around perpendicular within the scope of set angle and in the second set period of time when car body inclination angle
When the variance of the angular speed of d-axis rotation is less than setting variance yields, determining that car body is laid down, judgment accuracy is high, and False Rate is low,
The stability and reliability for improving robot, further improve the usage experience of user.
In the present embodiment, robot controller output pwm signal controls the operating of two motors, then controls two
The operating of wheel.
The two-wheel robot of the present embodiment lifts detection method, controls motor stalls when being raised when detecting, when
It detects when being laid down, controls two motors operatings to keep car body dynamic equilibrium, the robot is made to can be very good perception quilt
Lift and the movement put down and adjust automatically motor speed, improves the adaptability and robustness of two-wheel robot.
The present embodiment also proposed a kind of two-wheel robot and lift detection device, and the device mainly includes linear acceleration judgements
Module, motor speed judgment module, control module etc., it is shown in Figure 4.
Linear acceleration judgment module, for judging whether linear acceleration along the vertical direction is greater than setting linear acceleration value.
Motor speed judgment module, for judging whether the revolving speed of two motors is all larger than setting motor speed value.
Control module, for being greater than turn of setting linear acceleration value and two motors in linear acceleration along the vertical direction
When speed is all larger than setting motor speed value, two motor stalls are controlled.
Described device further includes dynamic balance state judgment module, puts down judgment module.
Dynamic balance state judgment module, for judging whether robot car body is in dynamic balance state.
Judgment module is put down, for judging whether robot car body is laid down.The judgment module that puts down includes that car body inclines
Angle judging unit, angular speed variance judging unit, it is shown in Figure 5；Car body inclination angle judging unit, for judging that car body inclination angle is
It is no within the scope of set angle；Angular speed variance judging unit, it is multiple around vertical axes in the second set period of time for judging
Whether the variance of the angular speed of rotation is less than setting variance yields.
The control module is also used to, and when determining that robot car body is laid down, controls two motor operatings to keep vehicle
Body dynamic equilibrium.
Specific two-wheel robot lifts the course of work of detection device, lifts detection side in above-mentioned two-wheel robot
It is described in detail in method, it will not go into details herein.
The two-wheel robot of the present embodiment lifts detection device, accelerates when linear acceleration along the vertical direction is greater than setting line
When the revolving speed of angle value and two motors is all larger than setting motor speed value, determine that robot is raised, then controls two motors and stop
Rotation stop is dynamic, i.e., two wheels stop operating, waste of energy caused by high-speed rotation when avoiding wheel hanging, and then avoids due to vehicle
It is difficult to put back to ground caused by wheel high-speed rotation, improves the adaptability and robustness of two-wheel robot；Since wheel stops turning
It is dynamic, it is user-friendly convenient for robot to be put back on ground, it improves the user experience, the market for improving robot is competing
Strive power.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than is limited；Although referring to aforementioned reality
Applying example, invention is explained in detail, for those of ordinary skill in the art, still can be to aforementioned implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these are modified or replace
It changes, the spirit and scope for claimed technical solution of the invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of two-wheel robot lifts detection method, it is characterised in that: the described method includes:
Whether the linear acceleration of judgement along the vertical direction is greater than setting linear acceleration value；
If so, judging whether the revolving speed of two motors is all larger than setting motor speed value；
If so, two motor stalls of control.
2. according to the method described in claim 1, it is characterized by: whether big in the linear acceleration of the judgement along the vertical direction
Before setting linear acceleration value, the method also includes:
Judge whether robot car body is in dynamic balance state；
If so, whether the linear acceleration of judgement along the vertical direction is greater than setting linear acceleration value.
3. according to the method described in claim 2, it is characterized by: described judge whether robot car body is in dynamic equilibrium shape
State specifically includes:
Judge whether the revolving speed of two wheels in the first set period of time is respectively less than setting vehicle wheel rotational speed value；
If so, determining that robot car body is in dynamic balance state.
4. according to the method described in claim 2, it is characterized by: described judge whether robot car body is in dynamic equilibrium shape
State specifically includes:
Judge whether the revolving speed of two motors in the first set period of time is respectively less than setting value；
Wherein, the corresponding setting vehicle wheel rotational speed value of setting value, sets vehicle wheel rotational speed value as the vehicle wheel rotational speed in ground normal walking
Low limiting value；Setting motor speed value corresponds to high limit value of the wheel in ground running；
If so, determining that robot car body is in dynamic balance state.
5. described according to the method described in claim 1, it is characterized by: after two motor stalls of the control
Method further include:
Judge whether robot car body is laid down；
If so, two motor operatings of control are to keep car body dynamic equilibrium.
6. according to the method described in claim 5, it is characterized by: described judge that robot car body whether by under, specifically includes:
Judge car body inclination angle whether within the scope of set angle；
If so, judging whether the variance of multiple angular speed around vertical axes rotation in the second set period of time is less than setting side
Difference；
If so, determining that robot car body is laid down.
7. a kind of two-wheel robot lifts detection device, be characterized in that: described device includes:
Linear acceleration judgment module, for judging whether linear acceleration along the vertical direction is greater than setting linear acceleration value；
Motor speed judgment module, for judging whether the revolving speed of two motors is all larger than setting motor speed value；
Control module, the revolving speed for being greater than setting linear acceleration value and two motors in linear acceleration along the vertical direction are equal
When greater than setting motor speed value, two motor stalls are controlled.
8. device according to claim 7, it is characterised in that: described device further include:
Dynamic balance state judgment module, for judging whether robot car body is in dynamic balance state.
9. device according to claim 7, it is characterised in that: described device further include:
Judgment module is put down, for judging whether robot car body is laid down；
The control module is also used to, and when determining that robot car body is laid down, controls two motor operatings to keep car body dynamic
State balance.
10. device according to claim 9, it is characterised in that: the judgment module that puts down includes:
Car body inclination angle judging unit, for judging car body inclination angle whether within the scope of set angle；
Angular speed variance judging unit, for judging the side of multiple angular speed around vertical axes rotation in the second set period of time
Whether difference is less than setting variance yields.
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| CN109484549A (en) * | 2018-12-27 | 2019-03-19 | 浙江阿尔郎科技有限公司 | Balance car is liftoff braking method and balance car |
| CN110281780B (en) * | 2019-05-09 | 2021-02-02 | 广州乐比计算机有限公司 | Balance car state detection method, control method and device |
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| EP1529556A2 (en) * | 2003-11-04 | 2005-05-11 | Sony Corporation | Travelling apparatus and method for controlling thereof |
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| CN105253230A (en) * | 2015-10-20 | 2016-01-20 | 南京快轮智能科技有限公司 | Identifying method for lifting and putting down electric self-balancing monocycle |
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| JP5873879B2 (en) * | 2011-12-09 | 2016-03-01 | 株式会社日立製作所 | Inverted pendulum type moving device |
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| EP1529556A2 (en) * | 2003-11-04 | 2005-05-11 | Sony Corporation | Travelling apparatus and method for controlling thereof |
| JP2010271918A (en) * | 2009-05-21 | 2010-12-02 | Toyota Motor Corp | Mobile unit, correction value calculation method and program |
| CN102815357A (en) * | 2012-06-27 | 2012-12-12 | 北京工业大学 | Self-balancing manned solowheel based on inertia balance wheel |
| CN105253230A (en) * | 2015-10-20 | 2016-01-20 | 南京快轮智能科技有限公司 | Identifying method for lifting and putting down electric self-balancing monocycle |
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