CN109375627A - Gravity center adjuster and method - Google Patents
Gravity center adjuster and method Download PDFInfo
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- CN109375627A CN109375627A CN201811416476.8A CN201811416476A CN109375627A CN 109375627 A CN109375627 A CN 109375627A CN 201811416476 A CN201811416476 A CN 201811416476A CN 109375627 A CN109375627 A CN 109375627A
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- 230000005484 gravity Effects 0.000 title claims abstract description 133
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000004088 simulation Methods 0.000 claims abstract description 12
- 230000001133 acceleration Effects 0.000 claims description 9
- 238000004422 calculation algorithm Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000011897 real-time detection Methods 0.000 description 4
- 241000222712 Kinetoplastida Species 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000037396 body weight Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000012876 topography Methods 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of gravity center adjuster and methods, wherein the device includes: posture detecting unit, for detecting the variation of movable body posture, to obtain movable body posture information, and movable body posture information is transferred to micro-control unit；Micro-control unit, micro-control unit are connected with posture detecting unit, for controlling posture detecting unit work, and handle movable body posture information, to obtain posture fitting data, in conjunction with Attitude Simulation model, calculate optimum attitude track；Driving unit, driving unit are connected with micro-control unit, for driving the movement in whole or in part of gravity center adjuster according to optimum attitude track, to adjust movable body center of gravity.The device can adjust the center of gravity of movable body in real time, not need human intervention or enabled, adaptively road conditions movable body can be made to keep balance, be not easy to topple over, in road bump or have the road surface movable body of certain slope can be with even running.
Description
Technical field
The present invention relates to moving equilibrium engineering device technique field, in particular to a kind of gravity center adjuster and method.
Background technique
With the fast development of science and technology, people chase artificial intelligence technology, and intelligent machine device or robot are got over
It applies come more in all trades and professions, progresses into our life.Mechanical device, the robot of some specific uses,
It is required that movement sensitive, being swift in response, and run smoothly.
The object (movable body) of movement, which will be realized, to run smoothly, and needs to guarantee the moving equilibrium of entire movable body.Currently, real
The device of existing moving equilibrium, method have very much, for example balance car passes through centre of body weight and manipulation using stand-type drive manner
Bar controls body movement.The balance system of similar human body itself, in order to guarantee to balance, needs forward when centre of body weight leans forward
It walks, when center of gravity hypsokinesis similarly.But balance car does not have paleocinetic ability.In the unloaded state, although remote control mould can be used
Formula manipulation, but do not have the ability of adjustment center of gravity in real time, therefore quickly cannot move and turn to, especially on road surface with a varied topography
It is difficult to reach moving equilibrium.
In the last hundred years, the mankind have been devoted to create the robot more like people.Humanoid robot is right in walking or movement
The requirement of balance is stringenter.Basic principle be by robot with sensor sensing go out the variation of robot motion, so
After pass the data to control circuit, control circuit makes command adapted thereto after being analyzed again, correct the movement of robot, from
And it is made to keep balance.Stability and control strategy are the key that humanoid robot technologies among these, and robot neck at present
The technological difficulties that domain is chased always.Although the research of humanoid robot achieves many research achievements, current class robot
The biped speed of travel, stability and the adaptive ability of people is not still very ideal.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, an object of the present invention is to provide a kind of gravity center adjusters.The device can adjust movement in real time
The center of gravity of body does not need human intervention or enabled, adaptively road conditions movable body can be made to keep balance, be not easy to topple over, especially on road
It jolts or there is the road surface of certain slope to make movable body even running in face.
It is another object of the present invention to propose a kind of method for adjusting gravity center.
In order to achieve the above objectives, one aspect of the present invention proposes gravity center adjuster, comprising: posture detecting unit is used for
The variation for detecting movable body posture, to obtain movable body posture information, and is transferred to microcontroller for the movable body posture information
Unit；Micro-control unit, the micro-control unit are connected with the posture detecting unit, for controlling the posture detecting unit
Work, and the movable body posture information is handled, to obtain posture fitting data, in conjunction with Attitude Simulation model, calculate
Optimum attitude track out；Driving unit, the driving unit are connected with the micro-control unit, for according to the optimum attitude
Track is to drive the movement in whole or in part of the gravity center adjuster, to adjust movable body center of gravity.
The gravity center adjuster of the embodiment of the present invention, can adjust automatically moving object in real time center of gravity, and then change fortune
Dynamic posture, makes movable body keep balance, does not need human intervention or enabled, adaptively road conditions movable body can be made to keep balance, no
Easily topple over, especially makes movable body even running in road bump or the road surface for having certain slope.
In addition, gravity center adjuster according to the above embodiment of the present invention can also have following additional technical characteristic:
Further, in one embodiment of the invention, the posture detecting unit includes: gyroscope, acceleration biography
Sensor, pressure sensor and control circuit.
Further, in one embodiment of the invention, the micro-control unit according to the posture fitting data and
The work of driving unit described in the optimum attitude TRAJECTORY CONTROL.
Further, in one embodiment of the invention, further includes: updating unit, the updating unit with it is described micro-
Control unit is connected, for updating the Attitude Simulation model and posture fitting algorithm；Power supply unit, the power supply unit difference
Each unit in gravity center adjuster is connected, for powering for each unit in the gravity center adjuster.
Further, in one embodiment of the invention, the driving unit includes: at least one moving assembly, is used
In the centre of gravity adjustment in whole or in part for driving the gravity center adjuster；At least one steering engine or motor, it is described most for basis
Yogci state track drives at least one moving assembly to move.
Further, in one embodiment of the invention, the balance shunk automatically is configured on the gravity center adjuster
Bar or balance plate, for being stretched or being rotated to assist gravity balance.
Further, in one embodiment of the invention, the driving unit includes: feedback module, is used for deviation
Value feeds back to the micro-control unit, make the micro-control unit according to the deviation of feedback control the driving unit into
Row center of gravity fine tuning, to reach the gravity balance of the entire movable body.
In order to achieve the above objectives, another aspect of the present invention proposes a kind of method for adjusting gravity center, comprising the following steps: obtains
Movable body posture information；By carrying out posture the Fitting Calculation to the movable body posture information, to obtain posture fitting data, and
In conjunction with Attitude Simulation model, optimum attitude track is calculated；The centre of gravity adjustment dress is adjusted according to the optimum attitude track
The center of gravity set.
The method for adjusting gravity center of the embodiment of the present invention, can adjust automatically moving object in real time center of gravity, and then change fortune
Dynamic posture, makes movable body keep balance, does not need human intervention or enabled, adaptively road conditions movable body can be made to keep balance, no
Easily topple over, especially makes movable body even running in road bump or the road surface for having certain slope.
In addition, method for adjusting gravity center according to the above embodiment of the present invention can also have following additional technical characteristic:
Further, in one embodiment of the invention, further includes: obtain deviation；According to the feedback of the deviation
The center of gravity of the gravity center adjuster is finely tuned, in real time to reach the mass motion balance of the gravity center adjuster.
Further, in one embodiment of the invention, the movable body posture information include: acceleration, angular speed,
Wheelbase and position of centre of gravity.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the gravity center adjuster structural schematic diagram according to one embodiment of the invention；
Fig. 2 is the gravity center adjuster concrete structure schematic diagram according to one embodiment of the invention；
Fig. 3 is the structural schematic diagram according to posture detecting unit in the gravity center adjuster of one embodiment of the invention；
Fig. 4 is the structural schematic diagram according to driving unit in the gravity center adjuster of one embodiment of the invention；
Fig. 5 is the method for adjusting gravity center flow chart according to one embodiment of the invention；
Fig. 6 is the method for adjusting gravity center flow chart according to another embodiment of the present invention.
Description of symbols:
10- gravity center adjuster, 100- posture detecting unit, 101- gyroscope, 102- acceleration transducer, 103- pressure
Sensor, 104- control circuit, 200- micro-control unit, 300- driving unit, 301- at least one steering engine, 302- at least one
Moving assembly, 303- feedback module, 400- updating unit and 500- power supply unit.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
The gravity center adjuster proposed according to embodiments of the present invention and method are described with reference to the accompanying drawings, it first will be referring to attached
The gravity center adjuster that figure description proposes according to embodiments of the present invention.
Fig. 1 is the gravity center adjuster structural schematic diagram of one embodiment of the invention.
As shown in Figure 1, the gravity center adjuster 10 includes: that posture detecting unit 100, micro-control unit 200 and driving are single
Member 300.
Wherein, posture detecting unit 100 is used for the variation of real-time detection movable body posture, to obtain movable body posture letter
Breath, and movable body posture information is transferred to micro-control unit 200.
Micro-control unit 200 is connected with posture detecting unit 100, works for controlling posture detecting unit 100, and to fortune
Kinetoplast posture information is handled, and to obtain posture fitting data, in conjunction with Attitude Simulation model, calculates optimum attitude track.
Driving unit 300 is connected with micro-control unit 200, for according to optimum attitude track to drive gravity center adjuster
Movement in whole or in part, and then adjust movable body center of gravity.
Wherein, movable body, which can according to need, is selected, for example is robot, intelligent machine device etc..
Wherein, movable body posture information can be one of acceleration, angular speed, wheelbase and position of centre of gravity or more
Kind.
In one embodiment of the invention, as shown in Fig. 2, posture detecting unit 100 includes: gyroscope 101, acceleration
Sensor 102, pressure sensor 103 and control circuit 104.As an example, it is examined in real time by acceleration transducer 102
The angular speed of the acceleration, 101 real-time detection movable body of gyroscope of surveying movable body is as movable body posture information.
To, and movable body posture information is transferred to micro-control unit 200, micro-control unit 200 can be by default
Posture fitting algorithm, preset posture model of fit etc. movable body posture information is handled to obtain posture fitting data,
Then Attitude Simulation model is combined to calculate optimum attitude track.
Driving unit 300 drives the center of gravity tune in whole or in part of gravity center adjuster according to optimum attitude track as a result,
It is whole.It is understood that the entirety to movable body may be implemented by the centre of gravity adjustment in whole or in part to gravity center adjuster
Or part centre of gravity adjustment, so that movable body be made to keep balance.
For example, gravity center adjuster both horizontally and vertically 360 degree rotation is driven, device entirety or portion are made
Inclination, swing arm, rotation is divided to keep its autokinetic movement more stable to change movable body center of gravity.
It should be noted that gravity center adjuster can mount on single-wheel, two-wheeled or multiwheel vehicle car body, it is also mountable to transport
The a certain position of kinetoplast such as robot, constitute it is a kind of can dynamic center-of-gravity regulating moving movement body.
In one embodiment of the invention, micro-control unit 200 is controlled according to posture fitting data and optimum attitude track
Driving unit 300 processed works.
In conclusion the gravity center adjuster 10 of the embodiment of the present invention, the variation of real-time detection movable body posture, are transported
Kinetoplast posture information, the work of micro-control unit controls posture detecting unit are simultaneously handled movable body posture information, and it is quasi- to obtain posture
Data and optimum attitude track are closed, meanwhile, micro-control unit works according to optimum attitude TRAJECTORY CONTROL driving unit, and then drives
The whole or part of gravity center adjuster acts or movement.Hereby it is achieved that adjusting the center of gravity of movable body in real time, it is not required to very important person
To intervene or enabling, can adaptive road conditions so that movable body is kept balance, be not easy to topple over, especially in road bump or have certain slope
The road surface of degree makes movable body even running.
It should be noted that as shown in figure 3, the gravity center adjuster 10 of the embodiment of the present invention further include: updating unit
400, power supply unit 500.
Wherein, updating unit 400 is connected with micro-control unit 200, for updating the Attitude Simulation mould of micro-control unit 200
Type and posture fitting algorithm.It is understood that being carried out by the updating unit to Attitude Simulation model and posture fitting algorithm
It updates, available new posture fitting data and new optimum attitude track can be further improved gravity center adjuster
The accuracy of centre of gravity adjustment in whole or in part.
Power supply unit 500 is connected respectively at each unit in gravity center adjuster, such as power supply unit 500 and attitude detection
Unit 100, micro-control unit 200 are connected with driving unit 300, for powering for each unit in gravity center adjuster.
Further, in one embodiment of the invention, as shown in figure 4, driving unit 300 includes: at least one rudder
Machine or motor 301, for driving at least one moving assembly to move according to optimum attitude track；At least one moving assembly 302,
For driving the centre of gravity adjustment in whole or in part of gravity center adjuster.
Further, in one embodiment of the invention, configured on gravity center adjuster the balancing pole shunk automatically or
Balance plate, controls balancing pole according to the actual application or balance plate carries out Quick extension or rotation to assist gravity balance.
Further, in one embodiment of the invention, as shown in figure 4, driving unit 300 further include: feedback module
303, for deviation to be fed back to micro-control unit, so that micro-control unit is controlled driving unit according to the deviation of feedback and carry out
Center of gravity fine tuning, to reach the gravity balance of entire movable body.
After the centre of gravity adjustment in whole or in part according to optimum attitude track to drive gravity center adjuster, continue through
Posture detecting unit detects the variation of movable body posture, obtains movable body posture information and is transferred to micro-control unit, microcontroller list
Member is again handled movable body posture information, obtains deviation, finely tunes corresponding centre-of-gravity device according to the feedback of deviation
Center of gravity, to reach the whole gravity balance of movable body.Thus the accuracy of centre of gravity adjustment is further increased.
That is, enabling at least one steering engine or motor when according to optimal motion TRAJECTORY CONTROL driving unit 300
Make, drive the inclination in whole or in part of gravity center adjuster or drive balancing pole rotation or swing arm, reaches the relatively flat of movable body
Weighing apparatus may be implemented automatic modification in real time, deviation fed back to micro-control unit, makes micro-control unit according to the deviation of feedback
It controls driving unit and carries out center of gravity fine tuning, to reach the gravity balance of entire movable body.
Describe the method for adjusting gravity center proposed according to embodiments of the present invention with reference to the accompanying drawings.
Fig. 5 is the method for adjusting gravity center flow chart of one embodiment of the invention.
As shown in figure 5, the method for adjusting gravity center the following steps are included:
In step s101, movable body posture information is obtained.
That is, obtaining movable body posture information by above-mentioned posture detecting unit, wherein movable body posture information packet
Include acceleration, angular speed, wheelbase, position of centre of gravity etc.；
In step s 102, by carrying out posture the Fitting Calculation to movable body posture information, to obtain posture fitting data,
And Attitude Simulation model is combined, optimum attitude track is calculated.
Movable body posture information handle by preset posture fitting algorithm, preset posture model of fit etc.
To posture fitting data, then Attitude Simulation model is combined to calculate optimum attitude track.
In step s 103, the center of gravity in whole or in part of gravity center adjuster is adjusted according to optimum attitude track.
Driving unit 300 drives the center of gravity tune in whole or in part of gravity center adjuster according to optimum attitude track as a result,
It is whole.It is understood that the entirety to movable body may be implemented by the centre of gravity adjustment in whole or in part to gravity center adjuster
Or part centre of gravity adjustment, so that movable body be made to keep balance.
For example, gravity center adjuster both horizontally and vertically 360 degree rotation is driven, device entirety or portion are made
Inclination, swing arm, rotation is divided to keep its autokinetic movement more stable to change movable body center of gravity.
Fig. 6 is the method for adjusting gravity center flow chart of another embodiment of the present invention.
As shown in fig. 6, after step 103, the method for adjusting gravity center the following steps are included:
Step 201, deviation is obtained；
Step 202, the center of gravity of gravity center adjuster is finely tuned, in real time according to the feedback of deviation to reach gravity center adjuster
Mass motion balance.
After the centre of gravity adjustment in whole or in part according to optimum attitude track to drive gravity center adjuster, continue through
Posture detecting unit detects the variation of movable body posture, obtains movable body posture information and is transferred to micro-control unit, microcontroller list
Member is again handled movable body posture information, obtains deviation, finely tunes corresponding centre-of-gravity device according to the feedback of deviation
Center of gravity, to reach the whole gravity balance of movable body.Thus the accuracy of centre of gravity adjustment is further increased.
It should be noted that the aforementioned explanation to centre of gravity adjustment Installation practice is also applied for this method, herein not
It repeats again.
In conclusion the method for adjusting gravity center proposed according to embodiments of the present invention, the variation of real-time detection movable body posture,
Movable body posture information is obtained, the work of micro-control unit controls posture detecting unit simultaneously handles movable body posture information, obtains
Posture fitting data and optimum attitude track, meanwhile, micro-control unit works according to optimum attitude TRAJECTORY CONTROL driving unit, into
And the whole or part of gravity center adjuster is driven to act or move.Hereby it is achieved that adjusting the center of gravity of movable body in real time, no
Need human intervention or enabled, can adaptive road conditions so that movable body is kept balance, be not easy to topple over, especially in road bump or have
The road surface of certain slope makes movable body even running.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of gravity center adjuster characterized by comprising
Posture detecting unit, for detecting the variation of movable body posture, to obtain movable body posture information, and by the movable body
Posture information is transferred to micro-control unit；
Micro-control unit, the micro-control unit are connected with the posture detecting unit, for controlling the posture detecting unit
Work, and the movable body posture information is handled, to obtain posture fitting data, in conjunction with Attitude Simulation model, calculate
Optimum attitude track out；And
Driving unit, the driving unit are connected with the micro-control unit, for according to the optimum attitude track to drive
The movement in whole or in part of the gravity center adjuster, to adjust movable body center of gravity.
2. gravity center adjuster according to claim 1, which is characterized in that the posture detecting unit include: gyroscope,
Acceleration transducer, pressure sensor and control circuit.
3. gravity center adjuster according to claim 1, which is characterized in that the micro-control unit is quasi- according to the posture
Close the work of driving unit described in data and the optimum attitude TRAJECTORY CONTROL.
4. gravity center adjuster according to claim 1, which is characterized in that further include:
Updating unit, the updating unit are connected with the micro-control unit, for updating the Attitude Simulation model and posture
Fitting algorithm；
Power supply unit, the power supply unit are connected respectively at each unit in the gravity center adjuster, for being the center of gravity
Adjust each unit power supply in device.
5. gravity center adjuster according to claim 1, which is characterized in that the driving unit includes:
At least one moving assembly, for driving the centre of gravity adjustment in whole or in part of the gravity center adjuster；
At least one steering engine or motor, for driving at least one moving assembly to move according to the optimum attitude track.
6. gravity center adjuster according to claim 5, which is characterized in that configure automatic receive on the gravity center adjuster
The balancing pole or balance plate of contracting, for being stretched or being rotated to assist gravity balance.
7. gravity center adjuster according to claim 1, which is characterized in that the driving unit includes:
Feedback module makes the micro-control unit according to feedback for deviation to be fed back to the micro-control unit
Deviation controls the driving unit and carries out center of gravity fine tuning, to reach the gravity balance of the entire movable body.
8. a kind of method for adjusting gravity center, which comprises the following steps:
Obtain movable body posture information；
By carrying out posture the Fitting Calculation to the movable body posture information, to obtain posture fitting data, and combine posture imitative
Optimum attitude track is calculated in true mode；
The center of gravity of the gravity center adjuster is adjusted according to the optimum attitude track.
9. method for adjusting gravity center according to claim 8, which is characterized in that further include:
Obtain deviation；
The center of gravity of the gravity center adjuster is finely tuned, in real time according to the feedback of the deviation to reach the gravity center adjuster
Mass motion balance.
10. method for adjusting gravity center according to claim 8, which is characterized in that the movable body posture information includes: to accelerate
Degree, angular speed, wheelbase and position of centre of gravity.
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| CN201811416476.8A CN109375627A (en) | 2018-11-26 | 2018-11-26 | Gravity center adjuster and method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109878578A (en) * | 2019-03-20 | 2019-06-14 | 北京理工大学珠海学院 | Center of gravity intelligent regulating system and its adjusting method |
| CN111942577A (en) * | 2020-08-13 | 2020-11-17 | 北京京东乾石科技有限公司 | Gravity center balancing method of unmanned aerial vehicle and unmanned aerial vehicle |
| CN112486167A (en) * | 2020-11-09 | 2021-03-12 | 北京爱笔科技有限公司 | Autonomous obstacle avoidance robot, anti-toppling mobile platform and anti-toppling control method |
| CN114571463A (en) * | 2022-03-28 | 2022-06-03 | 达闼机器人股份有限公司 | Action detection method and device, readable storage medium and electronic equipment |
| CN115431272A (en) * | 2022-09-23 | 2022-12-06 | 上海合时智能科技有限公司 | Robot control system, control method, control device and robot |
| CN118011921B (en) * | 2024-02-19 | 2024-07-16 | 湖北国际旅行卫生保健中心(武汉海关口岸门诊部) | Intelligent transport case for special articles and control method thereof |
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| CN112486167A (en) * | 2020-11-09 | 2021-03-12 | 北京爱笔科技有限公司 | Autonomous obstacle avoidance robot, anti-toppling mobile platform and anti-toppling control method |
| CN112486167B (en) * | 2020-11-09 | 2024-05-31 | 北京爱笔科技有限公司 | Autonomous obstacle avoidance robot, anti-toppling mobile platform and anti-toppling control method |
| CN114571463A (en) * | 2022-03-28 | 2022-06-03 | 达闼机器人股份有限公司 | Action detection method and device, readable storage medium and electronic equipment |
| CN114571463B (en) * | 2022-03-28 | 2023-10-20 | 达闼机器人股份有限公司 | Motion detection method and device, readable storage medium and electronic equipment |
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