CN110032191A - A kind of human emulated robot is quickly walked tracking avoidance implementation method - Google Patents
A kind of human emulated robot is quickly walked tracking avoidance implementation method Download PDFInfo
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- CN110032191A CN110032191A CN201910350660.5A CN201910350660A CN110032191A CN 110032191 A CN110032191 A CN 110032191A CN 201910350660 A CN201910350660 A CN 201910350660A CN 110032191 A CN110032191 A CN 110032191A
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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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Abstract
A kind of human emulated robot disclosed by the invention is quickly walked tracking avoidance implementation method, this method is related to a kind of apery type and quickly walks tracking avoidance robot, the robot includes Arduino main control chip, Arduino main control chip connects twin shaft steering engine to drive pedipulator to move, and it is set with straight trip, turn left, it turns right three kinds and acts, this method is sampled with camera, Lab color space is mapped first, set recognition threshold, pigment block is calculated later, and select largest block as target area, return coordinate value, by coordinate value calculate steering engine angle compared with predetermined angle whether in preset tracking angle, if then directly walking；If otherwise judging whether to be less than predetermined angle, if turning left turning, if otherwise turning right turning, camera sampling is finally all again returned to until being recycled in preset angle with this, until covering whole process.The present invention can be realized quick walking, have the function of avoidance walking, be suitable for fast and stable walking environment.
Description
Technical field
The present invention relates to robot field, in particular to a kind of human emulated robot is quickly walked tracking avoidance realization side
Method.
Background technique
Height emulation and apery are one of the Main ways of robot development.Biped robot belongs to humanoid robot, right
In the control of double feet walking, realizes that difficulty is big, but there is powerful advantage in terms of practicability.Therefore apery type running machine
People is undoubtedly research hotspot now.The biped robot that can quickly walk replaces muscle with executing agency, can be realized to body
The support of body, and the continuously coordinated movement of various economic factors.Its requirement for environment is extremely low, is suitable for various ground, and with higher
Go beyond the ability of obstacle, therefore has broad application prospects.
In the world, the U.S. and Japan go on along in the frontline technology of robot research and development.By using a variety of sensings
Technology and control algolithm, the U.S. constantly bring forth new ideas robot product form, optimize performance.It is Japanese then for transporting, the neck such as the disaster relief
The robot research and development aspect in domain is made an outstanding achievement.The anthropomorphic robot ASIMO developed by Japanese honda company is state-of-the-art at present
Biped robot imitating human walking.1.2 meters of ASIMO height, 52 kilograms of weight.Its speed of travel is 0-1.6km/h.The robot of early stage
If straight line turns to suddenly when walking, it is necessary to first stop, it appears that more clumsy.And ASIMO is just much more flexible, it can be real
When predict it is next movement and change center of gravity in advance, therefore can walk freely, carry out such as " 8 " font walk, get out of a predicament or an embarrassing situation, is curved
The items such as waist " complexity " movement.In addition, ASIMO can also shake hands, wave, it might even be possible to as music is danced lightly.
For at present, the small-sized biped robot imitating human walking of same type generally uses DC servo motor to drive, this method
Control precision is low and walking is also unstable.
Summary of the invention
It quickly walks tracking avoidance implementation method the purpose of the present invention is to provide a kind of human emulated robot, the robot
Using more twin shaft steering engines linkage quickly walking, have the function of avoidance walking, is suitable for fast and stable walking environment.
To achieve the goals above, technical scheme is as follows:
A kind of human emulated robot is quickly walked tracking avoidance implementation method, and this method is related to a kind of apery type and quickly walks
Tracking avoidance robot, the robot include two pedipulators and upper body, and pedipulator is connected to below upper body, is symmetric,
Pedipulator is equipped with twin shaft steering engine, and upper body is equipped with Openmv machine vision module, power module, Openmv machine vision module
Including the camera for shooting image, Openmv machine vision module connects Arduino main control chip, Arduino master control core
Piece connect twin shaft steering engine with power module to drive pedipulator to move, when Arduino main control chip is to the robot ambulation jointly
Set action group is set with straight trip, left-hand rotation, three kinds of movements of turning right, this method specifically:
After robot power module starting, camera starts simultaneously at acquisition image and passes to Arduino main control chip, selects
Color recognizer judges the image passed back；
Lab color space is mapped first, sets recognition threshold, calculates the color in single-frame images in threshold value later
Plain block, and select largest block as the target area of identification, coordinate value is returned, steering engine angle is calculated by coordinate value and sets in advance
Whether the angle value set compares in preset tracking angle or line, if so then execute movement is directly walked；If otherwise judging whether
Less than predetermined angle, if then using left-hand rotation turning action, if otherwise using right-hand rotation turning action, camera shooting is finally all again returned to
Head sampling with this until being recycled in preset angle, until covering whole process.
Further, which further includes balance module, and after execution directly walks movement, Openmv machine vision module is surveyed
It is fixed to pass to Arduino main control chip with ground distance, judge whether to be less than preset height value, if executing balance play, if it is not,
It then returns and continues to determine whether in preset tracking angle or line.
Further, after ten test distances, clustering is carried out for the coordinate of passback, by data modeling,
The flag data kept straight on, turn left, turned right is searched out in distance, and dynamic as judging to send to Arduino main control chip
Make control instruction.
Further, Arduino main control chip also to the robot ambulation when set two sets of big stride, small stride movement sides
Case.
After adopting the above scheme, two pedipulators of the invention complete foot-up by the cooperation of twin shaft steering engine and stop over dynamic
Make, realizes that more twin shaft steering engine linkage eight degrees of freedom are quickly walked；And it can be sampled by camera, Openmv machine vision module
Identification and Arduino main control chip, which analyze and determine, carries out Real-time Decision, and tracking avoidance is realized in last electric drive pedipulator movement
Function is suitable for fast and stable walking environment.
Below in conjunction with drawings and the specific embodiments, the present invention will be further described.
Detailed description of the invention
Fig. 1 is leg side of the present invention structural scheme of mechanism；
Fig. 2 is foot mechanism schematic diagram of the present invention；
Fig. 3 is the U-shaped frame schematic diagram of the present invention；
Fig. 4 is arm schematic diagram of the present invention；
Fig. 5 is the schematic diagram of the oblique straight panel of the present invention；
Fig. 6 is aluminum corner brace schematic diagram of the present invention；
Fig. 7 is upper body structural schematic diagram of the present invention；
Fig. 8 is lens fixed seat schematic diagram of the present invention；
Fig. 9 is holder schematic diagram of the present invention；
Figure 10 is single pedipulator structural schematic diagram of the invention；
Figure 11 is overall structure of the present invention；
Figure 12 is the method for the present invention flow diagram；
Figure 13 is twin shaft steering engine distribution schematic diagram of the present invention；
Figure 14 is the electrical connection block diagram of Arduino main control chip of the present invention.
Label declaration
1- upper body；11- upper body top plate；12- upper body back plate；13- upper body foreboard；14- upper body side plate；15- camera is fixed
Seat；16- holder；
2- pedipulator；21- Tui Ce mechanism；The U-shaped frame of 211- first；The oblique straight panel of 212-；22- foot mechanism；221- second is U-shaped
Frame；222- aluminum corner brace；223- plate；23- twin shaft steering engine；24- steering engine seat；
3- arm；31- fixing end；32- cantilever end；
41,42,43,44,45,46,47,48,49,50- twin shaft steering engine；51- steering engine seat；
6-Arduino main control chip；61- tracking avoidance decision-making module；62- steering engine control module；63- driving；631-3S
Model airplane battery；64- infrared survey module；65- external light source.
Specific embodiment
A kind of human emulated robot that the present invention discloses quickly is walked tracking avoidance implementation method, refering to fig. 1-13, the party
Method is related to a kind of apery type and quickly walks tracking avoidance robot, which includes two pedipulators 2 and be equipped with Openmv
The upper body 1 of machine vision module, power module, two pedipulators 2 are symmetrically distributed in 1 lower section of upper body.
As shown in fig. 7, mainly by upper body top plate 11, upper body top plate 12, upper body foreboard 13 and two pieces of upper body sides outside upper body 1
Plate 14 forms, and forms inside the upper body 1 with chamber, and power module is placed in inside upper body 1, and power module includes battery and glues
It is subsidiary, and place it in inside upper body 1 from top to bottom 3/5ths at and fixed by adherent zone, mitigate power supply system from
Stablize center of gravity while body weight.In the present embodiment, battery is used using lithium battery as robot system power supply.
In conjunction with shown in Fig. 1-3,10-11, single pedipulator 2 is mainly made of Tui Ce mechanism 21 and foot mechanism 22, below
It is illustrated with right pedipulator, left pedipulator has identical structure, therefore does not repeat, wherein Tui Ce mechanism 21 includes the first U-shaped frame
211, oblique straight panel 212 and three twin shaft steering engines 42,43,44, the oblique straight panel 212 of aluminum is in 150 ° of angle shapes by a straight panel both ends
At the design advantageously reduces the center of gravity of robot entirety, as shown in Figure 5.Two the first U-shaped frame 211 arrangements symmetrical above and below,
The oblique straight panel 212 of two side-by-side connects two the first U-shaped framves 211, and the first U-shaped frame 211 respectively installs a twin shaft steering engine
43,44, twin shaft steering engine 43,44 is located between two oblique straight panels 212, and the U-shaped frame 211 of the first of 21 upper end of Tui Ce mechanism is opposite orthogonal
Vertically one the second U-shaped frame 221 of connection, the second U-shaped frame 221 connects the twin shaft steering engine 41 for being built in upper body 1, to make two
Pedipulator 2 is connected to 1 lower section of upper body；Foot mechanism 22 includes the second U-shaped frame 221, aluminum corner brace 222, plate 223 and a twin shaft
Steering engine 45, the second U-shaped frame 221 of the opposite orthogonal vertical connection foot mechanism 22 of the U-shaped frame 211 of the first of 21 lower end of Tui Ce mechanism,
Two side-by-side aluminum corner brace 222 connects the second U-shaped frame 221 and plate 223, plate 223 and ground face contact, the second U-shaped frame
221 one twin shaft steering engine 45 of installation, twin shaft steering engine 45 are located between two aluminum corner braces 222.In the present embodiment, the first U-shaped frame 211
Identical specification is used with the second U-shaped frame 221, the first U-shaped frame 211 and the second U-shaped frame 221 open up several mounting holes, with
Twin shaft steering engine is cooperatively connected, and is detailed in Fig. 3.
It sees on the whole, two pedipulators 2 are two symmetrical structures, positioned at the left and right both sides of the longitudinally asymmetric line of robot, two
Pedipulator 2 constitutes eight by the eight twin shaft steering engines 42,43,44,45,46,47,48,49 connected based on U-shaped frame 211,221
The variation of a freedom degree, and cooperate the movement completing foot-up and stopping over, realize that more twin shaft steering engine linkage eight degrees of freedom are quickly walked.
U-shaped frame 211,221 have the characteristics that convenient for adjust and it is at low cost so that structure of the invention is simplified, be easily installed and process.
The U-shaped frame 221 of the second of upper end is connect with upper body 1, and the U-shaped frame 221 of the second of lower end connects plate by aluminum corner brace 222
223,222 structure of aluminum corner brace fixes acrylic below aluminum corner brace 222 as shown in fig. 6, plate 223 is made of hole hole plate and acrylic board
Plate, the fixed hole hole plate in acrylic board lower section, hole hole plate and ground face contact；Straight panel is located at the lower end of pedipulator 2, passes through own material
Toughness and ground difference touchdown point generate be biased to frictional force, complete walking process jointly with other structures.In multiple test
It has been observed that can often occur robot when the robot directly contacts ground with acrylic board and hit ground, the case where falling down.
In view of the toughness of contacting to earth of acrylic board is poor, the control of power when can dock tread surface is unfavorable, and hole hole plate have it is good
Toughness, therefore select to add hole hole plate under acrylic board, test discovery can effectively avoid this problem, make robot ambulation
It is more stable quick.
Upper body 1 is equipped with Openmv machine vision module, power module, and Openmv machine vision module includes for shooting
The monocular cam and external light source of image, Openmv machine vision module connect Arduino main control chip 6, Arduino master control
Chip 6 uses STM32F7 model, and Arduino main control chip 6 designs tracking avoidance decision, so that the robot is taken the photograph by monocular
As head sampling, visual sensor identification and Arduino main control chip 6 analyze and determine and carry out decision, Arduino main control chip 6
It connect twin shaft steering engine jointly with power module to drive pedipulator 2 to make action group according to decision, realizes tracking barrier avoiding function, such as
Shown in Fig. 8, upper body foreboard 13 is equipped with lens fixed seat 15, places and fixes for monocular cam, monocular cam is designed solid
Due to robot front, it is therefore intended that reduce error in judgement, the visual field is concentrated on immediately ahead of body, and external light source is cooperated to reduce or remit
Environmental light intensity error；As shown in figure 9, the top of upper body top plate 11 is equipped with holder 16, placed for Openmv machine vision module solid
It is fixed, so that Openmv machine vision module can be rotated freely with 360 °.
As shown in figure 14, as a preferred embodiment, Arduino main control chip 6 connects tracking avoidance decision-making module 61, steering engine
Control module 62, driving 63, infrared survey module 64 and external light source 65.Arduino main control chip 6 is logical by RS485 first
Believe that module and tracking avoidance decision-making module 61 are realized to communicate.63 then external direct current 3S model airplane battery 631 of driving.Arduino master control
Chip 6 and steering engine control module 62 pass through Arduino serial communication.External light source 65 is then individually to be together in series with power supply, when
After switch is opened, just start to illuminate.Then module 64 is to lead to included serial ports to communicate with Arduino main control chip 6 to infrared distance measurement.
The movement when robot ambulation adjusts the setting of action group, is set with straight trip, left-hand rotation, three kinds of movements of turning right,
And two sets of action schemes are provided, it is specific as follows:
1) big stride scheme
The original intention for setting the set action group is to trade space for time on a hard floor, using larger gait with
Reduce traveling time.The delay of program steering engine is also longer, general 300ms.The case where falling down to the ground when being walked to prevent the walking of the machine National People's Congress.
2) small stride scheme
The original intention for setting the set action group is can to exchange the time on softer ground with frequency, by improving robot
Frequency of taking a step, reduce the stride of robot, thus realize will not fall on soft terrain.In this action group, each decompose is moved
Delay between work is not more than 150ms, the rotation angle for the twin shaft steering engine 42,48 that the second U-shaped frame 221 positioned at upper end is connected
Smaller, whole traveling amplitude is total by the rotation angle for the twin shaft steering engine 42,45,46,48 that the second whole U-shaped framves 221 is connected
With decision.And in the gait of both legs, certainly exist different leg opposite directions direction contacts to earth frictional force to control balance.
3) turning action
The case where either big stride or small stride can all encounter turning, utilizes the principle of mankind's pivot turn: first
Step only rotates the steering engine on the wherein U-shaped frame in lower end second of a pedipulator.Second step, the steering engine of another one leg is by going straight ahead
Movement, foot-up, third step, step foot.Thereby realize original place flipper turn.It is as shown in the table when turning, wherein steering engine position
Setting number is the number in Figure 13, the rotation angle and speed of each steering engine of the digital representation of steering engine angle and speed.
4) movement is directly walked
Directly walk to act one foot offset center of gravity of the first step, another foot realizes foot-up, steps foot after second step.Third and fourth
Vice versa for step.Reciprocation cycle, which is realized, directly walks movement.Angle, the speed of its each steering engine when executing are as shown in the table.
For the strategy of forward motion, the present invention provides two sets of solutions.
(1) direct strategy
Judgement for action command is directly attributed to straight trip, left-hand rotation, in right-hand rotation three categories.I.e. in robot traveling process
In, when above-mentioned 1) the big stride scheme of movement group selection, due to the passback coordinate of left/right rotation and rectilinear image have it is apparent distinguish,
Therefore the judgement of next step action command is carried out using the critical value of three classes image passback coordinate.
(2) dynamic strategy
In robot traveling process, when movement above-mentioned 2) the small stride scheme of group selection, since the visual field changes greatly stride
When it is small, therefore after three classes movement executes in the image that returns coordinate distinguish it is unobvious.Therefore it needs to consider every a kind of specific
After movement, for the feature critical value of the judgement of next step movement.
The present invention is the design of apery type, and made movement posture stability is high, can cooperate the module of other function, controllability
By force, as shown in figure 4, the robot further includes balance module, balance module includes two arms 3 and twin shaft steering engine 41, and 50, two
Arm 3 is made of the fixing end 31 and cantilever end 32 to connect together, and two arms 3 are connected to upper body side by fixing end 31 respectively
On plate 14, each arm 3 connects a twin shaft steering engine and provides arm freedom degree, and cantilever end 32 can be unfolded to keep one's balance.
In addition, can load with multiple sensors on arm, detection external data feeds back to Arduino main control chip 6.The robot further includes
Constructing communication network module can be uniformly controlled more if realizing multirobot linkage walking by constructing communication network component one host computer of connection
Robot linkage walking.
Therefore, in the present embodiment, in addition two twin shaft steering engines 41,50 of balance module, the robot share ten pairs
Axis steering engine, and distributive constitution ten power points symmetrical in body parts, control walking robot complete quick walking motion.
The distribution of power point preferentially meets leg balance drive needs according to sixteen principles.
In order to reinforce overall structure stability, the twin shaft steering engine is equipped with steering engine seat 51 in junction, as shown in Figure 1.
Openmv machine vision module is an open source, low cost, powerful machine vision module.Openmv machine
Machine vision algorithm on vision module includes color identification, shape recognition, mark tracking.Openmv machine vision of the invention
Module uses color identification and two kinds of algorithms of shape recognition, according to specific threshold range, to front track and barrier into
Row judges and carries out decision to execute action group, to complete tracking barrier avoiding function.
Color space (Lab) is a kind of color mode formulated by International Commission on Illumination, any point face in nature
Color can be expressed in Lab space.
A kind of human emulated robot is quickly walked tracking avoidance implementation method, this method are as follows:
After robot power module starting, camera starts simultaneously at acquisition image and passes to Arduino main control chip 6, selects
Color recognizer is selected to judge the image passed back；
Lab color space is mapped first, sets recognition threshold, calculates the color in single-frame images in threshold value later
Plain block, and select largest block as the target area of identification, coordinate value is returned, steering engine angle is calculated by coordinate value and sets in advance
Whether the angle value set compares in preset tracking angle or line, if so then execute movement is directly walked；If otherwise judging whether
Less than predetermined angle, if then using left-hand rotation turning action, if otherwise using right-hand rotation turning action, camera shooting is finally all again returned to
Head sampling with this until being recycled in preset angle, until covering whole process；
After directly walking movement, the measurement of Openmv machine vision module passes to Arduino main control chip 6 with ground distance, judges
Whether it is less than preset height value, if executing balance play, continues to determine whether if it is not, then returning in preset tracking angle
Or in line.With this recycle scheme, until covering whole process.
After ten test distances, clustering is carried out for the coordinate of passback and is found new outlets by data modeling
The flag data kept straight on, turn left, turned right in journey, and refer to as judging to control to 6 sending action of Arduino main control chip
It enables.
The above is only specific embodiments of the present invention, not to the restriction of protection scope of the present invention.All setting according to this case
The equivalent variations that meter thinking is done, each falls within the protection scope of this case.
Claims (4)
- The tracking avoidance implementation method 1. a kind of human emulated robot is quickly walked, this method, which is related to a kind of apery type, quickly walks and follows Mark avoidance robot, the robot include two pedipulators and upper body, and pedipulator is connected to below upper body, is symmetric, machine Tool leg is equipped with twin shaft steering engine, and upper body is equipped with Openmv machine vision module, power module, Openmv machine vision module packet The camera for shooting image is included, Openmv machine vision module connects Arduino main control chip, Arduino main control chip It connect twin shaft steering engine jointly with power module to drive pedipulator to move, is set when Arduino main control chip is to the robot ambulation Determine action group, be set with straight trip, left-hand rotation, three kinds of movements of turning right, this method specifically:After robot power module starting, camera starts simultaneously at acquisition image and passes to Arduino main control chip, selects color Recognizer judges the image passed back；Lab color space is mapped first, sets recognition threshold, calculates the pigment in single-frame images in threshold value later Block, and select largest block as the target area of identification, coordinate value is returned, steering engine angle is calculated by coordinate value and presets Whether good angle value compares in preset tracking angle or line, if so then execute movement is directly walked；If otherwise judging whether small In predetermined angle, if then using left-hand rotation turning action, if otherwise using right-hand rotation turning action, camera is finally all again returned to Sampling with this until being recycled in preset angle, until covering whole process.
- The tracking avoidance implementation method 2. a kind of human emulated robot as described in claim 1 is quickly walked, it is characterised in that: should Robot further includes balance module, and after execution directly walks movement, the measurement of Openmv machine vision module is passed to ground distance Arduino main control chip judges whether to be less than preset height value, if executing balance play, continues to judge if it is not, then returning Whether in preset tracking angle or line.
- The tracking avoidance implementation method 3. a kind of human emulated robot as described in claim 1 is quickly walked, it is characterised in that: After ten test distances, clustering is carried out for the coordinate of passback, by data modeling, search out in distance straight trip, The flag data turned left, turned right, and as judging to Arduino main control chip sending action control instruction.
- The tracking avoidance implementation method 4. a kind of human emulated robot as described in claim 1 is quickly walked, it is characterised in that: Arduino main control chip also to the robot ambulation when set two sets of big stride, small stride action schemes.
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| CN111487961A (en) * | 2020-03-27 | 2020-08-04 | 宁波市德霖机械有限公司 | Method and system for controlling working range of walking device, intelligent terminal and storage medium |
| TWI715353B (en) * | 2019-12-16 | 2021-01-01 | 新煒科技有限公司 | Robot balance determination device and robot balance determination method |
| CN113139987A (en) * | 2021-05-06 | 2021-07-20 | 太原科技大学 | Visual tracking quadruped robot and tracking characteristic information extraction algorithm thereof |
| CN113377116A (en) * | 2021-07-14 | 2021-09-10 | 乐聚(深圳)机器人技术有限公司 | Gait planning method and device of robot, processing equipment and medium |
| CN113781676A (en) * | 2021-09-15 | 2021-12-10 | 北京顺造科技有限公司 | Security protection system of patrolling and examining based on four-footed robot and unmanned aerial vehicle |
| CN115649316A (en) * | 2022-09-09 | 2023-01-31 | 西北工业大学 | Humanoid robot |
| CN115686012A (en) * | 2022-10-31 | 2023-02-03 | 北京小米移动软件有限公司 | Robot disturbance resisting method, device, equipment and medium |
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