CN109991989A - Dynamical balancing method, device and storage medium under robot idle state - Google Patents
Dynamical balancing method, device and storage medium under robot idle state Download PDFInfo
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- CN109991989A CN109991989A CN201711482803.5A CN201711482803A CN109991989A CN 109991989 A CN109991989 A CN 109991989A CN 201711482803 A CN201711482803 A CN 201711482803A CN 109991989 A CN109991989 A CN 109991989A
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- robot
- movement velocity
- judge
- idle state
- preset range
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
Abstract
The invention discloses the dynamical balancing methods under a kind of robot idle state, this method comprises: receiving the wake-up interrupts from inertial sensor in an idle state, wake-up interrupts indicate that robot becomes motion state from stationary state；Judge whether robot is in upright posture and whether within a preset range to judge the movement velocity of robot；If robot is in upright posture and movement velocity is in preset range, it is mobile to carry out dynamic equilibrium adjustment to the direction of motion to control robot.The invention also discloses dynamic balancer, robot and the readable storage medium storing program for executing under a kind of robot idle state.By the above-mentioned means, the present invention can realize dynamic equilibrium when robot is by external force.
Description
Technical field
The present invention relates to robot fields, more particularly to dynamical balancing method, the dress under a kind of robot idle state
It sets, robot and readable storage medium storing program for executing.
Background technique
Robot in an idle state, i.e., when not receiving control instruction, is generally kept in a stable posture, such as
Upright posture.But when the robot under idle state is by external force, dynamic equilibrium may be cannot achieve and posture is sent out
Changing, for example, the robot that is kept upright originally pushed away after disequilibrium and fall down, may cause robot by
Damage.
Summary of the invention
The invention mainly solves the technical problem of providing dynamical balancing method, the dresses under a kind of robot idle state
It sets, robot and readable storage medium storing program for executing, it can when being able to solve the robot under idle state in the prior art by external force
The problem of dynamic equilibrium can be cannot achieve.
In order to solve the above-mentioned technical problems, the present invention provides the dynamical balancing method under a kind of robot idle state,
This method comprises: receive the wake-up interrupts from inertial sensor in an idle state, wake-up interrupts indicate robot from quiet
Only state becomes motion state；Judge whether robot is in upright posture and judges the movement velocity of robot whether default
In range；If robot is in upright posture and movement velocity is in preset range, controls robot and moved to the direction of motion
It moves to carry out dynamic equilibrium adjustment.
In order to solve the above-mentioned technical problems, the present invention provides the dynamic balancer under a kind of robot idle state,
The device includes at least one processor, is worked alone or synergistically, and processor is for executing instruction to realize robot above-mentioned
Dynamical balancing method under idle state.
In order to solve the above-mentioned technical problems, the present invention provides a kind of robot, which includes processor, acceleration
Meter and gyroscope, processor are separately connected accelerometer and gyroscope, and processor is for executing instruction to realize machine above-mentioned
Dynamical balancing method under people's idle state.
In order to solve the above-mentioned technical problems, the present invention provides a kind of readable storage medium storing program for executing, are stored with instruction, and instruction is held
The dynamical balancing method under robot idle state above-mentioned is realized when row.
The beneficial effects of the present invention are: by receive from inertial sensor wake-up interrupts (indicate robot from
Stationary state becomes motion state) after, judge robot whether be in upright posture and judge robot movement velocity whether
Within a preset range, if then indicating in robot under upright posture by disequilibrium setting in motion under external force, fortune
The direction of falling down of robot in the case where any measure is not taken in dynamic direction as, control robot to the direction of motion it is mobile to
So that robot is restored balance, realize dynamic equilibrium, reduces a possibility that robot is damaged because of disequilibrium.
Detailed description of the invention
Fig. 1 is the flow diagram of the dynamical balancing method first embodiment under robot idle state of the present invention；
Fig. 2 is the flow diagram of the dynamical balancing method second embodiment under robot idle state of the present invention；
Fig. 3 is the flow diagram of the dynamical balancing method 3rd embodiment under robot idle state of the present invention；
Fig. 4 is the structural schematic diagram of the dynamic balancer first embodiment under robot idle state of the present invention；
Fig. 5 is the structural schematic diagram of robot first embodiment of the present invention；
Fig. 6 is the structural schematic diagram of readable storage medium storing program for executing first embodiment of the present invention.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and examples.What is do not conflicted in following embodiment can phase
Mutually combine.
As shown in Figure 1, the dynamical balancing method first embodiment under robot idle state of the present invention includes:
S1: the wake-up interrupts from inertial sensor are received in an idle state.
Inertial sensor may include accelerometer and/or gyroscope, for feeding back the movement state information of robot.Machine
When device man-made static's state, movement velocity and acceleration are all 0, when robot is kept in motion, movement velocity and/or acceleration
Degree is not 0, and wake-up interrupts indicate that robot becomes motion state from stationary state.Under normal circumstances, under being in idle condition
Robot should be stationary state, and receiving wake-up interrupts indicates that robot receives external force and setting in motion.
S2: judge whether robot is in upright posture and whether within a preset range to judge the movement velocity of robot.
Upright posture may include midstance and/or handstand posture.Generally, for the machine for copying human design
People, compared with tilt state, maximum distance of the body apart from ground is bigger when robot is in upright posture, disequilibrium and fall
The loss that may cause is more serious, and limb motion is more convenient, therefore dynamic equilibrium adjustment is generally directed at upright posture
Under robot.
Movement velocity can be with directive property, and movement velocity may be positive number or negative or 0 at this time；Movement velocity can
To be without directive property, movement velocity may be positive number or 0 at this time.
If movement velocity can be by the absolute value of movement velocity and default model to simplify judgement with directive property
It encloses and is compared to remove the influence of directive property.If movement velocity without directive property, can directly by movement velocity with
Preset range is compared.
Not considering directive property, (movement velocity itself is without directive property or takes the absolute of the movement velocity with directive property
Value) in the case where, if movement velocity/movement velocity absolute value is less than the lower limit (i.e. minimum value) of preset range, illustrate machine
Device people is insufficient to allow its disequilibrium by external force, does not need progress dynamic equilibrium adjustment and is just able to maintain balance.If movement speed
Degree/movement velocity absolute value is greater than the upper limit (i.e. maximum value) of preset range, and the external force for illustrating that robot is subject to is too strong,
It cannot keep balance carrying out dynamic equilibrium adjustment.
In the case where not considering directive property, preset range can be limited, and it is unlimited to be also possible to.If preset range
Be it is unlimited, the upper limit can be positive infinite, and lower limit can be positive number, it is meant that movement velocity/movement velocity absolute value is not
It is likely larger than the upper limit.If preset range is limited, the upper limit is not just infinite, it is meant that movement velocity/movement velocity
Absolute value can not be greater than the upper limit, under meaning that movement velocity/movement velocity absolute value can not be less than if lower limit is 0
Limit means that movement velocity/movement velocity absolute value is likely less than lower limit if lower limit is positive number.
The judgement that whether robot is in the judgement of upright posture and whether movement velocity is in preset range can be same
Shi Zhihang can also be executed successively, and there is no restriction for execution sequence in the case where successively executing.
S3: if robot is in upright posture and movement velocity is in preset range, robot is controlled to movement side
To mobile to carry out dynamic equilibrium adjustment.
Robot is in upright posture and movement velocity is in preset range, indicates robot disequilibrium and starts to transport
It is dynamic, if any measure is not taken to be possible to fall down, dynamic equilibrium adjustment can be executed in the case, i.e., control robot to
The direction of motion is mobile.
The direction of motion refers to do not take any measure in the case where robot fall down direction, by causing robot motion's
The direction of external force determines.For example, someone has pushed away the robot under idle state once from the rear of robot, robot one has been given
A forward power, the direction of motion of robot are front.The direction of motion and movement velocity of robot belong to the movement of robot
Data are generally obtained from gyroscope.
During dynamic equilibrium adjustment, robot can be fixed to the mobile several steps of the direction of motion, step number,
Can be it is variable, if step number be greater than one, the step-length of every step can be fixed, and be also possible to variable.For example, robot
Step number (being similar to random little step) can be specified so that fixed pre- fixed step size is mobile, it can also be to specify step-length is mobile fixed to make a reservation for
Step number.Optionally, moving distance and movement velocity of the robot during dynamic equilibrium adjusts are positively correlated, and implement to above two
A example then specifies step number/specified step-length and movement velocity to be positively correlated since pre- fixed step size/predetermined step number is fixed value.
The application scenarios of the present embodiment are that robot is in idle condition down, if robot is under busy state,
Under the action of control instruction autonomous travel, dynamic equilibrium the movement that may interfere with robot can be adjusted, is not executed.
By the implementation of the present embodiment, (indicate robot from static receiving the wake-up interrupts from inertial sensor
State becomes motion state) after, judge whether robot is in upright posture and judges the movement velocity of robot whether pre-
If in range, if then indicating in robot under upright posture by disequilibrium setting in motion, movement side under external force
To be do not take robot in the case where any measure fall down direction, control robot is mobile to make machine to the direction of motion
Device people restores balance, and realizes dynamic equilibrium, reduces a possibility that robot is damaged because of disequilibrium.
As shown in Fig. 2, the dynamical balancing method second embodiment under robot idle state of the present invention, is in machine of the present invention
On the basis of dynamical balancing method first embodiment under device people's idle state, first judge whether robot is in upright posture again
Judge movement velocity whether within a preset range.The present embodiment is to the dynamical balancing method under robot idle state of the present invention
First embodiment further expands, and same part is not repeated herein, and the present embodiment includes:
S11: the wake-up interrupts from inertial sensor are received in an idle state.
S12: the orientation event of robot is obtained from inertial sensor.
In general, the orientation event of robot is divided into six kinds: midstance, handstand posture, it is preceding fall posture, appearance of falling afterwards
State, left posture and right posture, the register of inertial sensor will record robot present orientation event, can read this and post
Storage is to obtain the present orientation event of robot.
S13: judge that orientation event indicates whether that robot is in midstance or handstand posture.
If orientation event indicates that robot is in midstance or handstand posture, mean that robot is in upright appearance
State jumps to S14, otherwise terminates process, terminates that wake-up interrupts can be continued waiting for after process.
S14: the exercise data of robot is obtained from gyroscope.
Exercise data includes movement velocity and the direction of motion.Optionally, movement number is obtained within the predetermined time (such as 1 second)
According to guarantee the real-time of dynamic equilibrium adjustment.
What gyroscope can directly acquire is angular speed, and movement velocity can be angular speed itself, is also possible to according to angle
The linear velocity that speed is calculated.
The execution of this step only need to be before S15, and there is no restriction for the execution sequence between S11-S13.
S15: judge movement velocity whether within a preset range.
If movement velocity within a preset range, jumps to S16, otherwise terminate process, terminates to continue after process
Wait wake-up interrupts.
S16: control robot is mobile to carry out dynamic equilibrium adjustment to the direction of motion.
Terminate process after completing, terminates that wake-up interrupts can be continued waiting for after process.
As shown in figure 3, the dynamical balancing method 3rd embodiment under robot idle state of the present invention, is in machine of the present invention
On the basis of dynamical balancing method first embodiment under device people's idle state, first judge movement velocity whether within a preset range
Judge whether robot is in upright posture again.The present embodiment is to the dynamical balancing method under robot idle state of the present invention
First embodiment further expands, and same part is not repeated herein, and the present embodiment includes:
S21: the wake-up interrupts from inertial sensor are received in an idle state.
S22: the exercise data of robot is obtained from gyroscope.
Exercise data includes movement velocity and the direction of motion.Optionally, movement number is obtained within the predetermined time (such as 1 second)
According to guarantee the real-time of dynamic equilibrium adjustment.
What gyroscope can directly acquire is angular speed, and movement velocity can be angular speed itself, is also possible to according to angle
The linear velocity that speed is calculated.
There is no restriction for execution sequence between this step S21.
S23: judge movement velocity whether within a preset range.
If movement velocity within a preset range, jumps to S24, otherwise terminate process, terminates to continue after process
Wait wake-up interrupts.
S24: the orientation event of robot is obtained from inertial sensor.
In general, the orientation event of robot is divided into six kinds: midstance, handstand posture, it is preceding fall posture, appearance of falling afterwards
State, left posture and right posture, the register of inertial sensor will record robot present orientation event, can read this and post
Storage is to obtain the present orientation event of robot.
S25: judge that orientation event indicates whether that robot is in midstance or handstand posture.
If orientation event indicates that robot is in midstance or handstand posture, mean that robot is in upright appearance
State jumps to S26, otherwise terminates process, terminates that wake-up interrupts can be continued waiting for after process.
S26: control robot is mobile to carry out dynamic equilibrium adjustment to the direction of motion.
Terminate process after completing, terminates that wake-up interrupts can be continued waiting for after process.
As shown in figure 4, the dynamic balancer first embodiment under robot idle state of the present invention includes: processor
110.A processor 110 is only depicted in figure, actual quantity can be more.Processor 110 can be independent or cooperates.
Processor 110 controls the operation of the dynamic balancer under robot idle state, and processor 110 can also be known as
CPU (Central Processing Unit, central processing unit).Processor 110 may be a kind of IC chip, tool
There is the processing capacity of signal sequence.Processor 110 can also be general processor, digital signal sequences processor (DSP), dedicated
Integrated circuit (ASIC), ready-made programmable gate array (FPGA) either other programmable logic device, discrete gate or transistor
Logical device, discrete hardware components.General processor can be microprocessor or the processor be also possible to it is any conventional
Processor etc..
Processor 110 is used to execute instruction to realize the dynamical balancing method under robot idle state of the present invention the one the
Method provided by any of three embodiments and the combination not conflicted.
The dynamic balancer under robot idle state in the present embodiment can be also possible to machine with machine-independent people
The component of device people.
As shown in figure 5, robot first embodiment of the present invention includes: processor 210, accelerometer 220 and gyroscope
230, processor 210 is separately connected accelerometer 220 and gyroscope 230.
Processor 210 controls the operation of robot, and processor 210 can also be known as CPU (CentralProcessing
Unit, central processing unit).Processor 210 may be a kind of IC chip, the processing capacity with signal sequence.Place
Reason device 210 can also be general processor, digital signal sequences processor (DSP), specific integrated circuit (ASIC), ready-made compile
Journey gate array (FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware components.It is logical
It can be microprocessor with processor or the processor be also possible to any conventional processor etc..
Processor 210 is used to execute instruction to realize the dynamical balancing method under robot idle state of the present invention the one the
Method provided by any of three embodiments and the combination not conflicted.
As shown in fig. 6, readable storage medium storing program for executing first embodiment of the present invention includes memory 310, memory 310 is stored with finger
It enables, which is performed the dynamical balancing method first realized under robot idle state of the present invention and appoints into 3rd embodiment
One and any method provided by the combination that does not conflict.
Memory 310 may include read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), flash memory (Flash Memory), hard disk, CD etc..
In several embodiments provided by the present invention, it should be understood that disclosed method and apparatus can pass through it
Its mode is realized.For example, device embodiments described above are only schematical, for example, the module or unit
Division, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or group
Part can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown
Or the mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, device or unit it is indirect
Coupling or communication connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.Some or all of unit therein can be selected to realize present embodiment scheme according to the actual needs
Purpose.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that the independent physics of each unit includes, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention
The all or part of the steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory
(ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk
Etc. the various media that can store program code.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the invention, all to utilize this
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field is included within the scope of the present invention.
Claims (11)
1. the dynamical balancing method under a kind of robot idle state characterized by comprising
Receive the wake-up interrupts from inertial sensor in an idle state, the wake-up interrupts indicate the robot from quiet
Only state becomes motion state；
Judge whether robot is in upright posture and whether within a preset range to judge the movement velocity of the robot；
If the robot is in the upright posture and the movement velocity is in the preset range, robot is controlled
It is mobile to carry out dynamic equilibrium adjustment to the direction of motion.
2. the method according to claim 1, wherein
It is described to judge whether the robot is in upright posture and judges the movement velocity of the robot whether in default model
Include: in enclosing
Judge whether the robot is in the upright posture；
If the robot is in the upright posture, judge the movement velocity of the robot whether in the preset range
It is interior.
3. the method according to claim 1, wherein
It is described to judge whether the robot is in upright posture and judges the movement velocity of the robot whether in default model
Include: in enclosing
Judge the movement velocity of the robot whether in the preset range；
If the movement velocity of the robot in the preset range, judges whether the robot is in the upright appearance
State.
4. the method according to claim 1, wherein
It is described judge the robot whether in upright posture include:
The orientation event of the robot is obtained from the inertial sensor；
Judge that the orientation event indicates whether that the robot is in midstance or handstand posture.
5. the method according to claim 1, wherein
The movement velocity for judging the robot whether within a preset range before further comprise:
The exercise data of the robot is obtained from gyroscope, the exercise data includes the movement velocity and the movement side
To.
6. method according to any one of claims 1-5, which is characterized in that
The inertial sensor includes accelerometer and/or gyroscope.
7. method according to any one of claims 1-5, which is characterized in that
The control robot includes: to direction of motion movement
The robot is controlled to the direction of motion with the mobile specified step number of pre- fixed step size；Or
The robot is controlled to the direction of motion with the mobile predetermined step number of specified step-length.
8. the method according to the description of claim 7 is characterized in that
The specified step number/specified step-length and the movement velocity are positively correlated.
9. the dynamic balancer under a kind of robot idle state, which is characterized in that including at least one processor, individually or
It cooperates, the processor is for executing instruction to realize such as method of any of claims 1-8.
10. a kind of robot, which is characterized in that including processor, accelerometer and gyroscope, the processor is separately connected institute
Accelerometer and the gyroscope are stated, the processor is for executing instruction to realize as described in any one of claim 1-8
Method.
11. a kind of readable storage medium storing program for executing is stored with instruction, which is characterized in that described instruction is performed realization such as claim
Method described in any one of 1-8.
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