CN109991989B - Dynamic balance method and device of robot in idle state and storage medium - Google Patents
Dynamic balance method and device of robot in idle state and storage medium Download PDFInfo
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Abstract
The invention discloses a dynamic balancing method of a robot in an idle state, which comprises the following steps: receiving a wake-up interrupt from an inertial sensor in an idle state, the wake-up interrupt indicating that the robot is changing from a stationary state to a moving state; judging whether the robot is in an upright posture or not and judging whether the movement speed of the robot is within a preset range or not; and if the robot is in the vertical posture and the movement speed is within the preset range, controlling the robot to move towards the movement direction so as to carry out dynamic balance adjustment. The invention also discloses a dynamic balance device of the robot in an idle state, the robot and a readable storage medium. Through the mode, the robot can realize dynamic balance when the robot is under the action of external force.
Description
Technical Field
The present invention relates to the field of robots, and in particular, to a method and an apparatus for dynamically balancing a robot in an idle state, a robot, and a readable storage medium.
Background
The robot is generally maintained in a stable position, e.g. an upright position, in an idle state, i.e. when no control commands are received. However, when the robot in the idle state is acted by an external force, dynamic balance may not be achieved, so that the posture changes, for example, the robot which originally keeps upright is pushed down and loses balance to fall down, which may cause the robot to be damaged.
Disclosure of Invention
The invention mainly solves the technical problem of providing a dynamic balance method and device of a robot in an idle state, the robot and a readable storage medium, and can solve the problem that the dynamic balance of the robot in the idle state in the prior art can not be realized when the robot is acted by an external force.
In order to solve the above technical problem, the present invention provides a dynamic balancing method for a robot in an idle state, the method comprising: receiving a wake-up interrupt from an inertial sensor in an idle state, the wake-up interrupt indicating that the robot is changing from a stationary state to a moving state; judging whether the robot is in an upright posture or not and judging whether the movement speed of the robot is within a preset range or not; and if the robot is in the vertical posture and the movement speed is within the preset range, controlling the robot to move towards the movement direction so as to carry out dynamic balance adjustment.
In order to solve the technical problem, the present invention provides a dynamic balancing apparatus in an idle state of a robot, which includes at least one processor, working alone or in cooperation, the processor being configured to execute instructions to implement the aforementioned dynamic balancing method in the idle state of the robot.
In order to solve the technical problem, the invention provides a robot, which comprises a processor, an accelerometer and a gyroscope, wherein the processor is respectively connected with the accelerometer and the gyroscope, and the processor is used for executing instructions to realize the dynamic balance method of the robot in the idle state.
In order to solve the above technical problem, the present invention provides a readable storage medium, which stores instructions that, when executed, implement the aforementioned dynamic balancing method in the idle state of the robot.
The invention has the beneficial effects that: after the robot is awakened and interrupted (indicating that the robot is changed from a static state to a motion state) from the inertial sensor, whether the robot is in an upright posture or not is judged, whether the motion speed of the robot is within a preset range or not is judged, if yes, the robot is out of balance under the action of external force and starts to move, the motion direction is the falling direction of the robot under the condition that no measures are taken, the robot is controlled to move towards the motion direction, so that the robot is restored to balance, dynamic balance is realized, and the possibility that the robot is damaged due to balance losing is reduced.
Drawings
FIG. 1 is a schematic flow chart of a first embodiment of a dynamic balancing method of a robot in an idle state;
FIG. 2 is a schematic flow chart of a second embodiment of the dynamic balancing method of the robot in an idle state;
FIG. 3 is a flow chart of a third embodiment of the dynamic balancing method of the robot in an idle state;
FIG. 4 is a schematic structural diagram of a first embodiment of a dynamic balancing apparatus of the robot in an idle state;
FIG. 5 is a schematic structural diagram of a first embodiment of the robot of the present invention;
fig. 6 is a schematic structural diagram of a first embodiment of the readable storage medium of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and examples. Non-conflicting ones of the following embodiments may be combined with each other.
As shown in fig. 1, a first embodiment of the dynamic balancing method of the robot in the idle state of the invention includes:
s1: a wake-up interrupt from the inertial sensor is received in the idle state.
The inertial sensors may include accelerometers and/or gyroscopes for feeding back motion state information of the robot. When the robot is in a static state, the motion speed and the acceleration are both 0, when the robot is in a motion state, the motion speed and/or the acceleration are not 0, and the awakening interruption indicates that the robot is changed from the static state to the motion state. Under normal conditions, the robot in the idle state is in a static state, and when the robot receives the awakening interrupt, the robot starts to move under the action of external force.
S2: and judging whether the robot is in an upright posture or not and judging whether the movement speed of the robot is within a preset range or not.
The upright posture may include a standing posture and/or an inverted posture. In general, for a robot imitating a human body design, the maximum distance of the body from the ground is larger when the robot is in an upright posture than in a toppling state, loss that may be caused by falling due to loss of balance is more serious, and limb movement is more convenient, so dynamic balance adjustment is generally directed to the robot in the upright posture.
The movement speed may be directional, in which case the movement speed may be a positive or negative number or 0; the speed of movement may be non-directional, in which case the speed of movement may be a positive number or 0.
If the moving speed is directional, the absolute value of the moving speed may be compared with a preset range to remove the influence of the directivity, in order to simplify the determination. If the moving speed does not have directivity, the moving speed can be directly compared with a preset range.
In the case of not considering the directivity (the movement speed itself has no directivity or the absolute value of the movement speed with the directivity), if the absolute value of the movement speed/the movement speed is smaller than the lower limit (i.e., the minimum value) of the preset range, it means that the robot is not enough to lose balance by the external force, and the balance can be maintained without performing dynamic balance adjustment. If the absolute value of the movement speed/the movement speed is larger than the upper limit (namely the maximum value) of the preset range, the robot is indicated to be too strong in external force action, and the robot cannot keep balance even if dynamic balance adjustment is carried out.
The preset range may be limited or unlimited regardless of the directivity. If the preset range is infinite, the upper limit may be positive infinity and the lower limit may be a positive number, meaning that the absolute value of the moving speed/moving speed cannot be greater than the upper limit. If the preset range is limited, the upper limit thereof is not positive infinity, meaning that the absolute value of the moving speed/moving speed cannot be larger than the upper limit, if the lower limit is 0, meaning that the absolute value of the moving speed/moving speed cannot be smaller than the lower limit, if the lower limit is a positive number, meaning that the absolute value of the moving speed/moving speed may be smaller than the lower limit.
The judgment of whether the robot is in the vertical posture and the judgment of whether the movement speed is in the preset range can be executed simultaneously or sequentially, and the execution sequence is not limited under the condition of sequential execution.
S3: and if the robot is in the vertical posture and the movement speed is within the preset range, controlling the robot to move towards the movement direction so as to carry out dynamic balance adjustment.
The robot is in an upright posture and the movement speed is in a preset range, which indicates that the robot loses balance and starts to move, and if no measures are taken, the robot can possibly fall down, and in this case, dynamic balance adjustment can be performed, namely, the robot is controlled to move towards the movement direction.
The movement direction refers to the falling direction of the robot without any measures, and is determined by the direction of the external force causing the robot to move. For example, when a person pushes the robot in an idle state from the rear of the robot, the robot is given a forward force, and the moving direction of the robot is the front. The moving direction and the moving speed of the robot belong to the moving data of the robot and are generally obtained from a gyroscope.
In the dynamic balance adjustment process, the robot can move a plurality of steps towards the motion direction, the step number can be fixed or variable, and if the step number is more than one, the step length of each step can be fixed or variable. For example, the robot may move a specified number of steps (similar to a small fraction) in a fixed predetermined step size, or may move a fixed predetermined number of steps in a specified step size. Optionally, the moving distance of the robot during the dynamic balance adjustment is positively correlated with the moving speed, and the above two examples are implemented, and since the predetermined step length/the predetermined step number is a fixed value, the designated step number/the designated step length is positively correlated with the moving speed.
The application scenario of this embodiment is that the robot is in an idle state, and if the robot is in a non-idle state, the robot will move by itself under the action of the control command, and the dynamic balance adjustment may interfere with the movement of the robot and is not performed.
Through the implementation of the embodiment, after the wake-up interruption (indicating that the robot is changed from a static state to a motion state) from the inertial sensor is received, whether the robot is in an upright posture or not is judged, whether the motion speed of the robot is within a preset range or not is judged, if yes, the robot is out of balance under the action of external force under the upright posture to start to move, the motion direction is the falling direction of the robot under the condition that no measures are taken, the robot is controlled to move towards the motion direction, so that the robot recovers balance, dynamic balance is realized, and the possibility that the robot is damaged due to the loss of balance is reduced.
As shown in fig. 2, a second embodiment of the dynamic balancing method for the robot in the idle state of the present invention is based on the first embodiment of the dynamic balancing method for the robot in the idle state of the present invention, and firstly determines whether the robot is in the upright posture and then determines whether the moving speed is within the preset range. This embodiment is a further extension of the first embodiment of the dynamic balancing method in the idle state of the robot of the present invention, and the same parts are not repeated here, and this embodiment includes:
s11: a wake-up interrupt from the inertial sensor is received in the idle state.
S12: orientation events of the robot are acquired from the inertial sensors.
Generally, the orientation events of the robot are divided into six types: the robot comprises a standing posture, an inverted posture, a front inverted posture, a rear inverted posture, a left inverted posture and a right inverted posture, a register of an inertial sensor can record the current orientation event of the robot, and the register can be read to obtain the current orientation event of the robot.
S13: and judging whether the orientation event indicates that the robot is in a standing posture or an inverted posture.
If the orientation event indicates that the robot is in a standing posture or an inverted posture, the robot is in an upright posture, and the process jumps to S14, otherwise, the process is ended, and the process can continue to wait for the awakening interrupt after the process is ended.
S14: and acquiring motion data of the robot from the gyroscope.
The motion data includes a motion speed and a motion direction. Optionally, the motion data is acquired within a predetermined time (e.g., 1 second) to ensure real-time performance of the dynamic balance adjustment.
The gyroscope can directly acquire the angular velocity, and the movement velocity can be the angular velocity itself or a linear velocity calculated according to the angular velocity.
The step is performed only before S15, and the sequence of S11-S13 is not limited.
S15: and judging whether the movement speed is within a preset range.
If the movement speed is within the preset range, the process goes to S16, otherwise, the process is ended, and after the process is ended, the process may continue to wait for the wakeup interrupt.
S16: and controlling the robot to move towards the motion direction to perform dynamic balance adjustment.
The flow ends after completion, and the flow can continue to wait for the wake-up interrupt after ending.
As shown in fig. 3, a third embodiment of the dynamic balancing method in the idle state of the robot of the present invention is based on the first embodiment of the dynamic balancing method in the idle state of the robot of the present invention, and firstly determines whether the movement speed is within a preset range, and then determines whether the robot is in an upright posture. This embodiment is a further extension of the first embodiment of the dynamic balancing method in the idle state of the robot of the present invention, and the same parts are not repeated here, and this embodiment includes:
s21: a wake-up interrupt from the inertial sensor is received in the idle state.
S22: and acquiring motion data of the robot from the gyroscope.
The motion data includes a motion speed and a motion direction. Optionally, the motion data is acquired within a predetermined time (e.g., 1 second) to ensure real-time performance of the dynamic balance adjustment.
The gyroscope can directly acquire the angular velocity, and the movement velocity can be the angular velocity itself or a linear velocity calculated according to the angular velocity.
The execution sequence between the present step S21 is not limited.
S23: and judging whether the movement speed is within a preset range.
If the movement speed is within the preset range, the process goes to S24, otherwise, the process is ended, and after the process is ended, the process may continue to wait for the wakeup interrupt.
S24: orientation events of the robot are acquired from the inertial sensors.
Generally, the orientation events of the robot are divided into six types: the robot comprises a standing posture, an inverted posture, a front inverted posture, a rear inverted posture, a left inverted posture and a right inverted posture, a register of an inertial sensor can record the current orientation event of the robot, and the register can be read to obtain the current orientation event of the robot.
S25: and judging whether the orientation event indicates that the robot is in a standing posture or an inverted posture.
If the orientation event indicates that the robot is in a standing posture or an inverted posture, the robot is in an upright posture, and the process jumps to S26, otherwise, the process is ended, and the process can continue to wait for the awakening interrupt after the process is ended.
S26: and controlling the robot to move towards the motion direction to perform dynamic balance adjustment.
The flow ends after completion, and the flow can continue to wait for the wake-up interrupt after ending.
As shown in fig. 4, the first embodiment of the dynamic balance device in the idle state of the robot of the present invention includes: a processor 110. Only one processor 110 is shown, and the actual number may be larger. The processors 110 may operate individually or in concert.
The processor 110 controls the operation of the dynamic balancing apparatus in the idle state of the robot, and the processor 110 may also be referred to as a Central Processing Unit (CPU). The processor 110 may be an integrated circuit chip having the processing capability of signal sequences. The processor 110 may also be a general purpose processor, a digital signal sequence processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The processor 110 is configured to execute instructions to implement the method provided by any one of the first and third embodiments of the inventive method of dynamic balancing in an idle state of a robot, and combinations thereof without conflict.
The dynamic balancing apparatus in the idle state of the robot in this embodiment may be independent of the robot or may be a component of the robot.
As shown in fig. 5, the first embodiment of the robot of the present invention includes: a processor 210, an accelerometer 220 and a gyroscope 230, the processor 210 being connected to the accelerometer 220 and the gyroscope 230, respectively.
The processor 210 controls the operation of the robot, and the processor 210 may also be referred to as a Central Processing Unit (CPU). The processor 210 may be an integrated circuit chip having the processing capability of signal sequences. Processor 210 may also be a general purpose processor, a digital signal sequence processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The processor 210 is used to execute instructions to implement the method provided by any one of the first and third embodiments of the inventive method of dynamic balancing in an idle state of a robot, as well as combinations that are non-conflicting.
As shown in fig. 6, the first embodiment of the storage medium readable by the present invention includes a memory 310, and the memory 310 stores instructions that when executed implement the method provided by any one of the first to third embodiments of the dynamic balancing method in the idle state of the robot according to the present invention and any non-conflicting combination.
The Memory 310 may include a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a hard disk, an optical disk, and the like.
In the embodiments provided in the present invention, it should be understood that the disclosed method and apparatus can be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be physically included alone, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (11)
1. A dynamic balancing method for a robot in an idle state is characterized by comprising the following steps:
receiving a wake-up interrupt from an inertial sensor in an idle state, the wake-up interrupt indicating that the robot is changing from a stationary state to a moving state;
judging whether the robot is in an upright posture or not and judging whether the movement speed of the robot is within a preset range or not;
and if the robot is in the vertical posture and the movement speed is within the preset range, controlling the robot to move towards the movement direction to perform dynamic balance adjustment.
2. The method of claim 1,
the judging whether the robot is in an upright posture and the judging whether the movement speed of the robot is within a preset range comprises:
judging whether the robot is in the upright posture or not;
and if the robot is in the vertical posture, judging whether the movement speed of the robot is within the preset range.
3. The method of claim 1,
the judging whether the robot is in an upright posture and the judging whether the movement speed of the robot is within a preset range comprises:
judging whether the movement speed of the robot is within the preset range or not;
and if the movement speed of the robot is within the preset range, judging whether the robot is in the upright posture.
4. The method of claim 1,
the determining whether the robot is in an upright posture comprises:
acquiring orientation events of the robot from the inertial sensor;
and judging whether the orientation event represents that the robot is in a standing posture or an inverted posture.
5. The method of claim 1,
before the judging whether the movement speed of the robot is within a preset range, the method further comprises the following steps:
acquiring motion data of the robot from a gyroscope, wherein the motion data comprises the motion speed and the motion direction.
6. The method according to any one of claims 1 to 5,
the inertial sensor includes an accelerometer and/or a gyroscope.
7. The method according to any one of claims 1 to 5,
the controlling the robot to move to the motion direction includes:
controlling the robot to move towards the motion direction by a preset step length for a specified step number; or
And controlling the robot to move towards the motion direction by a preset step length for a preset number of steps.
8. The method of claim 7,
the specified number of steps/specified step size is positively correlated with the motion speed.
9. A dynamic balancing device in an idle state of a robot, comprising at least one processor, working alone or in cooperation, for executing instructions to implement the method according to any one of claims 1-8.
10. A robot comprising a processor, an accelerometer and a gyroscope, the processor being connected to the accelerometer and the gyroscope respectively, the processor being configured to execute instructions to implement the method of any of claims 1-8.
11. A readable storage medium storing instructions that, when executed, implement the method of any one of claims 1-8.
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| CN102141814A (en) * | 2010-12-09 | 2011-08-03 | 北京理工大学 | Balance control method, balance control device and robot |
| CN104793622A (en) * | 2014-01-20 | 2015-07-22 | 丰田自动车株式会社 | Biped walking robot control method and biped walking robot control system |
| EP2933069A1 (en) * | 2014-04-17 | 2015-10-21 | Aldebaran Robotics | Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller |
| US9623568B1 (en) * | 2014-11-11 | 2017-04-18 | Google Inc. | Yaw slip handling in a robotic device |
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