CN111590572B - Robot posture updating method and system - Google Patents
Robot posture updating method and system Download PDFInfo
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- CN111590572B CN111590572B CN202010414467.6A CN202010414467A CN111590572B CN 111590572 B CN111590572 B CN 111590572B CN 202010414467 A CN202010414467 A CN 202010414467A CN 111590572 B CN111590572 B CN 111590572B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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Abstract
The invention discloses a robot posture updating method and system, belonging to the technical field of robots, wherein the method comprises the following steps: step S1, collecting the displacement information of the robot; step S2, processing to obtain a first coordinate position of the robot; step S3, collecting robot acceleration information; step S4, orientation information of the robot body is obtained through processing; step S5, processing to obtain a rotation matrix between coordinate systems; step S6, collecting joint angle information of four limbs of the robot; step S7, processing to obtain a second coordinate position; step S8, updating the current posture of the robot; the system comprises: the device comprises a first processing module, a second acquisition module, a second processing module, a matrix generation module, a third acquisition module, a coordinate generation module and an updating module; the beneficial effects are that: the robot has the advantages that the calculation process of the robot on the self state is simplified, the calculation time is reduced while the calculation load of a processor is reduced, and the real-time performance of robot posture updating is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot posture updating method and system.
Background
The robot is a machine which can realize various functions by means of self power and control capacity, and is a machine which can be changed or programmed by using a computer for executing different tasks, and can bring many conveniences for human beings.
Sensors as detection means can be broadly classified into two types: one is an internal information sensor for detecting internal conditions of each part of the robot, such as the position, velocity, acceleration, etc. of each joint, and sending the detected information as a feedback signal to the controller to form closed-loop control. One is an external information sensor, which is used to obtain information about the working object and external environment of the robot, so that the action of the robot can adapt to the change of the external situation, and the robot can achieve higher level of automation, even the robot has a certain sense, and the external sensors such as vision, sound sense, etc. provide the information about the working object and the working environment, and the information forms a large feedback loop, so that the working precision of the robot can be greatly improved.
Disclosure of Invention
According to the problems in the prior art, the robot posture updating method and the robot posture updating system are provided, the calculation process of the robot on the self state is simplified, the calculation load of a processor is reduced, meanwhile, the calculation time is reduced, and the real-time performance of robot posture updating is improved.
A robot posture updating method is disclosed, wherein the robot is in a humanoid structure, a global coordinate system and a robot body coordinate system are constructed in advance by the robot, and the posture estimating method specifically comprises the following steps:
step S1, acquiring displacement information of the robot in three coordinate axis directions in the global coordinate system;
step S2, processing according to the displacement information to obtain a first coordinate position of the robot in the global coordinate system;
step S3, acquiring acceleration information of the robot in the directions of three coordinate axes in the global coordinate system;
step S4, obtaining the orientation information of the robot body according to the acceleration information processing;
step S5, processing according to the orientation information and the coordinate information to obtain a rotation matrix between the global coordinate system and the robot body coordinate system;
step S6, collecting joint angle information of the four limbs of the robot;
step S7, processing according to the rotation matrix, the joint angle information and the first coordinate position to obtain a second coordinate position of the robot limbs in the global coordinate system;
and step S8, updating the current posture of the robot according to the second coordinate position.
Preferably, the acceleration information is acceleration information of the robot trunk.
Preferably, wherein the orientation information includes a heading angle, a roll angle, and a pitch angle of the robot torso.
Preferably, the global coordinate system is a geographic coordinate system of the robot starting time.
Preferably, the robot body coordinate system is a coordinate system established by taking the center of mass of the robot as an origin.
A robot posture updating system, wherein the robot is in a humanoid structure, a global coordinate system and a robot body coordinate system are constructed in advance by the robot, and the posture estimating system specifically comprises:
the first acquisition module is used for acquiring displacement information of the robot in three coordinate axis directions in the global coordinate system;
the first processing module is connected with the first acquisition module and used for processing according to the displacement information to obtain a first coordinate position of the robot in the global coordinate system;
the second acquisition module is used for acquiring acceleration information of the robot in three coordinate axis directions in the global coordinate system;
the second processing module is connected with the second acquisition module and used for processing the acceleration information to obtain the orientation information of the robot body;
the matrix generation module is connected with the first processing module and the second processing module and used for processing according to the orientation information and the coordinate information to obtain a rotation matrix between the global coordinate system and the robot body coordinate system;
the third acquisition module is used for acquiring joint angle information of four limbs of the robot;
the coordinate generating module is connected with the matrix generating module, the third collecting module and the first processing module and used for processing according to the rotation matrix, the joint angle information and the first coordinate position to obtain a second coordinate position of the robot limbs in the global coordinate system;
and the updating module is connected with the coordinate generating module and used for updating the current posture of the robot according to the second coordinate position.
Preferably, the acceleration information is acceleration information of the robot trunk.
Preferably, wherein the orientation information includes a heading angle, a roll angle, and a pitch angle of the robot torso.
Preferably, the global coordinate system is a geographic coordinate system of the robot starting time.
Preferably, the robot body coordinate system is a coordinate system established by taking the center of mass of the robot as an origin.
The beneficial effects of the above technical scheme are that:
the robot posture updating method and the robot posture updating system simplify the calculation process of the robot on the self state, reduce the calculation load of a processor, reduce the calculation time and improve the real-time property of robot posture updating.
Drawings
FIG. 1 is a flow chart of a robot pose updating method according to a preferred embodiment of the present invention;
fig. 2 is a schematic structural diagram of a robot pose updating system according to a preferred embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
A robot posture updating method, as shown in fig. 1, wherein the robot is in a humanoid structure, the robot pre-constructs a global coordinate system and a robot body coordinate system, and the posture estimating method specifically includes:
step S1, acquiring displacement information of the robot in three coordinate axis directions in a global coordinate system;
step S2, a first coordinate position of the robot in the global coordinate system is obtained according to the displacement information processing;
step S3, acquiring acceleration information of the robot in three coordinate axis directions in a global coordinate system;
step S4, obtaining the orientation information of the robot body according to the acceleration information processing;
step S5, processing according to the orientation information and the coordinate information to obtain a rotation matrix between the global coordinate system and the robot body coordinate system;
step S6, collecting joint angle information of four limbs of the robot;
step S7, processing according to the rotation matrix, the joint angle information and the first coordinate position to obtain a second coordinate position of the robot limbs in a global coordinate system;
and step S8, updating the current posture of the robot according to the second coordinate position.
In order to simplify the complexity of robot control, the robot trunk is rigidly connected with the robot head, and the robot trunk is also a rigid trunk without independent degrees of freedom, and according to kinematics analysis and display, through the coordinated motion of the leg joints, a virtual waist can be generated for the robot, allowing the robot to bend and twist its upper body.
Specifically, in this embodiment, the global coordinate system is fixed and does not move along with the movement of the robot, and the robot body coordinate system is disposed on the trunk of the robot and moves along with the movement of the robot, and since the trunk of the robot bends and twists along with the virtual waist, the three coordinate axis directions of the robot body coordinate system also twist along with the twisting of the robot. The robot head is provided with a GPS positioning device, the robot head is also provided with a visual odometer, displacement information of the robot in three coordinate axis directions in a global coordinate system is obtained through data collected by the GPS positioning device and combined with data collected by the visual odometer, and the robot can calculate the real-time coordinate position of the robot in the global coordinate system according to the displacement information of the robot because the global coordinate system is relatively fixed.
Acceleration information of the robot in the direction of three coordinate axes in the global coordinate system is measured through an IMU inertia measurement unit, integral calculation is carried out after the acceleration information of the robot in the three coordinate axes is obtained through measurement, orientation information of the robot trunk is obtained, specifically, three angles of a course angle, a pitch angle and a roll angle of the robot trunk are obtained, and the relation between the robot body coordinate system and the global coordinate system, namely a rotation matrix between the two coordinate systems can be obtained according to the three-axis inclination angle of the robot trunk. The rotation matrix is the transformation between the two coordinate systems.
The robot four-limb joint angle estimation method is characterized in that an angle sensor is mounted at each joint of each robot four-limb, joint angles of each joint of each robot four-limb are acquired in real time through the angle sensors arranged on the robot four-limb, the joint angles of joints at joints of the robot four-limb and the robot trunk are included, the number of the joint angles is related to the degree of freedom of the robot four-limb, the joint angles of the four-limb play an important role in robot posture estimation, and therefore measurement of each joint angle is accurate and reliable. After angle information of each joint of the four limbs of the robot is obtained, a kinematics equation of the four limbs of the robot is established according to the geometric structure of the robot, then the coordinate position of each joint of the robot in the robot body coordinate is obtained through calculation based on the joint angle of the four limbs, and the coordinate position of the four limbs of the robot in the robot body coordinate system is obtained according to the connection relation among the joints; obtaining coordinate values of the four limbs of the robot in the global coordinate system through conjuncted transformation according to the transformation relation between the robot body coordinate system and the global coordinate system; because the trunk and the head of the robot are both rigid bodies, the current posture of the robot can be determined and obtained only through the coordinate values of the limbs of the robot and the geometric structure of the robot body. And a coordinate system does not need to be established at each joint of the robot, and the coordinate system can be obtained only through one-time coordinate transformation, so that the calculation amount and the calculation time of a processor in the robot are saved, and the real-time performance is better.
In a preferred embodiment of the present invention, the acceleration information is acceleration information of a trunk of the robot.
In a preferred embodiment of the invention, the orientation information comprises the heading angle, roll angle and pitch angle of the robot torso.
In a preferred embodiment of the invention, the global coordinate system is a geographical coordinate system at the moment of robot start-up.
Specifically, in this embodiment, the global coordinate system may be established by using the geographic position of the robot at the starting time as the origin of the global coordinate system.
In the preferred embodiment of the present invention, the robot body coordinate system is a coordinate system established with the center of mass of the robot as the origin.
Specifically, in this embodiment, the trunk of the robot is provided with an IMU inertial measurement unit, and a robot body coordinate system may be established with the inertial measurement unit as an origin.
A robot posture updating system, as shown in fig. 2, wherein the robot is in a humanoid structure, the robot pre-constructs a global coordinate system and a robot body coordinate system, and the posture estimating system specifically includes:
the first acquisition module 1 is used for acquiring displacement information of the robot in three coordinate axis directions in a global coordinate system;
the first processing module 2 is connected with the first acquisition module 1 and used for processing according to the displacement information to obtain a first coordinate position of the robot in the global coordinate system;
the second acquisition module 3 is used for acquiring acceleration information of the robot in three coordinate axis directions in the global coordinate system;
the second processing module 4 is connected with the second acquisition module 3 and used for processing the acceleration information to obtain the orientation information of the robot body;
the matrix generation module 5 is connected with the first processing module 2 and the second processing module 4 and used for processing according to the orientation information and the coordinate information to obtain a rotation matrix between the global coordinate system and the robot body coordinate system;
the third acquisition module 6 is used for acquiring joint angle information of four limbs of the robot;
the coordinate generating module 7 is connected with the matrix generating module 5, the third collecting module 6 and the first processing module 2 and is used for processing according to the rotation matrix, the joint angle information and the first coordinate position to obtain a second coordinate position of the four limbs of the robot in the global coordinate system;
and the updating module 8 is connected with the coordinate generating module 7 and used for updating the current posture of the robot according to the second coordinate position.
Specifically, in this embodiment, the global coordinate system is fixed and does not move along with the movement of the robot, and the robot body coordinate system is disposed on the trunk of the robot and moves along with the movement of the robot, and since the trunk of the robot bends and twists along with the virtual waist, the three coordinate axis directions of the robot body coordinate system also twist along with the twisting of the robot. The first acquisition module 1 is a GPS positioning device arranged at the head position of the robot, the head of the robot is also provided with a visual odometer, displacement information of the robot in three coordinate axis directions in a global coordinate system is acquired by data acquired by the GPS positioning device and combined with data acquired by the visual odometer, and because the global coordinate system is relatively fixed, the first processing module 2 can calculate the real-time coordinate position of the robot in the global coordinate system according to the displacement information of the robot, and in a specific embodiment, the coordinate position of the center of mass of the trunk of the robot is adopted to represent the coordinate position of the robot body.
Acceleration information of the robot in the direction of three coordinate axes in the global coordinate system is measured by the inertial measurement unit of the second acquisition module 3IMU, the second acquisition module 3 is arranged at the position of the trunk of the robot, after the acceleration information of the robot in the direction of the three coordinate axes is obtained through measurement, the acceleration information is input into the second processing module 4 to be subjected to integral calculation, orientation information of the trunk of the robot is obtained, specifically, three angles including a course angle, a pitch angle and a roll angle of the trunk of the robot are obtained, and the relation between the coordinate system of the robot and the global coordinate system, namely a rotation matrix between the two coordinate systems can be obtained according to the three-axis inclination angle of the trunk of the robot. The rotation matrix is the transformation between the two coordinate systems.
The third acquisition module 6 is a set of angle sensors, is installed at each joint of the four limbs of the robot, and acquires the joint angles of each joint of the four limbs of the robot in real time through the angle sensors arranged on the four limbs of the robot, wherein the joint angles of the joints at the joints of the four limbs of the robot and the trunk of the robot are included, the number of the joint angles is related to the degree of freedom of the four limbs of the robot, the joint angles of the four limbs play an important role in the posture estimation of the robot, and therefore the measurement of each joint angle is accurate and reliable. After angle information of each joint of the four limbs of the robot is obtained, a kinematics equation of the four limbs of the robot is established according to the geometric structure of the robot, then the coordinate position of each joint of the robot in the robot body coordinate is obtained through calculation based on the joint angle of the four limbs, and the coordinate position of the four limbs of the robot in the robot body coordinate system is obtained according to the connection relation among the joints; the coordinate generating module 7 obtains coordinate values of the limbs of the robot in the global coordinate system through conjuncted transformation according to the transformation relation between the robot body coordinate system and the global coordinate system; the updating module 8 is responsible for updating the current posture of the robot in the robot processor into the robot posture processed according to the latest coordinate value.
Because the trunk and the head of the robot are both rigid bodies, the current posture of the robot can be determined and obtained only through the coordinate values of the limbs of the robot and the geometric structure of the robot body. And a coordinate system does not need to be established at each joint of the robot, and the coordinate system can be obtained only through one-time coordinate transformation, so that the calculation amount and the calculation time of a processor in the robot are saved, and the real-time performance is better.
In a preferred embodiment of the present invention, the acceleration information is acceleration information of a trunk of the robot.
In a preferred embodiment of the invention, the orientation information comprises the heading angle, roll angle and pitch angle of the robot torso.
In a preferred embodiment of the invention, the global coordinate system is a geographical coordinate system at the moment of robot start-up.
In the preferred embodiment of the present invention, the robot body coordinate system is a coordinate system established with the center of mass of the robot as the origin.
The beneficial effects of the above technical scheme are that:
the robot posture updating method and the robot posture updating system simplify the calculation process of the robot on the self state, reduce the calculation load of a processor, reduce the calculation time and improve the real-time property of robot posture updating.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. A robot posture updating method is characterized in that the robot is in a humanoid structure, a global coordinate system and a robot body coordinate system are constructed in advance by the robot, and the posture updating method specifically comprises the following steps:
step S1, acquiring displacement information of the robot in three coordinate axis directions in the global coordinate system;
step S2, processing according to the displacement information to obtain a first coordinate position of the robot in the global coordinate system;
step S3, acquiring acceleration information of the robot in the directions of three coordinate axes in the global coordinate system;
step S4, obtaining the orientation information of the robot body according to the acceleration information processing;
step S5, processing according to the orientation information and the coordinate information to obtain a rotation matrix between the global coordinate system and the robot body coordinate system;
step S6, collecting joint angle information of the four limbs of the robot;
step S7, processing according to the rotation matrix, the joint angle information and the first coordinate position to obtain a second coordinate position of the robot limbs in the global coordinate system;
and step S8, updating the current posture of the robot according to the second coordinate position.
2. The robot pose updating method according to claim 1, wherein the acceleration information is acceleration information of the robot trunk.
3. The robot pose updating method of claim 2, wherein the orientation information comprises a heading angle, a roll angle, and a pitch angle of the robot torso.
4. A robot pose updating method according to claim 1, wherein the global coordinate system is a geographical coordinate system of the robot start time.
5. The robot pose updating method according to claim 1, wherein the robot body coordinate system is a coordinate system established with a centroid of the robot as an origin.
6. The robot posture updating system is characterized in that the robot is in a humanoid structure, a global coordinate system and a robot body coordinate system are constructed in advance by the robot, and the posture updating system specifically comprises:
the first acquisition module is used for acquiring displacement information of the robot in three coordinate axis directions in the global coordinate system;
the first processing module is connected with the first acquisition module and used for processing according to the displacement information to obtain a first coordinate position of the robot in the global coordinate system;
the second acquisition module is used for acquiring acceleration information of the robot in three coordinate axis directions in the global coordinate system;
the second processing module is connected with the second acquisition module and used for processing the acceleration information to obtain the orientation information of the robot body;
the matrix generation module is connected with the first processing module and the second processing module and used for processing according to the orientation information and the coordinate information to obtain a rotation matrix between the global coordinate system and the robot body coordinate system;
the third acquisition module is used for acquiring joint angle information of four limbs of the robot;
the coordinate generating module is connected with the matrix generating module, the third collecting module and the first processing module and used for processing according to the rotation matrix, the joint angle information and the first coordinate position to obtain a second coordinate position of the robot limbs in the global coordinate system;
and the updating module is connected with the coordinate generating module and used for updating the current posture of the robot according to the second coordinate position.
7. The robot pose update system of claim 6, wherein the acceleration information is acceleration information of the robot torso.
8. The robot pose update system of claim 7, wherein the orientation information comprises a heading angle, a roll angle, and a pitch angle of the robot torso.
9. A robot pose update system according to claim 6, wherein the global coordinate system is a geographical coordinate system at the robot start time.
10. The robot pose updating system of claim 6, wherein the robot body coordinate system is a coordinate system established with a center of mass of the robot as an origin.
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