CN108732590A - A kind of biped robot and a kind of ramp angles measurement method - Google Patents
A kind of biped robot and a kind of ramp angles measurement method Download PDFInfo
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- CN108732590A CN108732590A CN201810511252.9A CN201810511252A CN108732590A CN 108732590 A CN108732590 A CN 108732590A CN 201810511252 A CN201810511252 A CN 201810511252A CN 108732590 A CN108732590 A CN 108732590A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
Abstract
The present invention discloses a kind of biped robot and a kind of ramp angles measurement method, this method include：Obtain the corresponding initial data of each scanning element of radar equipment acquisition, for each frame initial data, generated n group quantized datas, each group of quantized data includes the value of the first variable, the second variable and third variable, the value of first variable is equal to the distance between current scan point and radar equipment, bivariate value is equal to angle of inclination of the current scan point relative to radar equipment, and the value of third variable is equal to the vertical range between current scan point and radar equipment；According to n group quantized datas, when determining that biped robot is in upward slope state, n group quantized datas are ranked up, the maximum m groups data of sequence are extracted from n group quantized datas；According to the maximum m groups data that sort, the angle of inclination on slope where calculating biped robot.It can identify the pavement behavior of biped robot efficiently, in real time compared with the existing technology.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to be that a kind of biped robot and a kind of ramp angles measure
Method.
Background technology
Path planning that existing 2D radars are mostly used to carry out robot and figure is built, the detection to barrier is reached with this
With avoidance, but in the debugging test of the upper downslope carried out to biped robot, since the angle on slope is unknown in advance, make
At in biped robot's debugging process, being susceptible to skidding, the problems such as wrestling etc., the prior art can generally come with gyroscope into
Line position appearance adjusts, but in actual test, since the pose that gyroscope stresses when level land debug more adjusts, and machine on the slope
The case where people is difficult to adjust when walking, and leads to still to will appear significantly robot and skids, wrestling.Therefore, existing skill
The problem of being not easy to measure there is ramp angles in art.
Invention content
To achieve the goals above, the present invention provides the following technical solutions：
The embodiment of the present invention provides a kind of ramp angles measurement method, including：
The corresponding initial data of each scanning element of radar equipment acquisition is obtained, initial data includes that n groups are former described in a frame
Beginning data, initial data described in one group include the distance between current scan point and radar equipment and current scan point relative to thunder
Up to the angle of inclination of equipment；
For initial data described in each frame, following methods flow is executed：
By the n groups Raw Data Generation n group quantized datas, each group of quantized data includes the first variable, the second change
The value of amount and third variable, the value of first variable be equal between the current scan point and the radar equipment away from
From the bivariate value is equal to angle of inclination of the current scan point relative to the radar equipment, the third
The value of variable is equal to the vertical range between the current scan point and radar equipment；
According to the n groups quantized data, when determining that the biped robot is in upward slope state, the n groups are quantified into number
According to being ranked up, the maximum m groups data of sequence are extracted from the n groups quantized data；
According to the maximum m groups data of sequence, the angle of inclination on slope where calculating the biped robot, m is big
In or equal to 3 positive integer.
As an example, described according to the n groups quantized data, determine that the biped robot is in upward slope state,
Including：
If the trend being gradually reduced is presented in the value of the third variable of the n groups quantized data before sequence, and
At least 3 groups of data are different in the n groups quantized data, it is determined that the biped robot is in upward slope state.
As an example, described according to the maximum m groups data of sequence, calculate slope where the biped robot
Angle of inclination, including：
According to the maximum m groups data of the sequence, the value of the third variable in the m groups data respectively not phase is determined
Meanwhile from two groups of maximum data of difference of the m groups extracting data；
According to the maximum data of two groups of difference, the angle of inclination on slope where calculating the biped robot, wherein
The maximum data of two groups of difference are according to one in first variable, second variable and the third variable from institute
It states and filters out in m group data.
As an example, the method further includes：
According to the n groups quantized data, when determining that the biped robot is in lower state, by the n groups quantized data
It is ranked up, the minimum m group data of sequence is extracted from the n groups quantized data；
According to the m group data that the sequence is minimum, the angle of inclination on slope where calculating the biped robot.
As an example, according to the n groups quantized data, determine that the biped robot is in described in the determination of lower state
Biped robot is in descending state, including：
If the trend gradually increased is presented in the value of the third variable of the n groups quantized data before sequence, and
At least 3 groups of data are different in the n groups quantized data, it is determined that the biped robot is in upward slope state.
As an example, the n groups quantized data is ranked up, including：
It will according to the combination of one in first variable, second variable and the third variable or any two
The n groups quantized data sorts from small to large.
The embodiment of the present invention provides a kind of biped robot, including：Controller, memory and radar equipment, the control
Device and the radar equipment are connect by bus with memory, and the radar equipment is fixed on the outside of biped robot；
The radar equipment is configured to：The corresponding initial data of each scanning element is acquired, initial data includes n described in a frame
Group initial data, one group of initial data includes the distance between current scan point and radar equipment and current scan point relative to thunder
Up to the angle of inclination of equipment, n is positive integer.
The controller is configured to：The initial data of the radar equipment acquisition is obtained, and for described in each frame
Initial data, by the n groups Raw Data Generation n group quantized datas, quantized data described in each group includes the first variable,
The value of the value of two variables and third variable, first variable is equal to the distance between current scan point and radar equipment,
The bivariate value is equal to angle of inclination of the current scan point relative to radar equipment, the value etc. of the third variable
Vertical range between current scan point and radar equipment；According to the n groups quantized data, determine at the biped robot
When upward slope state, the n groups quantized data is ranked up, the maximum m groups of sequence are extracted from the n groups quantized data
Data；According to the maximum m groups data of the sequence, the angle of inclination on slope where calculating the biped robot, m to be more than or
Positive integer equal to 3.
As an example, be integrated in the radar equipment electric machine controller driven using logic level, motor and
Laser, the motor driver are used to control the rotating speed of the motor by pwm signal, and the rotating speed of the motor is for controlling
The laser scans frequency.
As an example, the radar equipment is 360 degree of laser scanning and ranging radars, the scanning frequency of the radar equipment
It is 0 °~60 ° that rate and mounting height, which meet effective scanning section of the radar equipment when acquiring the initial data,.
As an example, the Plane of rotation of the radar equipment or the plane of scanning motion and the slope where the biped robot
Face or level land are vertical, parallel with the direction of advance of the biped robot.
As an example, the radar equipment is vertically installed at the crotch of the biped robot by firm banking.
As an example, the controller determines that the biped robot is in and goes up a slope according to the n groups quantized data
State, including：
If the trend being gradually reduced is presented in the value of the third variable of the n groups quantized data before sequence, and
At least 3 groups of data are different in the n groups quantized data, it is determined that the biped robot is in upward slope state.
As an example, the controller calculates the biped robot institute according to the maximum m groups data of sequence
Angle of inclination on slope, including：
According to the maximum m groups data of the sequence, the value of the third variable in the m groups data respectively not phase is determined
Meanwhile from two groups of maximum data of difference of the m groups extracting data；
According to the maximum data of two groups of difference, the angle of inclination on slope where calculating the biped robot, wherein
The maximum data of two groups of difference are the differences according to one in first variable, second variable and the third variable
What different value was filtered out from the m groups data.
As an example, the controller is additionally configured to：
According to the n groups quantized data, when determining that the biped robot is in lower state, by the n groups quantized data
It is ranked up, the minimum m group data of sequence is extracted from the n groups quantized data；
According to the m group data that the sequence is minimum, the angle of inclination on slope where calculating the biped robot；
Wherein, the controller determines that the biped robot is in lower state and determines institute according to the n groups quantized data
It states biped robot and is in descending state, including：
If the trend gradually increased is presented in the value of the third variable of the n groups quantized data before sequence, and
At least 3 groups of data are different in the n groups quantized data, it is determined that the biped robot is in upward slope state.
As an example, the n groups quantized data is ranked up by the controller, including：
It will according to the combination of one in first variable, second variable and the third variable or any two
The n groups quantized data sorts from small to large.
In above-described embodiment, the survey of scanning element of the biped robot when walking in slope surface is acquired in real time by radar equipment
Angle-data away from data and scanning element relative to radar is based on these gathered datas, passes through the data analysis flow of controller
Slope surface where can identifying biped robot is upward slope, level land or descending, can also extract phase from these gathered datas
Information is closed to determine gradient when biped robot's ascents and descents respectively.It can identify efficiently, in real time compared with the existing technology
The pavement behavior of biped robot, and the data analysis flow that the present invention designs is simple and reliable, can not only distinguish upward slope and under
Slope, additionally it is possible to calculate the gradient according to different means extraction information for ascents and descents.
Description of the drawings
Fig. 1 is the structural schematic diagram of biped robot with radar equipment in the specific embodiment of the invention a kind of；
Fig. 2 is the installation site structural representation of the radar equipment on a kind of biped robot in the specific embodiment of the invention
Figure；
Fig. 3 is several typical walking road conditions schematic diagrames of biped robot in the specific embodiment of the invention a kind of；
Fig. 4 is a kind of method flow schematic diagram of ramp angles measurement method in the specific embodiment of the invention；
Fig. 5 is a kind of side of the ramp angles measurement method of the upward slope process and descending process in the specific embodiment of the invention
Method flow diagram；
Fig. 6 is a kind of structural schematic diagram of biped robot provided in an embodiment of the present invention.
Specific implementation mode
The technical scheme in the embodiments of the invention will be clearly and completely described below, it is clear that described implementation
Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is general
The every other embodiment that logical technical staff is obtained, shall fall within the protection scope of the present invention.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.It should be noted that in the feelings not conflicted
Under condition, the feature in embodiment and embodiment in the present invention can be combined with each other.
The prior art adjusts the upper downslope debugging problem of biped robot manually substantially in the ends host computer pc
The parameter of try engine people's gait walking program, this method is also easy to damage because wrestling is excessive than time-consuming, of the invention
It proposes ramp angles detection method when a kind of biped robot and its biped walk, the angle on biped underfooting slope can be detected in real time
Degree.In addition, on the basis of the angle on slope where detecting biped, gait control on slope also can be improved in collocation gyroscope
Stability.
The problem of being not easy to measure for ramp angles, the embodiment of the present invention carries a kind of biped robot and ramp angles are surveyed
Amount method, crotch's fixed radar equipment of biped robot can acquire biped robot in real time in slope surface by radar equipment
Angle-data of the ranging data and scanning element of scanning element when walking relative to radar is based on these gathered datas, can pass through
The data analysis flow of controller inside or outside biped robot can identify biped robot where slope surface be on
Slope, level land or descending, can also from these gathered datas extract relevant information come determine respectively biped robot go up a slope and under
Gradient when slope.It can identify the pavement behavior of biped robot efficiently, in real time compared with the existing technology, and the present invention designs
Data analysis flow is simple and reliable, can not only distinguish ascents and descents, additionally it is possible to for ascents and descents according to different hands
Section extracts information to calculate the gradient.
Wherein, controller can be arranged in the internal structure of biped robot, can also be arranged outside biped robot
Portion, such as computer control terminal, controller can be with biped robot by wireless or wired connection at this time, and realization controller can
Obtain the data of radar equipment acquisition.By taking controller is in biped robot inside as an example, controller and radar equipment pass through bus
It is connect with memory, radar equipment is fixed on the outside of biped robot, can specifically be fixed among the crotch of biped robot
Position.
Radar equipment in the embodiment of the present invention can be low cost 360 ° of range laser radars, controller using
The serial port data acquisition mode of rs232, memory use data fifo memory.
As an example, be integrated in the radar equipment electric machine controller driven using logic level, motor and
Laser, the motor driver are used to control the rotating speed of the motor by pwm signal, and the rotating speed of the motor is for controlling
The laser scans frequency.
As an example, as shown in Figure 1, the radar equipment is 360 degree of laser scanning and ranging radars.
As an example, the radar equipment is vertically installed at the crotch of the biped robot by firm banking.
The mounting means of radar equipment as shown in Fig. 2, the radar equipment Plane of rotation or the plane of scanning motion and the biped robot
The slope surface at place or level land are vertical, parallel with the direction of advance of the biped robot.
As an example, the scan frequency and mounting height of the radar equipment meet the radar equipment in acquisition institute
Effective scanning section when stating initial data is 0 °~60 °.
As an example, the effective scanning section of the installation of radar and laser beam is demarcated：
1, radar is fixed among the crotch of biped robot, as shown in Fig. 2, radar may be relative to vertical after installation
Histogram is to inclination, and radar, as tire, vertical is assemblied among the crotch of biped robot, before biped robot
It is consistent into direction, to be fixed on before the laser beam of radar emission of biped robot crotch can scan biped robot
Side, wherein laser beam can rotate clockwise or counter-clockwise scanning.
2, after radar is fixed to biped robot above, biped robot is put in the horizontal plane, as shown in Fig. 2, mark
The mounting height and laser scanning range for determining radar, the mounting height for demarcating radar are h1, i.e., biped robot is in the horizontal plane
When standing, the minimum value of the vertical height on distance by radar ground, it is corresponding that Calibration of Laser Shu Chuizhi sweeps scanning direction earthward
Scanning angle is 60 °.Scanning direction corresponding scanning angle of the Calibration of Laser beam relative to maximum angle inclined vertically
It is 0 °.The scanning range of radar, in the required scanning range of calibration, needs the installation for taking into account radar usually within the scope of 18 °
The computational accuracy problem of height and ramp angles, the embodiment of the present invention are not limited to laser scanning angle being limited to 0 ° and 60 °
Between, it can also increase or diminution sweep interval appropriate.Based on this calibration, radar can export current scan point relative to thunder
The tilt angle theta reached, the i.e. angle of the laser beam of radar emission and horizontal direction.
In the embodiment of the present invention, by taking radar is set as rotating clockwise as an example, radar is vertically installed at biped robot
Among crotch, this installation site ensures that radar collects continuous multigroup laser scanning data of the robot on the path of slope, base
It is calculated in the close ramp angles of any two that these data can be directed in accuracy rating.Its inventive concept measured
It is as follows：
Radar can be scanned according to the sweep interval of calibration, and obtained raw scanning data is the multiframe in 360 ° of planes
Data flow, multiframe data flow return to data storage by serial ports, and control terminal carries out the data stored in data storage
It reads, the data based on reading carry out the measurement of ramp angles.
Wherein, the initial data that radar acquires in each frame may include 32 groups of data, and each group of data include working as
The tilt angle theta of actual range d and current scan point relative to radar between preceding scanning element and radar.
It walks successively on level land, upward slope, slope level land, descending peace as shown in figure 3, A, B, C, D, E are biped robot
The schematic diagram of several scenes of ground.
For A scenes, radar and scanning element on biped robot the distance between d be equal to radar and scanning element it
Between vertical range, i.e. the mounting height h1 (known quantity) of radar.
For scenario B, i.e., in upward slope scene, by taking current scan point a as an example, the air line distance of current scan point a and radar
It is demarcated as θ relative to the tilt angle theta of radar for d, current scan point a, wherein θ is laser beam and the level side of radar emission
To angle, then the vertical range between radar and scanning element a is d sin θ, i.e., the distance between a1 points in radar and Fig. 3.
When upward slope, since the vertical range between radar and scanning element a is less than h1, so, the distance between radar and scanning element a d are small
In h1/sin θ.Vertical range when upward slope between radar and scanning element can be smaller and smaller, therefore, measures ramp angle when going up a slope
When spending, for improving measurement accuracy, the vertical range between radar and scanning element can be taken larger from 32 groups of extracting datas
Several groups of data calculate ramp height.
For scene C, radar and scanning element on biped robot the distance between d be equal to radar and scanning element it
Between vertical range, i.e. the mounting height h1 of radar.
For scene D, i.e., in descending scene, vertical range between radar and scanning element a is d sin θ, i.e., radar with
The distance between a1 points in Fig. 3.When descending, due to the vertical range between radar and scanning element a be less than h1, so, radar with
The distance between scanning element a d are less than h1/sin θ, but vertical range when descending between radar and scanning element can be increasing,
Therefore, measure descending when ramp angles when, can be from 32 groups of extracting data radars and scanning element for improving measurement accuracy
Between vertical range smaller several groups of data calculate ramp height.
In above method flow, crotch's fixed radar equipment of biped robot can in real time be acquired double by radar equipment
Angle-data of the ranging data and scanning element of scanning element of the biped robot when walking in slope surface relative to radar, is based on these
Gathered data can identify biped robot by the data analysis flow of the controller inside or outside biped robot
The slope surface at place is upward slope, level land or descending, can also extract relevant information from these gathered datas to determine biped respectively
Gradient when robot ascents and descents.It can identify the pavement behavior of biped robot efficiently, in real time compared with the existing technology,
And the data analysis flow that the present invention designs is simple and reliable, can not only distinguish ascents and descents, additionally it is possible to for go up a slope and under
Slope calculates the gradient according to different means extraction information.
Conceive for foregoing invention, the embodiment of the present invention provides a kind of ramp angles measurement method, as shown in figure 4, mainly
Include the following steps：
Step 100, controller obtains the corresponding initial data of each scanning element of radar equipment acquisition, a frame initial data
Including n group initial data, one group of initial data includes the distance between current scan point and radar equipment and current scan point phase
For the angle of inclination of radar equipment.
Step 200, controller is directed to each frame initial data, executes following methods flow：
Step 200-1, by n group Raw Data Generation n group quantized datas, each group of quantized data include the first variable,
The value of the value of second variable and third variable, the first variable is equal to the distance between current scan point and radar equipment, the
Bivariate value is equal to angle of inclination of the current scan point relative to radar equipment, and the value of third variable is equal to Current Scan
Vertical range between point and radar equipment.
Step 200-2, according to n group quantized datas, when determining that biped robot is in upward slope state, by n group quantized datas
It is ranked up, the maximum m groups data of sequence is extracted from n group quantized datas.
Step 200-3, according to the maximum m groups data that sort, the angle of inclination on slope, m are where calculating biped robot
Positive integer more than or equal to 3.
Further, in step 102, the controller is determined according to the n groups quantized data at the biped robot
In upward slope state, including：If what the value presentation of the third variable of the n groups quantized data before sequence was gradually reduced becomes
Gesture, and at least 3 groups of data are different in the n groups quantized data, it is determined that and the biped robot is in upper ramp shaped
State.
Further, in step 200-2, the controller calculates the biped according to the maximum m groups data of sequence
The angle of inclination on slope where robot, including：According to the maximum m groups data of sequence, the institute in the m groups data is determined
State third variable value it is different when, from two groups of maximum data of difference of the m groups extracting data；According to described two groups
The maximum data of difference, the angle of inclination on slope where calculating the biped robot, wherein the maximum number of two groups of difference
It is filtered out from the m groups data according to according to one in first variable, second variable and the third variable.
Further, after step 200-3, further include：
Step 200-4, will be described when determining that the biped robot is in descending state according to the n groups quantized data
N group quantized datas are ranked up, and the minimum m group data of sequence are extracted from the n groups quantized data.
Step 200-5, according to the m group data that the sequence is minimum, the inclination on slope where calculating the biped robot
Angle.
Wherein, further, in step 200-4, according to the n groups quantized data, determine that the biped robot is in
Descending state determines that the biped robot is in descending state, including：If the n groups quantized data before sequence described
The trend gradually increased is presented in the value of ternary, and at least 3 groups of data are different in the n groups quantized data, then
Determine that the biped robot is in upward slope state.
In step 200-2 and step 200-4, the n groups quantized data is ranked up by controller, including：
It will according to the combination of one in first variable, second variable and the third variable or any two
The n groups quantized data sorts from small to large.
Based on above method flow, an embodiment of the present invention provides a kind of concrete implementation modes, as shown in figure 5, control
The data for reading are held, following methods flow is executed：
Step 1-1：A frame initial data of radar acquisition is read, the initial value of j is equal to 0 at this time, enters step 1-2, this
When i initial value be group that 0, i is initial data, j is mutually different array number in 32 groups of quantized datas, and enters step
Rapid 2-0.
Step 2-0：Judge whether the array number of the i-th group of initial data currently read is less than 32, i.e. whether i is less than
32, if so, step 2-1 is executed, if it is not, executing step 3-1.
Step 2-1：Further judge current scan point relative to radar tilt angle theta whether between 0 ° and 60 °, and
And whether current scan point is less than h1/sin θ with radar distance d and is not equal to 0, if so, step 2-2 is executed, if it is not, executing
2-3；
Step 2-2：According to the d and θ in i-th group of data, assignment obtains i-th group of quantized data, and i-th group of quantized data includes
Three variables, d1, h2, θ 1, wherein d is assigned to d1, d sin θ are assigned to h2, θ is assigned to θ 1, d1 expressions are currently swept
The actual range of described point and radar, h2 indicate that the vertical range between radar and current scan point, θ 1 indicate current scan point phase
For the angle of inclination of radar, and by j assignment, and execute step 2-3.
Step 2-3：I values are incremented by 1, and return to step 2-0.
Step 3-1：32 groups of quantized datas are ranked up, are sorted according to the sequences of θ 1 from small to large, as an alternative solution,
It can also from small to large sort according to d1, or sort from small to large according to h2.Then step 3-2 is executed.
Step 3-2：It is different to judge whether there is 3 groups or more of quantized data, if step 3-3 is executed, if it is not, abandoning
The frame initial data executes step 4-1.
Step 3-3：Maximum 3 groups of data are extracted in the quantized data to sort from small to large from 32 groups, i.e. this 3 groups of data
Sequence is maximum.
Step 3-4：Judge whether the h2 in this 3 groups of quantized datas is different, if so, step 3-5 is executed, if it is not, knot
Beam task.
Step 3-5：2 groups of quantized datas to differ greatly are extracted from this 3 groups of quantized datas, in one of which data
D1 and θ 1 are maximum, and the d1 and θ 1 in one of which are minimum, right angled triangle are constructed with this two groups of quantized datas, according to the several of construction
What relationship (such as the geometrical relationship that the corresponding one group of quantized data of a and b is constructed in Fig. 3), to calculate the angle on slope, according to structure
Particular content those skilled in the art that the geometrical relationship made acquires ramp angles can be derived by, and be not repeated herein.
Step 4-1：Judge whether j being assigned a value of 0, if so, executing step 4-2, i is assigned a value of 0, to continue to read thunder
Up to the next frame initial data of acquisition, then proceed to execute step 5-0, if it is not, then ending task.
Step 5-0：Judge whether the array number of the i-th group of initial data currently read is less than 32, i.e. whether i is less than
32, if so, executing step 5-1, step 6-1 is executed if not.
Step 5-1：Further judge current scan point relative to radar tilt angle theta whether between 0 ° and 60 °, and
And whether current scan point is less than h1/sin θ with radar distance d and is not equal to 0, if so, step 5-2 is executed, if it is not, executing
5-3；
Step 5-2：According to the d and θ in i-th group of data, assignment obtains i-th group of quantized data, and i-th group of quantized data includes
Three variables, d1, h2, θ 1, wherein d is assigned to d1, d sin θ are assigned to h2, θ is assigned to θ 1, d1 expressions are currently swept
The actual range of described point and radar, h2 indicate that the vertical range between radar and current scan point, θ 1 indicate current scan point phase
For the angle of inclination of radar, and by j assignment, and execute step 5-3.
Step 5-3：I values are incremented by 1, and return to step 5-0.
Step 6-1：32 groups of quantized datas are ranked up, are sorted according to the sequences of θ 1 from small to large, as an alternative solution,
It can also from small to large sort according to d1, or sort from small to large according to h2.Then step 6-2 is executed.
Step 6-2：It is different to judge whether there is 3 groups or more of quantized data, if executing step 6-3, if it is not, knot
Beam.
Step 6-3：3 groups of minimum data, i.e. this 3 groups of data are extracted in the quantized data to sort from small to large from 32 groups
Sequence is minimum.
Step 6-4：Judge whether the h2 in this 3 groups of quantized datas is different, if so, step 6-5 is executed, if it is not, knot
Beam task.
Step 6-5：2 groups of quantized datas to differ greatly are extracted from this 3 groups of quantized datas, in one of which data
D1 and θ 1 are maximum, and the d1 and θ 1 in one of which are minimum, right angled triangle are constructed with this two groups of quantized datas, according to the several of construction
What relationship (such as the geometrical relationship that the corresponding one group of quantized data of a and b is constructed in Fig. 3), to calculate the angle on slope, according to structure
Particular content those skilled in the art that the geometrical relationship made acquires ramp angles can be derived by, and be not repeated herein.
In above method flow, the initial data that can be acquired in real time according to radar obtains the amount of design variables of the present invention
Change data, and is extracted according to the different scenes of ascents and descents and meet two groups of quantized datas of measurement accuracy requirement to calculate tiltedly
Angle of slope has real-time and ease for operation.Compared with the existing technology, on the one hand, more complicated the invention avoids building
Sensing system perceives angle change, advantageously reduces cost；On the other hand, hardware of the invention builds simple be easy in fact
Existing, algorithm used is succinctly efficiently controllable, can simplify technique.
In above method flow, a frame initial data includes 32 groups of initial data, and 32 groups can also replace with other numbers
Amount, this is related with the data format of radar equipment, and 32 groups are not limited in the embodiment of the present invention.In addition, step 3-2 and step
The 3 groups of quantized datas extracted in 6-2 also can be replaced 4 groups of extraction, and 5 groups, 6 groups etc., extraction 3 is not limited in the embodiment of the present invention
Group.The array quantity specifically extracted can be determined according to actual demand.
Based on identical inventive concept, the embodiment of the present invention provides a kind of biped robot, the controller in the present embodiment
603 and the content of the controller in above method flow can be cross-referenced, the radar equipment 601 in the present embodiment and above-mentioned side
The content of radar equipment in method flow can be cross-referenced,.
As shown in fig. 6, the biped robot 600 includes：Controller 603, memory 602 and radar equipment 601, controller
603 and radar equipment 601 connect with memory 602 by bus, radar equipment 601 is fixed on the outside of biped robot, tool
Body can be fixed on the crotch centre position of biped robot.
As a kind of alternative, controller 603 can also be arranged outside biped robot, as computer controls
End, controller 603 can be with biped robot by wireless or wired connection at this time, and realization controller 603 can obtain radar
The data that equipment 601 acquires.
Specifically, radar equipment 601 is configured to：Acquire the corresponding initial data of each scanning element, original number described in a frame
According to including n group initial data, one group of initial data includes (the above-mentioned implementation of the distance between current scan point and radar equipment 601
D in example) and angle of inclination (θ in above-described embodiment) of the current scan point relative to radar equipment 601, n is positive integer.
Controller 603 is configured to：The initial data that radar equipment 601 acquires is obtained, for each frame initial data,
N group quantized datas are generated, each group of quantized data includes the value of the first variable, the second variable and third variable, and described the
The value of one variable be equal to the distance between current scan point and radar equipment 601 (d1 in above-described embodiment), described second
The value of variable is equal to angle of inclination (θ 1 in above-described embodiment) of the current scan point relative to radar equipment 601, and described the
The value of ternary is equal to the vertical range (h2 in above-described embodiment) between current scan point and radar equipment 601；According to
When determining that the biped robot is in upward slope state, the n groups quantized data is ranked up for the n groups quantized data, from
The maximum m groups data of sequence are extracted in the n groups quantized data；According to the maximum m groups data of sequence, calculate described double
The angle of inclination on slope where biped robot, m are the positive integer more than or equal to 3.
As an alternative embodiment, the n groups quantized data is ranked up by controller 603, including：According to institute
The n groups are quantified number by the combination for stating one in the first variable, second variable and the third variable or any two
According to sorting from small to large.
As an alternative embodiment, controller 603 determines the biped machine according to the n groups quantized data
People is in upward slope state, including：If the value presentation of the third variable of the n groups quantized data before sequence is gradually reduced
Trend, and according to the ranking results, at least 3 groups of data are different in the n groups quantized data, it is determined that described
Biped robot is in upward slope state.
As an alternative embodiment, controller 603 calculates described double according to the maximum m groups data of sequence
The angle of inclination on slope where biped robot, including：According to the maximum m groups data of sequence, determine in the m groups data
When the value of the third variable is different, from two groups of maximum data of difference of the m groups extracting data；According to described two
The group maximum data of difference, the angle of inclination on slope where calculating the biped robot, wherein two groups of difference is maximum
Data are the difference values according to one in first variable, second variable and the third variable from the m groups data
In filter out.
As an alternative embodiment, controller 603 is additionally configured to：According to the n groups quantized data, determine described in
When biped robot is in lower state, the n groups quantized data is ranked up, the row of extracting from the n groups quantized data
The m group data of sequence minimum；According to the m group data that the sequence is minimum, the inclination angle on slope where calculating the biped robot
Degree.
As an alternative embodiment, controller 603 determines the biped machine according to the n groups quantized data
People is in descending state, including：If the value presentation of the third variable of the n groups quantized data before sequence gradually increases
Trend, and according to the ranking results, at least 3 groups of data are different in the n groups quantized data, it is determined that described
Biped robot is in upward slope state.
As an alternative embodiment, controller 603 calculates described double according to the minimum m group data of the sequence
The angle of inclination on slope where biped robot, including：According to the m group data that the sequence is minimum, determine in the m groups data
When the value of the third variable is different, from two groups of maximum data of difference of the m groups extracting data；According to described two
The group maximum data of difference, the angle of inclination on slope where calculating the biped robot, wherein two groups of difference is maximum
Data are the difference values according to one in first variable, second variable and the third variable from the m groups data
In filter out.
In above-described embodiment, scanning element of the biped robot when walking in slope surface is acquired in real time by radar equipment 601
Angle-data relative to radar of ranging data and scanning element, be based on these gathered datas, pass through the data point of controller 603
Slope surface where analysis flow can identify biped robot is upward slope, level land or descending, can also be from these gathered datas
Relevant information is extracted to determine gradient when biped robot's ascents and descents respectively.It compared with the existing technology can efficiently, in real time
Identification biped robot pavement behavior, and the data analysis flow that the present invention designs is simple and reliable, can not only distinguish
Slope and descending, additionally it is possible to calculate the gradient according to different means extraction information for ascents and descents.
Based on identical inventive concept, the present invention also provides a kind of controller, including acquiring unit and processing unit, processing
Unit is connected with acquiring unit, specifically, radar equipment 601 is configured to：Acquire the corresponding initial data of each scanning element, a frame
The initial data includes n group initial data, and one group of initial data includes the distance between current scan point and radar equipment 601
The angle of inclination (θ in above-described embodiment) of (d in above-described embodiment) and current scan point relative to radar equipment 601, n is
Positive integer.
Acquiring unit, the corresponding initial data of each scanning element for obtaining the acquisition of radar equipment 601 are former described in one frame
Beginning data include n group initial data, and one group of initial data includes that the distance between current scan point and radar equipment 601 are (above-mentioned
D in embodiment) and angle of inclination (θ in above-described embodiment) of the current scan point relative to radar equipment 601, n be just whole
Number.
Processing unit generates n group quantized datas, each group of quantized data includes for being directed to each frame initial data
The value of the value of first variable, the second variable and third variable, first variable is equal to current scan point and radar equipment
The distance between 601 (d1 in above-described embodiment), the bivariate value is set equal to current scan point relative to radar
The value at standby 601 angle of inclination (θ 1 in above-described embodiment), the third variable is equal to current scan point and radar equipment
Vertical range (h2 in above-described embodiment) between 601；According to the n groups quantized data, determine at the biped robot
When upward slope state, the n groups quantized data is ranked up, the maximum m groups of sequence are extracted from the n groups quantized data
Data；According to the maximum m groups data of the sequence, the angle of inclination on slope where calculating the biped robot, m to be more than or
Positive integer equal to 3.
As an alternative embodiment, the n groups quantized data is ranked up by processing unit, including：According to institute
The n groups are quantified number by the combination for stating one in the first variable, second variable and the third variable or any two
According to sorting from small to large.
As an alternative embodiment, processing unit determines the biped robot according to the n groups quantized data
In upward slope state, including：If what the value presentation of the third variable of the n groups quantized data before sequence was gradually reduced
Trend, and according to the ranking results, at least 3 groups of data are different in the n groups quantized data, it is determined that it is described double
Biped robot is in upward slope state.
As an alternative embodiment, processing unit calculates the biped according to the maximum m groups data of sequence
The angle of inclination on slope where robot, including：According to the maximum m groups data of sequence, the institute in the m groups data is determined
State third variable value it is different when, from two groups of maximum data of difference of the m groups extracting data；According to described two groups
The maximum data of difference, the angle of inclination on slope where calculating the biped robot, wherein the maximum number of two groups of difference
According to being the difference value according to one in first variable, second variable and the third variable from the m groups data
It filters out.
As an alternative embodiment, processing unit is additionally operable to：According to the n groups quantized data, determine described double
When biped robot is in lower state, the n groups quantized data is ranked up, sequence is extracted from the n groups quantized data
Minimum m group data；According to the m group data that the sequence is minimum, the angle of inclination on slope where calculating the biped robot.
As an alternative embodiment, processing unit determines the biped robot according to the n groups quantized data
In descending state, including：If what the value presentation of the third variable of the n groups quantized data before sequence gradually increased
Trend, and according to the ranking results, at least 3 groups of data are different in the n groups quantized data, it is determined that it is described double
Biped robot is in upward slope state.
As an alternative embodiment, processing unit calculates the biped according to the minimum m group data of the sequence
The angle of inclination on slope where robot, including：According to the m group data that the sequence is minimum, the institute in the m groups data is determined
State third variable value it is different when, from two groups of maximum data of difference of the m groups extracting data；According to described two groups
The maximum data of difference, the angle of inclination on slope where calculating the biped robot, wherein the maximum number of two groups of difference
According to being the difference value according to one in first variable, second variable and the third variable from the m groups data
It filters out.
In above-described embodiment, the survey of scanning element of the biped robot when walking in slope surface is acquired in real time by radar equipment
Angle-data away from data and scanning element relative to radar is based on these gathered datas, passes through the data analysis flow of controller
Slope surface where can identifying biped robot is upward slope, level land or descending, can also extract phase from these gathered datas
Information is closed to determine gradient when biped robot's ascents and descents respectively.It can identify efficiently, in real time compared with the existing technology
The pavement behavior of biped robot, and the data analysis flow that the present invention designs is simple and reliable, can not only distinguish upward slope and under
Slope, additionally it is possible to calculate the gradient according to different means extraction information for ascents and descents.
Those skilled in the art will also be appreciated that the various illustrative components, blocks that the embodiment of the present application is listed
(illustrative logical block) and step (step) can pass through the knot of electronic hardware, computer software, or both
Conjunction is realized.To clearly show that the replaceability (interchangeability) of hardware and software, above-mentioned various explanations
Property component (illustrative components) and step universally describe their function.Such function is
The design requirement for depending on specific application and whole system is realized by hardware or software.Those skilled in the art can be with
For each specific function of applying, the realization of various methods can be used described, but this realization is understood not to exceed
The range of protection of the embodiment of the present invention.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God and principle within, any modification, equivalent replacement, improvement and so on, accompanying claims protection domain of the present invention it
It is interior.
Claims (10)
1. a kind of ramp angles measurement method, which is characterized in that including：
The corresponding initial data of each scanning element of radar equipment acquisition is obtained, initial data includes n group original numbers described in a frame
According to initial data described in one group includes that the distance between current scan point and radar equipment and current scan point are set relative to radar
Standby angle of inclination；
For initial data described in each frame, following methods flow is executed：
By the n groups Raw Data Generation n group quantized datas, each group of quantized data include the first variable, the second variable and
The value of the value of third variable, first variable is equal to the distance between the current scan point and the radar equipment,
The bivariate value is equal to angle of inclination of the current scan point relative to the radar equipment, the third variable
Value be equal to vertical range between the current scan point and radar equipment；
According to the n groups quantized data, when determining that the biped robot is in upward slope state, by the n groups quantized data into
Row sequence extracts the maximum m groups data of sequence from the n groups quantized data；
According to the maximum m groups data of the sequence, the angle of inclination on slope where calculating the biped robot, m to be more than or
Positive integer equal to 3.
2. according to the method described in claim 1, it is characterized in that, described according to the n groups quantized data, the biped is determined
Robot is in upward slope state, including：
If the trend being gradually reduced, and the n is presented in the value of the third variable of the n groups quantized data before sequence
At least 3 groups of data are different in group quantized data, it is determined that the biped robot is in upward slope state.
3. method according to claim 1 or 2, which is characterized in that described according to the maximum m groups data of sequence, meter
The angle of inclination on slope where calculating the biped robot, including：
According to the maximum m groups data of sequence, determine that the value of the third variable in the m groups data is different
When, from two groups of maximum data of difference of the m groups extracting data；
According to the maximum data of two groups of difference, the angle of inclination on slope where calculating the biped robot, wherein described
Two groups of maximum data of difference are according to one in first variable, second variable and the third variable from the m
It is filtered out in group data.
4. according to the method in any one of claims 1 to 3, which is characterized in that the method further includes：
According to the n groups quantized data, when determining that the biped robot is in descending state, by the n groups quantized data into
Row sequence extracts the minimum m group data of sequence from the n groups quantized data；
According to the m group data that the sequence is minimum, the angle of inclination on slope where calculating the biped robot；
Wherein, according to the n groups quantized data, determine that the biped robot is in descending state and determines the biped robot
In descending state, including：
If the trend gradually increased, and the n is presented in the value of the third variable of the n groups quantized data before sequence
At least 3 groups of data are different in group quantized data, it is determined that the biped robot is in upward slope state.
5. method according to claim 1 or 4, which is characterized in that the n groups quantized data is ranked up, including：
It will be described according to the combination of one in first variable, second variable and the third variable or any two
N group quantized datas sort from small to large.
6. a kind of biped robot, which is characterized in that including：Controller, memory and radar equipment, the controller and described
Radar equipment is connect by bus with memory, and the radar equipment is fixed on the outside of biped robot；
The radar equipment is configured to：The corresponding initial data of each scanning element is acquired, initial data includes that n groups are former described in a frame
Beginning data, one group of initial data include that the distance between current scan point and radar equipment and current scan point are set relative to radar
Standby angle of inclination, n are positive integer.
The controller is configured to：The initial data of the radar equipment acquisition is obtained, and for original described in each frame
Data, by the n groups Raw Data Generation n group quantized datas, quantized data described in each group includes the first variable, the second change
The value of the value of amount and third variable, first variable is equal to the distance between current scan point and radar equipment, described
Bivariate value is equal to angle of inclination of the current scan point relative to radar equipment, and the value of the third variable, which is equal to, to be worked as
Vertical range between preceding scanning element and radar equipment；According to the n groups quantized data, determine that the biped robot is in upper
When ramp shaped state, the n groups quantized data is ranked up, the maximum m groups number of sequence is extracted from the n groups quantized data
According to；According to the maximum m groups data of sequence, the angle of inclination on slope where calculating the biped robot, m is to be more than or wait
In 3 positive integer.
7. biped robot according to claim 6, which is characterized in that the controller according to the n groups quantized data,
Determine that the biped robot is in upward slope state, including：
If the trend being gradually reduced, and the n is presented in the value of the third variable of the n groups quantized data before sequence
At least 3 groups of data are different in group quantized data, it is determined that the biped robot is in upward slope state.
8. the biped robot described according to claim 6 or 7, which is characterized in that the controller is according to sequence maximum
M group data, the angle of inclination on slope where calculating the biped robot, including：
According to the maximum m groups data of sequence, determine that the value of the third variable in the m groups data is different
When, from two groups of maximum data of difference of the m groups extracting data；
According to the maximum data of two groups of difference, the angle of inclination on slope where calculating the biped robot, wherein described
Two groups of maximum data of difference are the difference values according to one in first variable, second variable and the third variable
It is filtered out from the m groups data.
9. the biped robot according to any one of claim 6 to 8, which is characterized in that the controller is additionally configured to：
According to the n groups quantized data, when determining that the biped robot is in descending state, by the n groups quantized data into
Row sequence extracts the minimum m group data of sequence from the n groups quantized data；
According to the m group data that the sequence is minimum, the angle of inclination on slope where calculating the biped robot；
Wherein, the controller determines that the biped robot is in described in the determination of descending state according to the n groups quantized data
Biped robot is in descending state, including：
If the trend gradually increased, and the n is presented in the value of the third variable of the n groups quantized data before sequence
At least 3 groups of data are different in group quantized data, it is determined that the biped robot is in upward slope state.
10. the biped robot according to claim 6 or 8, which is characterized in that the n groups are quantified number by the controller
According to being ranked up, including：
It will be described according to the combination of one in first variable, second variable and the third variable or any two
N group quantized datas sort from small to large.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021057909A1 (en) * | 2019-09-27 | 2021-04-01 | 苏州宝时得电动工具有限公司 | Autonomous robot, travel path planning method and apparatus thereof, and storage medium |
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