CN108466668B - Automatic rolling walking device and motion control method thereof - Google Patents

Automatic rolling walking device and motion control method thereof Download PDF

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Publication number
CN108466668B
CN108466668B CN201810139439.0A CN201810139439A CN108466668B CN 108466668 B CN108466668 B CN 108466668B CN 201810139439 A CN201810139439 A CN 201810139439A CN 108466668 B CN108466668 B CN 108466668B
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China
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walking device
main body
automatic rolling
moment
gyro
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CN108466668A (en
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贺智威
唐斌
刘利
朱阳
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Kandra (Shenzhen) Intelligent Technology Co.,Ltd.
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Candela Shenzhen Technology Innovations Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
    • B62D37/04—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses
    • B62D37/06—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses using gyroscopes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention relates to an automatic rolling walking device and a motion control method thereof, and the automatic rolling walking device comprises a main body and wheels, wherein a gyro assembly is arranged in the main body, and comprises at least one pair of gyros, a yaw motor for controlling the gyros to actively deflect and a reverse synchronization mechanism for controlling the pair of gyros to have the same yaw speed but opposite yaw directions; the gyro passive deflection is realized by controlling the gravity moment generated by the change of the gravity center of the main body of the automatic rolling walking device, and/or the gyro moment generated by controlling the active deflection of the gyro by the deflection motor is used for controlling the movement of the walking device and keeping balance in the movement process. Compared with the prior art, the invention has the technical effects that: the attitude control difficulty is reduced; the obstacle crossing height is improved; can go up and down stairs continuously and stably; the braking distance is shortened, and the braking performance is improved; increased acceleration, etc.

Description

Automatic rolling walking device and motion control method thereof
Technical Field
The invention relates to a walking device structure and a control technology, in particular to balance and motion control of products such as robots and the like.
Background
The demand of products such as single round/double round steady car, biped robot, spherical robot is bigger and bigger in the market, and the competition between each company is more and more violent, but this kind of product development is all very high to steady control algorithm and part machining precision requirement, hardly realizes following function or performance not up to standard moreover: 1. the posture control of the product is unstable and easy to fall; 2. the obstacle crossing height is insufficient; 3. the user can not go up and down stairs or can not go up and down stairs continuously; 4. the emergency braking has long braking distance and cannot meet the national safety braking distance; 5. too slow acceleration, etc.
Disclosure of Invention
The invention aims to solve the technical problem of avoiding the defects of the prior art and provides a high-speed rotating control moment gyro and a control strategy for the gyro, wherein the gyro moment of the control moment gyro is utilized to reduce the control difficulty of attitude control, shorten the emergency braking distance, improve the obstacle crossing height, realize continuous stair climbing and descending functions and the like.
The technical scheme adopted by the invention for solving the technical problems is as follows:
designing an automatic rolling walking device, which comprises a main body and wheels, wherein a gyro assembly is arranged in the main body, and the gyro assembly comprises at least one pair of gyros, a yaw motor for controlling the gyros to actively deflect and a reverse synchronization mechanism for controlling the pair of gyros to have the same yaw speed but opposite yaw directions; the gyro passive deflection is realized by controlling the gravity moment generated by the change of the gravity center of the main body of the automatic rolling walking device, and/or the gyro moment generated by controlling the active deflection of the gyro by the deflection motor is used for controlling the movement of the walking device and keeping balance in the movement process.
Further:
the automatic rolling walking device is a double-wheel robot, a double-wheel balance vehicle or a spherical robot, the rotating shaft of the main body is coaxial with the wheel shaft, and a driving motor arranged in the main body and used for driving the wheels can drive the main body to rotate relative to the wheel shaft to generate a gravity moment.
The automatic rolling walking device is a wheelchair, and a seat arranged on the main body moves back and forth to generate a gravity moment to a wheel shaft.
The posture adjustment control method for the automatic rolling walking device which is a two-wheeled robot, a two-wheeled balance vehicle or a spherical robot comprises the following steps:
the automatic rolling walking device receives information needing to adjust the posture of the main body;
the main body of the automatic rolling walking device rotates relative to the wheel axle by the gyro moment generated by controlling the active deflection of the gyro through the deflection motor.
An acceleration control method based on the automatic rolling walking device comprises the following steps:
the automatic rolling walking device receives information needing to be accelerated;
the main body of the automatic rolling walking device tends to turn backwards due to the reaction moment, the gyro moment generated by gyro deflection is balanced with the reaction moment, the posture of the main body of the automatic rolling walking device is kept unchanged, all the moment of the driving moment is transmitted to the wheels, and the automatic rolling walking device advances at the maximum acceleration;
and detecting whether the target speed is reached, and if the target speed is reached, advancing at the target speed at a constant speed.
An emergency braking control method based on the automatic rolling walking device comprises the following steps:
detecting a need for emergency braking;
the automatic rolling walking device is decelerated and braked, and the main body of the automatic rolling walking device tends to turn over forwards due to reaction moment and inertia moment, and the gyro moment generated by gyro deflection is balanced with the reaction moment and the inertia moment, so that the main body of the automatic rolling walking device keeps the posture unchanged;
and detecting whether the automatic rolling walking device stops, and if so, finishing braking.
An obstacle crossing control method based on the automatic rolling walking device comprises the following steps:
firstly, moving the gravity center of the main body of the automatic rolling walking device forwards;
adjusting the top to swing to the maximum available angle;
the driving motor applies torque to the wheel to cross the obstacle; at the moment, the moment of the deflection motor is set to be zero, and the driving motor drives the wheels to rotate for a certain angle to cross the obstacle.
And restoring the main body of the automatic rolling walking device to the vertical state.
A stair climbing control method based on the automatic rolling walking device comprises the following steps:
firstly, moving the gravity center of a main body of the automatic rolling walking device forwards;
secondly, adjusting the top to swing to the maximum available angle;
thirdly, the driving motor applies torque to the wheel to go upstairs; the gyro is in a passive deflection state, and the driving motor drives the wheels to rotate for a certain angle to go up a stair;
and fourthly, repeating the step III and the step III until the whole stair is finished.
A control method for going downstairs based on the automatic rolling walking device comprises the following steps:
firstly, a top is deflected to the maximum available angle by a deflection motor;
driving the wheels to roll forwards to go downstairs by the driving motor, controlling the given speed of the driving motor to be zero, applying a deflection moment to the gyroscope in a direction opposite to the automatic deflection direction of the gyroscope under the action of the gravity moment by using the deflection motor, slowly rolling the automatic rolling walking device downstairs under the action of the driving motor and the deflection motor, and moving the gravity center of the automatic rolling walking device backward after finishing the next stage of stairs;
regulating the main body of the automatic rolling walking device to be in a vertical state; and
and fourthly, repeating the step III and the step III until a complete stair is formed.
A control method for going downstairs based on the automatic rolling walking device comprises the following steps:
firstly, a top is deflected to the maximum available angle by a deflection motor;
driving the wheels to roll forwards to go downstairs by the driving motor, controlling the given speed of the driving motor to be zero, applying a deflection moment to the gyroscope in a direction opposite to the automatic deflection direction of the gyroscope under the action of the gravity moment by using the deflection motor, slowly rolling the automatic rolling walking device downstairs under the action of the driving motor and the deflection motor, and moving the gravity center of the automatic rolling walking device backward after finishing the next stage of stairs;
driving the wheels to roll forwards to the next stair by the driving motor;
and fourthly, repeating the step III until the next complete stair is formed.
A control method for going downstairs based on the automatic rolling walking device comprises the following steps:
firstly, a top is deflected to the maximum available angle by a deflection motor;
secondly, the top is deflected by the deflection motor, and the gravity center of the automatic rolling walking device main body is moved backwards by the generated top moment;
driving the wheels to move forwards and go to the next stair by the driving motor;
and fourthly, repeating the step III until the next complete stair is formed.
Compared with the prior art, the invention has the technical effects that: the attitude control difficulty is reduced; the obstacle crossing height is improved; can go up and down stairs continuously and stably; the braking distance is shortened, and the braking performance is improved; increased acceleration, etc.
Drawings
FIG. 1 is a schematic structural diagram of an automatic rolling walking device of the present invention, which is a two-wheeled robot;
FIG. 2 is a schematic structural diagram of a two-wheeled balance car according to an embodiment of the automatic rolling walking device of the present invention;
FIG. 3 is a schematic structural diagram of the automatic rolling walking device of the present invention, which is a two-wheel balance car;
FIG. 4 is a schematic diagram of a gyroscope assembly structure and the force applied when the gyroscope generates the gyroscope moment but does not deflect according to the walking device of the present invention;
FIG. 5 is a force exploded top view of the pair of gyros of FIG. 4 after deflection;
FIG. 6 is a schematic view illustrating a driving moment M instantaneously applied to a wheel center when a traveling apparatus of a related art performs attitude adjustment;
FIG. 7 is a schematic diagram of a walking device in the prior art, after being subjected to a reaction moment of a driving moment, the walking device body tilts in a reverse direction opposite to the movement of the whole device by a certain angle alpha;
FIG. 8 is a schematic diagram of the prior art in which the posture of the main body of the walking device is adjusted, and the whole machine moves forward by a distance D in the process;
FIG. 9 is a schematic diagram of the automatic rolling device according to the present invention, in which the yaw motor generates a driving torque to cause the gyros to precess, and a pair of gyros generates a gyroscopic torque to act on the main body when the automatic rolling device performs attitude adjustment;
FIG. 10 is a schematic view showing the tilting of the main body of the automatic rolling walking device of the present invention from the initial position under the moment of the gyro;
FIG. 11 is a schematic view showing that the posture of the main body of the automatic rolling walking device of the present invention is adjusted and the whole device hardly moves;
FIG. 12 is a schematic diagram of the stress of the two-wheeled balance car of the embodiment of the walking device of the invention when the two-wheeled balance car advances in an accelerating way;
FIG. 13 is a schematic diagram of the force applied when the two-wheeled robot of the embodiment of the walking device of the invention crosses the obstacle;
FIG. 14 is a schematic view showing a preparation state of the two-wheeled robot for ascending stairs according to the embodiment of the traveling apparatus of the present invention;
FIG. 15 is a schematic view showing the state of the two-wheeled robot when the two-wheeled robot has completed the first stair according to the embodiment of the present invention;
FIG. 16 is a schematic view showing a second stair on the two-wheeled robot according to the embodiment of the present invention in a ready state;
fig. 17 is a schematic view showing a state of the two-wheeled robot when the two-wheeled robot climbs the second stair according to the embodiment of the present invention.
Detailed Description
Embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
An automatic rolling walking device comprises a main body and wheels, wherein a gyro assembly is arranged in the main body and comprises at least one pair of gyros, a yaw motor for controlling the gyros to actively deflect and a reverse synchronization mechanism for controlling the pair of gyros to have the same yaw speed but opposite yaw directions; the gyro passive deflection is realized by controlling the gravity moment generated by the change of the gravity center of the automatic rolling walking device main body, and/or the gyro moment generated by controlling the gyro active deflection through the deflection motor is further utilized to control the movement of the walking device, wherein the movement comprises but is not limited to balance keeping, posture adjustment, stair climbing, obstacle crossing, emergency acceleration and deceleration and the like. In the present invention, the main body of the walking device refers to the parts except the wheels, and in the case of a two-wheeled robot, the main body includes all the parts disposed on the main body frame and disposed on the main body frame, for example, the head is connected to the main body frame, and the head also belongs to a part of the main body.
In one embodiment, as shown in fig. 1, the walking device is a two-wheeled robot, which includes two wheels 11, and a main body 12 capable of tilting forward and backward with respect to the wheel axle, and the main body is provided with a gyro assembly 13, which includes at least a pair of gyros 14, a yaw motor 15 for controlling the gyros to actively deflect, and a counter-synchronous mechanism 16 for controlling the pair of gyros to have the same yaw speed but opposite yaw directions, and the bottom of the main body 12 is provided with a driving motor 18. A head 17 which can move relative to the main body 12 is arranged above the main body 12.
In another embodiment, as shown in fig. 2, the walking device is a two-wheeled balance car, which includes two wheels 21, and a main body 22 capable of tilting forward and backward relative to the wheel axle, and a gyro assembly 23 is disposed in the main body, and includes at least a pair of gyros 24, a yaw motor (not shown) for controlling the gyros to actively yaw, and a counter-synchronous mechanism 26 for controlling the pair of gyros to yaw at the same speed but in opposite directions, and a driving motor 28 is disposed at the bottom of the main body 22. A joystick 27 for controlling the direction of a driver 29 extends upward in front of the main body 22.
In yet another embodiment, as shown in fig. 3, the walking device is a wheelchair, comprising two wheels 31 and a body 32, in which a gyro assembly 33 is disposed, the gyro assembly comprising at least a pair of gyros 34, a yaw motor (not shown) for controlling the active yaw of the gyros, and a counter-synchronizing mechanism 36 for controlling the yaw of the pair of gyros to be at the same speed but in opposite directions. The bottom of the main body 12 is provided with a driving motor 38. The main body 32 is provided with a seat 37 for a user 39 to sit thereon, which is movable forward and backward. The gravity moment generated by the change of the gravity center of the main body is generated by controlling the seat of the main body to move forwards and backwards, so that the gyro passively deflects.
When the walking device is a two-wheeled robot, a two-wheeled balance car or a spherical robot, the rotating shaft of the main body is coaxial with the wheel shaft, and the driving motor arranged in the main body and used for driving the wheels can drive the main body to rotate relative to the wheel shaft to generate gravity moment. The automatic rolling walking device is a wheelchair, and a seat arranged on the main body moves back and forth to generate gravity moment.
In this patent, for the assurance only let the top produce the moment in required direction, and offset the top moment of other directions each other, the top needs design in pairs so. FIG. 4 is a diagram of forces applied to a top when the top is generating a gyroscopic moment but not deflecting. In FIG. 4, X1And X2Each representing an axis of rotation of a pair of gyros, Y1And Y2The representations respectively represent a pair of gyro-support axes, Z1And Z2Respectively representing a pair of gyroscopic yaw axes, omega1And ω2Each representing the rotational angular velocity, omega, of a pair of gyros‘ 1And ω2 ’Respectively representing the yaw angular velocities of a pair of gyros controlled by a reverse synchronization mechanism. Wherein, ω is1And ω2Same in size and opposite in direction omega‘ 1And ω2 ’Also the size is the same and the direction is opposite. When a pair of gyros T1And T2When the gyro is deflected to the position shown in FIG. 5, a gyro moment t having a vector shown in FIG. 5 is generated according to the gyro characteristics1And t2The gyro moment for resolving the two vectors is t1 ’，t1 ’’And t2 ’，t2 ’’At this time, t in the same vector direction1 ’And t2 ’The sum is the gyro moment in the desired direction, and t1 ’’And t2 ’’Rather than moments in the desired direction, they counter each other.
The gyro deflection of the walking device is divided into a passive deflection mode and an active deflection mode, wherein the passive deflection refers to natural deflection generated by the gyro for counteracting an external moment due to the external moment generated by external reasons such as road conditions and the like in the moving process of the robot, and the active deflection refers to deflection generated by the walking device for controlling a deflection motor to generate a required angular speed by sending a signal. The walking device adapts to the balance under various working conditions through passive deflection under general conditions, but under special conditions, the walking device needs to coordinate with active deflection to complete action and balance.
The use of active yaw includes, but is not limited to, the following:
1. when the gyroscope reaches the maximum deflection angle, the gyroscope needs to be swung back to the initial position;
2. under the condition of not needing the automatic deflection of the gyroscope, utilizing the passive deflection to counteract the automatic deflection;
3. following the automatic deflection stroke so as to control the emergency in real time;
4. when going downstairs, a part of gravity moment is offset, and the set downstairs moment is ensured to be slow and stable.
In the above-described traveling apparatus, a specific method of controlling the movement of the traveling apparatus and maintaining balance during the movement by using a gyro moment is as follows:
the attitude adjustment control method based on the walking device comprises the following steps:
firstly, the automatic rolling walking device receives information which requires the posture of a main body to be adjusted such as forward tilting or backward tilting;
secondly, the main body of the automatic rolling walking device rotates relative to the wheel shaft through the gyro moment generated by controlling the active deflection of the gyro by the deflection motor.
When the posture of the main body of the existing double-wheel robot, the double-wheel balance car and other products needs to be adjusted to be inclined forwards or inclined backwards, the purpose of posture adjustment is achieved by driving wheels to output larger moment instantly, and the posture adjustment mode is indirect adjustment mode.
Based on the structure of the walking device, the gyro is driven to deflect by the gyro deflection motor, so that the gyro generates a larger gyro moment, and the moment can lead the posture of the main body to tilt forwards or backwards so as to achieve the aim of posture adjustment. The gyro moment is directly acted on the main body to be adjusted, and is a direct adjustment mode. After the posture adjustment is finished, the whole robot only generates short or even no displacement, and the next continuous inertial motion of the robot is conveniently executed.
When the walking device in the prior art is used for adjusting the posture, a driving moment M is instantaneously applied to the wheel center of a wheel L, the whole machine has a forward movement tendency, as shown in figure 6, a main body Z is subjected to a reaction moment of the moment and inclines in a reverse direction opposite to the movement of the whole machine by a certain angle alpha, as shown in figure 7. Due to the wheel driving force, the whole machine moves forward a distance D in the process, see figure 8.
When the walking device of the invention is used for posture adjustment, the yaw motor sends out driving torque to make the gyro precess, thereby generating gyro torque to act on the main body, as shown in figure 9. The main body is inclined from the initial position under the action of the gyro moment, so that the purpose of attitude control is achieved, and the figure 10 shows. In the whole process, the gyro moment does not directly act on the wheels, so that the whole machine hardly moves, and the figure 11 shows.
Secondly, the acceleration control method based on the walking device comprises the following steps:
firstly, the automatic rolling walking device receives information needing to be accelerated;
secondly, the driving motor is driven to accelerate with large torque, the main body of the automatic rolling walking device tends to turn backwards due to the reaction torque, the gyro torque generated by gyro deflection is balanced with the reaction torque at the moment, the main body of the automatic rolling walking device keeps the posture unchanged, all the torque of the driving torque is transmitted to the wheels, and the automatic rolling walking device advances with the maximum acceleration;
and thirdly, detecting whether the target speed is reached, and if the target speed is reached, advancing at the target speed at a constant speed.
If the emergency acceleration is needed, the top is driven to deflect by the deflection motor after the step (I) and before the step (II), and the moment of the top is generated to enable the gravity center of the main body of the automatic rolling walking device to move forwards.
The prior walking device takes a double-wheel balance car as an example, if the walking device needs to accelerate, the body of a driver needs to be inclined forwards, and if the walking device does not incline forwards, the walking device cannot accelerate. When the body tilts forward, the gravity center shifts to generate a gravity moment aiming at the wheel axle, then the driving motor drives the wheels to advance in an accelerating way, in the accelerating process, the driving moment exerted by the driving motor on the control cannot be larger than the gravity moment generated by the inclination of the body, otherwise, the body of a driver can overturn backwards, and sufficient acceleration is obtained only by the inclined gravity moment but not enough.
When the walking device of the invention needs to accelerate, such as a balance car, the driving motor can directly drive the walking device to accelerate, and the body of a driver does not need to lean forward. As shown in fig. 12, the driving motor drives the wheels with a moment M, and due to the existence of the reaction moment M ', the driver and the balance car tend to overturn reversely, but because the gyros are acted by the reaction moment M ', the two gyros naturally deflect to generate a gyro moment T for offsetting the reaction moment M ', and because the gyros are fixed at the bottom of the balance car, the posture of the balance car is kept unchanged, and the balance car cannot overturn backwards. Therefore, the balance car can accelerate forward by the moment M, and the forward leaning of the body of a driver is not needed. The forward acceleration will be further increased if the gravitational moment is generated in coordination with the forward leaning of the body.
Thirdly, the emergency braking control method based on the walking device comprises the following steps:
firstly, detecting that emergency braking is needed;
the automatic rolling walking device is decelerated and braked, and the main body of the automatic rolling walking device tends to turn over forwards due to the reaction moment and the inertia moment, the gyro moment generated by gyro deflection is balanced with the reaction moment and the inertia moment, the main body of the automatic rolling walking device keeps the posture unchanged, all braking moments of the driving motor are transmitted to wheels, and the whole robot is decelerated and braked by the maximum braking moment;
and thirdly, detecting whether the automatic rolling walking device stops, and if so, finishing braking.
If emergency braking is needed, the swing motor is used for driving the gyro to swing to enable the gravity center of the automatic rolling walking device main body to move backwards after the step I and before the step II.
The braking mode can adopt a point braking mode, the driving torque is released instantly in a short time, the braking torque of the motor is 0, the main body is in a gravity center backward moving state, and the gravity torque generated in the state can enable the gyroscope to swing back by a certain angle.
The walking device in the prior art takes a double-wheel robot as an example, when emergency braking is carried out, the braking torque is too small, the braking time is too long, the braking distance is also longer, and the potential safety hazard is greater when the braking distance reaches 11 meters in some cases. The robot will be unstable due to too large braking torque, and the robot is likely to be overturned by inertia torque.
The invention can complete emergency braking by using larger braking torque, and the dead axle characteristic of the gyro can stabilize the overturning trend generated by inertia torque in the braking process. Thereby the braking distance is less than 4 meters and reaches the national safety standard.
Fourthly, the obstacle crossing control method based on the walking device comprises the following steps:
firstly, moving the gravity center of a main body of the automatic rolling walking device forwards;
secondly, adjusting the top to swing to the maximum available angle;
thirdly, the driving motor applies torque to the wheel to cross the obstacle; at the moment, the moment of the deflection motor is set to be zero, and the driving motor drives the wheels to rotate for a certain angle to cross the obstacle.
Fourthly, the main body of the automatic rolling walking device is restored to the vertical state.
In the step i, the method of moving the center of gravity of the main body of the automatic rolling walking device forward may, in some embodiments, adopt: the driving motor instantly applies large torque to the wheel word to enable the gravity center of the main body of the automatic rolling walking device to move forwards; or the gyro moment generated by controlling the active deflection of the gyro through the deflection motor enables the gravity center of the main body of the automatic rolling walking device to move forwards.
In the fourth step, the method for moving the gravity center of the walking device forward to return to the vertical state may be, in some embodiments: the driving motor instantly applies large torque to the wheel word to enable the main body of the automatic rolling walking device to be vertical; the main body of the automatic rolling walking device is vertical by the gyro moment generated by controlling the gyro to actively deflect by the deflection motor, or simultaneously the main body of the automatic rolling walking device is vertical by applying a large moment to the wheel instantly by the driving motor and controlling the gyro moment generated by controlling the gyro to actively deflect by the deflection motor.
The existing walking device takes a double-wheel robot as an example, when a high obstacle (about 200mm) is encountered, a driving motor drives wheels to cross the obstacle by a large driving torque through a gearbox, due to the action force and the reaction, the robot body is subjected to a reaction torque M which is equal to the driving torque in size and opposite to the driving torque, the reaction torque M 'enables the robot body to rotate along the direction of the reaction torque M', most of the driving torque M is transmitted to the robot body at the moment, the torque transmitted to the wheels is very small, and therefore the robot cannot cross the obstacle successfully.
However, as shown in fig. 13, in the traveling device of the present invention such as a two-wheeled robot, due to the fixed axis characteristic of the gyro, after the robot body receives the reaction moment M ', the gyro is deflected to generate the gyro moment T, at this time, T and M ' are equal in size and opposite in direction, and the T and M ' cancel each other out, the robot body also keeps the posture unchanged and does not rotate, so that the driving moment M can be completely transmitted to the wheels and successfully surmount the obstacle.
Fifthly, the stair climbing control method based on the walking device comprises the following steps of:
1. whether a staircase exists in front is detected.
In some embodiments, the detection process may scan the front by lidar, detect the distance of the front stairs from the robot, and slow down to approach the stairs. In other embodiments, the robot walks normally, and the wheels are blocked by the stairs after approaching the stairs, and at the moment, because the driving motor uses a speed mode, the current is increased, so that the robot is judged to encounter obstacles such as the stairs.
2. The double wheels are controlled to be aligned with the stairs.
In some embodiments, the laser radar is used to scan the stairs, the robot body position is compared, and if the two wheels are not aligned with the stairs, the wheels are adjusted to rotate, so that the two wheels are aligned with the stairs at the same time. In other embodiments, the current difference between the two wheels is determined for smaller speeds of the two drive motors, and if the current difference exceeds a certain threshold, it is determined that only one wheel is stuck on the edge of the staircase. At this time, the wheel with small current is close to the front, and the wheel with large current is backward. The alignment procedure is performed cyclically until both wheels jam the edge of the staircase.
3. Go up the first stair.
First, the main body is tilted forward to a predetermined angle.
In some embodiments, a yaw motor or other locking mechanism locks the top's yaw, and the drive motor drives backward, as the body tilts forward as the stairs catch the robot. The angle of forward tilt of the body is detected using an IMU inertial measurement unit or a motor encoder.
In other embodiments, a passive mode is used, i.e., the gyroscope can naturally deflect, the driving motor drives backwards, the gyroscope deflects, and when the gyroscope deflects to the maximum deflection angle, the main body tilts forwards. Detecting an angle of a body using an IMU or a motor encoder
Or the gyro is directly driven to rapidly deflect by the deflection motor, and the generated gyro moment leans forward the main body.
And secondly, adjusting the top to swing to the maximum available angle.
In some embodiments, the moment of the control driving motor is smaller than the gravity moment of the automatic rolling walking device main body, and the gyroscope swings back to the maximum utilization angle under the action of the gravity moment. In some embodiments, the torque controlling the driving motor is zero, and the driving motor can swing back to the maximum utilization angle in the shortest time.
In other embodiments, the speed of the driving motor is controlled to be zero, and the gyro is actively controlled to swing to the maximum available angle by using a swing motor.
And thirdly, the two driving motors apply torque to go upstairs.
The moment of the deflection motor is set to be zero, namely, the gyroscope is in a natural deflection state, and the driving motor outputs the same large moment to drive the wheels to rotate for a certain angle, namely, the gyroscope goes upstairs.
4. Go up the second section of stairs.
Firstly, the gyro is adjusted to the maximum available angle.
Because the gyro has a singular point, namely the gyro moment is not output when the gyro rotation axis deflects to be parallel to the gyro moment, the robot cannot continuously apply the driving moment when climbing stairs, and the gyro can reach the singular point if the driving is continuously performed. Therefore, after the first-stage stair is finished, the gyro deflection angle is controlled to return to the original position, namely the maximum available angle.
In some embodiments, the moment of the control driving motor is smaller than the gravity moment of the automatic rolling walking device main body, and the gyroscope swings back to the maximum utilization angle under the action of the gravity moment. In some embodiments, the torque controlling the driving motor is zero, and the driving motor can swing back to the maximum utilization angle in the shortest time.
In other embodiments, the speed of the driving motor is controlled to be zero, and the gyro is actively controlled to swing to the maximum available angle by using a swing motor.
And the two driving motors apply torque to go upstairs.
And so on until detecting that there is no staircase in front.
The walking device in the prior art goes upstairs and applies driving torque at the wheel center; the main part receives the reaction moment of driving moment, will take place the slope to under the effect of gravity moment, the inclination increases rapidly, and the main part can not maintain the balance, easily tumbles, and the wheel can't obtain maximum driving moment again, and the whole machine just also can't accomplish the stair operating mode of climbing.
Taking a two-wheeled robot as an example, when going upstairs, the walking device of the invention adjusts the main body of the robot to tilt forward for a certain angle and adjusts the gyro to swing to the maximum available angle in the first step, as shown in fig. 14, and prepares for going upstairs; secondly, driving the wheels by the driving motor, enabling the gyros to deflect at a certain angular speed, and completely transmitting driving torque to the wheels to enable the whole machine to climb up a first section of stairs, as shown in fig. 15, wherein the deflection angles of the pair of gyros are changed relative to the deflection angles in fig. 12; thirdly, because the control moment gyro has a singular point, namely the gyro moment is not output when the gyro rotation axis deflects to be parallel to the gyro moment, the robot can not continuously apply the driving moment when climbing stairs, and if the driving is continuously performed, the control moment gyro can reach the singular point. After the first stair is completed, the angle controlling the gyro's yaw is returned to the home or maximum available angle, i.e., the gyro's yaw angle is returned to the position of fig. 14, as shown in fig. 16, in preparation for going to the second stair. In some embodiments, the moment of the driving motor may be controlled to be zero, that is, the driving motor is not driven first, so that the gyro can automatically swing back from the gyro yaw angle shown in fig. 15 to the maximum available angle shown in fig. 16 under the action of the gravity moment M. When the gyroscope swings to the position where the swing stroke can be utilized to the maximum, the driving motor is driven again to finish the process of crossing the second stair, as shown in fig. 17. So that the stairs can be ascended continuously.
Sixth, the control method for going downstairs based on the walking device comprises the following steps:
the first stair descending control step:
1. and (5) going down stairs for preparation.
And (4) deflecting the gyroscope to the maximum available angle by using a deflection motor.
2. It is determined whether the edge of the stairway to be lowered is reached.
And when the gyro precession angular velocity is larger than a certain threshold value, judging that the robot reaches the edge of the stair to be descended.
3. And (5) descending a first-stage stair.
The driving motor drives the wheels to drive the wheels forwards to go downstairs, the gyroscope naturally deflects towards a certain direction at the moment, the given speed of the driving motor is zero (namely the main body and the gyroscope have no relative position change), the yaw motor applies reverse yaw moment to the gyroscope, the robot slowly goes downstairs under the action of the driving motor and the yaw motor at the moment, and the main body and the whole machine roll together.
4. And confirming whether the next first-level stair is successful.
At the moment, the gravity moment direction borne by the gyro is different in the process of going down the stairs. When the whole machine succeeds in descending the first stair, the deflection direction of the gyro changes, and the sensor detects the direction change and judges that the first stair succeeds.
5. And detecting whether the double wheels are aligned with the stairs.
According to the method 1, the laser radar scans the stairs, the positions of the robot body are compared, if two wheels are not aligned with the stairs, the wheels are adjusted to rotate, and the two wheels are aligned with the stairs simultaneously.
And 2, judging the current difference of the two wheels by giving smaller speed to the two main driving motors. If the current difference exceeds a certain threshold value, only one wheel is judged to be clamped on the edge of the stair. At this time, the wheel with small current is close to the front, and the wheel with large current is backward. The alignment procedure is performed cyclically until both wheels jam the edge of the staircase.
6. The main body swings backwards to a set angle.
In the method 1, a yaw motor or other locking mechanisms lock the yaw of the gyroscope, the driving motor drives the gyroscope backwards, and the main body is directly lifted at the moment because the stair blocks the robot. The angle of the body is detected using an IMU or a motor encoder.
Method 2, use passive mode (i.e. the gyro can naturally deflect). The driving motor drives backwards, the gyroscope deflects at the moment, and when the gyroscope deflects to be limited, the main body can be lifted. The angle of the body is detected using an IMU or a motor encoder.
7. The next stair.
The driving motor drives the wheels to roll forwards and descend the stairs at a low speed.
8. It is confirmed whether the downstairs in step 7 were successful.
In the process of going down stairs in this way, the directions of the gravity moments borne by the gyro are different. When the whole machine successfully descends the first-stage stair, the deflection direction of the gyro changes, and the sensor detects the direction change and judges that the first-stage stair is successfully descended.
9. And (5) repeating the step (7) and the step (8) until the stairs are descended, and finally, restoring the main body to the vertical state.
The second step of controlling going downstairs:
1. using a deflection motor to deflect the gyroscope to the position of maximum utilization
2. The swing motor swings the gyro at a certain speed, and the generated gyro moment enables the main body to be lifted backwards
3. Whether the stair edge is reached is detected, and when the precession angular velocity of the gyroscope is larger than a certain threshold value, the stair edge to be reached is judged.
4. And in the next stair, the main driving motor drives the wheels to drive the wheels forwards and slowly to go downstairs.
5. And confirming whether the stair descending is successful. In the process of going downstairs, the directions of the gravity moments borne by the gyro are different. When the whole machine successfully goes downstairs, the deflection direction of the gyro changes, and the sensor detects the direction change and judges that the next stair succeeds.
6. And (5) repeating the step (4) and the step (5) until the stairs are descended, and finally, restoring the main body to the vertical state.
The third stair descending control step:
1. and (5) going down stairs for preparation. The top is swung to the maximum utilization position by a swing motor, but the main body is kept in a vertical state.
2. And judging whether the robot reaches the edge of the stairs to be descended. And when the gyro precession angular velocity is greater than a set threshold value, judging that the stair edge is about to descend.
3. The next stair. The driving motor drives the wheels to drive the wheels forwards to go down stairs, the gyroscope has a natural deflection trend at the moment, the given speed of the driving motor is zero, the deflection motor applies reverse deflection torque to the gyroscope, the whole robot slowly rolls down the stairs under the action of the driving motor and the deflection motor, the main body rolls together with the whole robot at the moment, and the main body inclines forwards.
4. After the next section of stairs is finished, the main body is adjusted to be in a vertical state. The moment of the driving motor is set to be zero, the gyroscope naturally deflects due to the gravity moment, and the deflection motor applies reverse deflection moment to the gyroscope at the moment, so that the main body can slowly change into a vertical state.
6. And (5) repeating the step (3) and the step (4) until the stairs are completely descended.
It should be understood that the above embodiments are only intended to illustrate the technical solutions of the present invention, and not to limit the same, and some details thereof may be implemented in other forms by corresponding design changes. It will be apparent to those skilled in the art that modifications may be made to the above-described embodiments, or that equivalents may be substituted for elements thereof; and such modifications and substitutions are intended to be included within the scope of the appended claims.

Claims (21)

1. The utility model provides an automatic running gear rolls, includes main part and wheel, its characterized in that: a gyro assembly is arranged in the main body and comprises at least one pair of gyros, a yaw motor for controlling the gyros to actively deflect and a reverse synchronization mechanism for controlling the pair of gyros to have the same yaw speed but opposite yaw directions; the gyro passive deflection is realized by controlling the gravity moment generated by the change of the gravity center of the main body of the automatic rolling walking device, and the gyro moment generated by controlling the active deflection of the gyro through the deflection motor is further used for controlling the movement of the walking device and keeping balance in the movement process; when the automatic rolling walking device is a two-wheeled robot, a two-wheeled balance car or a spherical robot, the rotating shaft of the main body is coaxial with the wheel shaft, and a driving motor arranged in the main body and used for driving the wheels can drive the main body to rotate relative to the wheel shaft to generate gravity moment; when the automatic rolling walking device is a wheelchair, a seat arranged on the main body moves back and forth to generate a gravitational moment.
2. The attitude adjustment control method of an automatic rolling travel apparatus according to claim 1, characterized by comprising the steps of:
firstly, the automatic rolling walking device receives information needing to adjust the posture of a main body;
secondly, the main body of the automatic rolling walking device rotates relative to the wheel shaft through the gyro moment generated by controlling the active deflection of the gyro by the deflection motor.
3. An acceleration control method of an automatic rolling travel apparatus according to claim 1, characterized by comprising the steps of:
firstly, the automatic rolling walking device receives information needing to be accelerated;
secondly, the driving motor is driven to accelerate with large torque, the main body of the automatic rolling walking device tends to turn backwards due to the reaction torque, the gyro torque generated by gyro deflection is balanced with the reaction torque at the moment, the main body of the automatic rolling walking device keeps the posture unchanged, all the torque of the driving torque is transmitted to the wheels, and the automatic rolling walking device advances with the maximum acceleration;
and thirdly, detecting whether the target speed is reached, and if the target speed is reached, advancing at the target speed at a constant speed.
4. The acceleration control method according to claim 3, characterized in that: and before the step II, driving the gyro to deflect by the deflection motor to generate gyro moment so as to enable the gravity center of the main body of the automatic rolling walking device to move forwards.
5. An emergency braking control method of an automatic rolling traveling apparatus according to claim 1, comprising the steps of:
firstly, detecting that emergency braking is needed;
the automatic rolling walking device is decelerated and braked, and the main body of the automatic rolling walking device tends to turn over forwards due to reaction moment and inertia moment, and the gyro moment generated by gyro deflection is balanced with the reaction moment and the inertia moment, so that the main body of the automatic rolling walking device keeps the posture unchanged;
and thirdly, detecting whether the automatic rolling walking device stops, and if so, finishing braking.
6. The emergency braking control method according to claim 5, wherein after the step (i) and before the step (ii), the center of gravity of the automatic rolling travel device main body is moved backward by driving the gyro to swing by the swing motor.
7. The emergency braking control method according to claim 5, characterized in that: the braking mode is a point braking mode, the driving torque is released instantly in a short time, the braking torque of the motor is 0, the main body is in a gravity center backward moving state, and the gravity torque generated in the state can enable the gyro to swing back by a certain angle.
8. An obstacle crossing control method of an automatic rolling travel device according to claim 1, comprising the steps of:
firstly, moving the gravity center of a main body of the automatic rolling walking device forwards;
secondly, adjusting the top to swing to the maximum available angle;
thirdly, the driving motor applies torque to the wheel to cross the obstacle; at the moment, the moment of the deflection motor is set to be zero, and the driving motor drives the wheels to rotate for a certain angle to cross the obstacle;
fourthly, the main body of the automatic rolling walking device is restored to the vertical state.
9. The obstacle crossing control method according to claim 8, wherein the method of moving forward the center of gravity of the autonomous rolling traveling apparatus main body in step (i) is: the driving motor applies large torque to the wheels to enable the gravity center of the main body of the automatic rolling walking device to move forwards; the gyro moment generated by controlling the active deflection of the gyro by the deflection motor enables the gravity center of the main body of the automatic rolling walking device to move forwards; or simultaneously, the driving motor applies large moment to the wheel and the swing motor controls the gyro moment generated by the active swing of the gyro so as to lead the gravity center of the main body of the automatic rolling walking device to move forwards.
10. The obstacle detouring control method according to claim 9, wherein the step (r) of returning the center of gravity to the vertical position by moving forward is: the driving motor instantly applies large torque to the wheel word to enable the main body of the automatic rolling walking device to be vertical; the main body of the automatic rolling walking device is vertical by the gyro moment generated by controlling the gyro to actively deflect by the deflection motor, or vertical by applying a large moment to the wheel by the driving motor and controlling the gyro moment generated by actively deflecting the gyro by the deflection motor.
11. A stair climbing control method of the automatic rolling walking device according to claim 1, comprising the steps of:
firstly, moving the gravity center of a main body of the automatic rolling walking device forwards;
secondly, adjusting the top to swing to the maximum available angle;
thirdly, the driving motor applies torque to the wheel to go upstairs; the gyro is in a passive deflection state, and the driving motor drives the wheels to rotate for a certain angle to go up a stair;
and fourthly, repeating the step III and the step III until the whole stair is finished.
12. The ascending stair control method according to claim 11, wherein the method of advancing the center of gravity of the self-propelled rolling traveling apparatus main body comprises:
firstly, a gyro passive mode is used for deflecting, a driving motor drives forwards, a gyro deflects, and when the gyro deflects to a maximum deflection angle, the gravity center of a robot main body moves forwards; or
Secondly, the top is directly driven to rapidly deflect by utilizing the deflection motor, and the moment of the top is generated to lead the gravity center of the main body of the automatic rolling walking device to move forwards.
13. The stair climbing control method according to claim 11, wherein the method of adjusting the gyroscopic yaw to the maximum available angle comprises:
firstly, controlling the torque of a driving motor to be smaller than the gravity torque of the automatic rolling walking device main body, and swinging the gyroscope to the maximum available angle under the action of the gravity torque of the automatic rolling walking device main body; or
Secondly, the speed of the driving motor is controlled to be zero, namely the relative speed of the main body of the automatic rolling walking device and the wheels is ensured to be zero, and the top is actively controlled to swing to the maximum available angle by using the swing motor.
14. The stair climbing control method according to claim 13, wherein the method for adjusting the top yaw to the maximum available angle is: the moment of the driving motor is controlled to be zero, and the gyroscope swings back to the maximum available angle under the action of the gravity moment of the automatic rolling walking device main body.
15. The stair climbing control method according to claim 13, wherein if the automatic rolling walking device is a two-wheeled robot, before the upper stairs, further comprising detecting whether the two wheels are aligned with the stairs by:
firstly, the laser radar scans stairs, and compares the positions of the robot body, if two wheels are not aligned with the stairs, the wheels are adjusted to rotate, so that the two wheels are aligned with the stairs simultaneously; or
Secondly, judging the current difference of the two wheels for the two driving motors with smaller speed, if the current difference exceeds a certain threshold value, judging that only one wheel blocks the edge of the stair, and adjusting the wheels to advance by detecting the current of the two wheels until the two wheels block the edge of the stair.
16. A descending control method of the automatic rolling walking device according to claim 1, comprising the steps of:
firstly, a top is deflected to the maximum available angle by a deflection motor;
driving the wheels to roll forwards to go downstairs by the driving motor, controlling the given speed of the driving motor to be zero, applying a deflection moment to the gyroscope in a direction opposite to the automatic deflection direction of the gyroscope under the action of the gravity moment by using the deflection motor, slowly rolling the automatic rolling walking device downstairs under the action of the driving motor and the deflection motor, and moving the gravity center of the automatic rolling walking device backward after finishing the next stage of stairs;
regulating the main body of the automatic rolling walking device to be in a vertical state; and
and fourthly, repeating the step III and the step III until a complete stair is formed.
17. The descending stair control method according to claim 16, wherein the method of adjusting the automatic rolling traveling device to the vertical state in the third step is: the driving moment of the driving motor is set to be smaller than the gravity moment of the automatic rolling walking device main body, the deflection motor applies a deflection moment to the gyroscope, the direction of the deflection of the gyroscope is opposite to that of the automatic deflection of the gyroscope under the action of the gravity moment, and the automatic rolling walking device main body slowly changes into a vertical state.
18. Stair descent control method according to claim 17, wherein the drive torque of the drive motor is set to zero.
19. A descending control method of the automatic rolling walking device according to claim 1, comprising the steps of:
firstly, a top is deflected to the maximum available angle by a deflection motor;
driving the wheels to roll forwards to go downstairs by the driving motor, controlling the given speed of the driving motor to be zero, applying a deflection moment to the gyroscope in a direction opposite to the automatic deflection direction of the gyroscope under the action of the gravity moment by using the deflection motor, slowly rolling the automatic rolling walking device downstairs under the action of the driving motor and the deflection motor, and moving the gravity center of the automatic rolling walking device backward after finishing the next stage of stairs;
driving the wheels to roll forwards to the next stair by the driving motor;
and fourthly, repeating the step III until the next complete stair is formed.
20. A staircase descending control method according to claim 19, further comprising the step of confirming the success of the next staircase by detecting a change in the gyroscopic yaw direction when the next staircase is finished.
21. A descending control method of the automatic rolling walking device according to claim 1, comprising the steps of:
firstly, a top is deflected to the maximum available angle by a deflection motor;
secondly, the top is deflected by the deflection motor, and the gravity center of the automatic rolling walking device main body is moved backwards by the generated top moment;
driving the wheels to move forwards and go to the next stair by the driving motor;
and fourthly, repeating the step III until the next complete stair is formed.
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