CN113607165B - Attitude measurement system - Google Patents
Attitude measurement system Download PDFInfo
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- CN113607165B CN113607165B CN202110923150.XA CN202110923150A CN113607165B CN 113607165 B CN113607165 B CN 113607165B CN 202110923150 A CN202110923150 A CN 202110923150A CN 113607165 B CN113607165 B CN 113607165B
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- 238000005259 measurement Methods 0.000 title claims abstract description 66
- 238000001914 filtration Methods 0.000 claims abstract description 33
- 230000003321 amplification Effects 0.000 claims abstract description 16
- 238000003199 nucleic acid amplification method Methods 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 238000005286 illumination Methods 0.000 claims description 36
- 230000001133 acceleration Effects 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a posture measurement system, comprising: the system comprises an attitude data measurement module, an environment acquisition module, a data processing module, a control module and a data transmission module; the gesture data measurement module is used for measuring gesture data of the robot; the data processing module is used for carrying out amplification filtering processing on the gesture data to obtain gesture data of the robot after the amplification filtering processing; the environment acquisition module is used for acquiring external environment information of the robot and transmitting the external environment information to the control module; the control module is used for determining the height offset between the gesture data measurement module and the last measurement according to the gesture data; the control module is also used for adjusting the height of the telescopic bracket according to the height offset; and the data transmission module transmits the attitude data, the height offset and the external environment information to the remote terminal. According to the invention, the attitude data determines the height offset between the attitude data measuring module and the last measured height and can be used for telescoping the height of the bracket, so that the measuring precision of the attitude data of the robot is improved.
Description
Technical Field
The invention relates to the technical field of attitude measurement, in particular to an attitude measurement system.
Background
The attitude measurement system is widely applied to electromechanical equipment such as aeromodelling, unmanned aerial vehicle, robots and the like which need high dynamic balance, taking the robots as an example, the robots need to move according to preset tracks, and the attitude measurement system on the robots can obtain attitude data in the process, but the accuracy of the measurement of the attitude data is influenced by the environment, so that the measurement accuracy of the attitude data is very low. In addition, fluctuation in the road surface of the robot causes a decrease in accuracy of attitude measurement, and therefore, an attitude measurement system that improves measurement accuracy is demanded.
Disclosure of Invention
The invention aims to provide a gesture measurement system which can improve the measurement accuracy of gesture data of a robot.
In order to achieve the above object, the present invention provides the following solutions:
a gesture measurement system comprising:
the system comprises an attitude data measurement module, an environment acquisition module, a data processing module, a control module and a data transmission module;
the gesture data measurement module is arranged on the telescopic bracket; the gesture data measurement module is connected with the data processing module; the gesture data measurement module is used for measuring gesture data of the robot; the gesture data comprises angular velocity, magnetic heading and acceleration;
the data processing module is connected with the control module; the data processing module is used for carrying out amplification and filtering processing on the gesture data to obtain gesture data of the robot after the amplification and filtering processing;
the environment acquisition module is connected with the control module; the environment acquisition module is used for acquiring external environment information of the robot and transmitting the external environment information to the control module;
the control module is connected with the data transmission module; the control module is used for determining the height offset between the gesture data measurement module and the last measurement according to the gesture data after the amplification and filtering processing; the control module is also used for adjusting the height of the telescopic bracket according to the height offset;
the data transmission module is connected with the remote terminal and is used for transmitting the height offset, the external environment information and the gesture data after the amplifying and filtering processing to the remote terminal.
Optionally, the gesture data measurement module specifically includes:
a gyroscope, an electronic compass, and an accelerometer;
the gyroscope, the electronic compass and the accelerometer are all connected with a data processing module;
the gyroscope is used for measuring the angular speed of the robot;
the electronic compass is used for measuring the magnetic heading of the robot;
the accelerometer is used for measuring acceleration of the robot.
Optionally, the data processing module specifically includes:
3 amplifying and filtering units;
the input ends of the 3 amplifying and filtering units are respectively connected with the gyroscope, the electronic compass and the accelerometer; the output ends of the 3 amplifying and filtering units are connected with the control module.
Optionally, the environment collection module specifically includes:
a camera and a temperature and humidity sensor;
the camera and the temperature and humidity sensor are connected with the control module;
the camera is used for collecting video information outside the robot;
the temperature and humidity sensor is used for collecting the temperature and humidity outside the robot.
Optionally, the environment collection module further includes:
an illumination sensor and a light source;
the illumination sensor and the light source are connected with the control module;
the illumination sensor is used for collecting illumination intensity outside the robot;
the control module is used for starting the light source when the illumination intensity outside the robot is lower than a first illumination intensity threshold value; when the illumination intensity outside the robot is higher than a second illumination intensity threshold value, the light source is turned off; the first illumination intensity threshold value is the minimum illumination intensity required by the video camera to acquire the video; the second illumination intensity threshold is greater than the first illumination intensity threshold.
Optionally, the system further includes:
a storage module;
the storage module is connected with the control module; the storage module is used for storing the gesture data after the amplification and filtering processing and the external environment information.
Optionally, the system further includes:
a display module;
the display module is connected with the control module; the display module is used for displaying the gesture data after the amplifying and filtering processing and the external environment information.
Optionally, the system further includes:
the Beidou module;
the Beidou module is connected with the control module; the Beidou module is used for acquiring the position information of the robot.
Optionally, the system further includes:
a power module and a solar panel;
the power module is respectively connected with the attitude data measurement module, the environment acquisition module, the data processing module and the solar panel.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a posture measurement system, comprising: the system comprises an attitude data measurement module, an environment acquisition module, a data processing module, a control module and a data transmission module; the gesture data measurement module is arranged on the telescopic bracket; the gesture data measurement module is connected with the data processing module; the gesture data measurement module is used for measuring gesture data of the robot; the gesture data includes angular velocity, magnetic heading, and acceleration; the data processing module is connected with the control module; the data processing module is used for carrying out amplification filtering processing on the gesture data to obtain gesture data of the robot after the amplification filtering processing; the environment acquisition module is connected with the control module; the environment acquisition module is used for acquiring external environment information of the robot and transmitting the external environment information to the control module; the control module is connected with the data transmission module; the control module is used for determining the height offset between the gesture data measurement module and the last measurement according to the gesture data after the amplification and filtering processing; the control module is also used for adjusting the height of the telescopic bracket according to the height offset; the data transmission module is connected with the remote terminal and is used for transmitting the height offset, the external environment information and the gesture data after the amplifying and filtering processing to the remote terminal. According to the invention, the attitude data determines the height offset between the attitude data measuring module and the last measured height and can be used for telescoping the height of the bracket, so that the measuring precision of the attitude data of the robot is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of an attitude measurement system according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a gesture measurement system which can improve the measurement accuracy of gesture data of a robot.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Fig. 1 is a schematic structural diagram of an attitude measurement system according to an embodiment of the present invention, and as shown in the drawing, the present invention provides an attitude measurement system, including:
the system comprises an attitude data measurement module, an environment acquisition module, a data processing module, a control module and a data transmission module;
the gesture data measurement module is arranged on the telescopic bracket; the gesture data measurement module is connected with the data processing module; the gesture data measurement module is used for measuring gesture data of the robot; the gesture data includes angular velocity, magnetic heading, and acceleration;
the data processing module is connected with the control module; the data processing module is used for carrying out amplification filtering processing on the gesture data to obtain gesture data of the robot after the amplification filtering processing;
the environment acquisition module is connected with the control module; the environment acquisition module is used for acquiring external environment information of the robot and transmitting the external environment information to the control module;
the control module is connected with the data transmission module; the control module is used for determining the height offset between the gesture data measurement module and the last measurement according to the gesture data after the amplification and filtering processing; the control module is also used for adjusting the height of the telescopic bracket according to the height offset;
the data transmission module is connected with the remote terminal and is used for transmitting the height offset, the external environment information and the gesture data after the amplifying and filtering processing to the remote terminal.
Wherein, gesture data measurement module specifically includes:
a gyroscope, an electronic compass, and an accelerometer;
the gyroscope, the electronic compass and the accelerometer are all connected with the data processing module;
the gyroscope is used for measuring the angular speed of the robot;
the electronic compass is used for measuring the magnetic heading of the robot;
the accelerometer is used to measure acceleration of the robot.
The data processing module specifically comprises:
3 amplifying and filtering units;
the input ends of the 3 amplifying and filtering units are respectively connected with the gyroscope, the electronic compass and the accelerometer; the output ends of the 3 amplifying and filtering units are connected with the control module.
The environment acquisition module specifically comprises:
a camera and a temperature and humidity sensor;
the camera and the temperature and humidity sensor are connected with the control module;
the camera is used for collecting video information outside the robot;
the temperature and humidity sensor is used for collecting the temperature and humidity outside the robot.
The environment acquisition module further comprises:
an illumination sensor and a light source;
the illumination sensor and the light source are connected with the control module;
the illumination sensor is used for collecting illumination intensity outside the robot;
the control module is used for starting the light source when the illumination intensity outside the robot is lower than a first illumination intensity threshold value; when the illumination intensity outside the robot is higher than a second illumination intensity threshold value, the light source is turned off; the first illumination intensity threshold value is the minimum illumination intensity required by the camera to acquire the video; the second illumination intensity threshold is greater than the first illumination intensity threshold.
In addition, the gesture measurement system provided by the invention further comprises:
a storage module;
the storage module is connected with the control module; the storage module is used for storing the gesture data and the external environment information after the amplifying and filtering processing.
The attitude measurement system provided by the invention further comprises:
a display module;
the display module is connected with the control module; the display module is used for displaying the gesture data and the external environment information after the amplifying and filtering processing.
The attitude measurement system provided by the invention further comprises:
the Beidou module;
the Beidou module is connected with the control module; the Beidou module is used for acquiring the position information of the robot.
The attitude measurement system provided by the invention further comprises:
a power module and a solar panel;
the power module is respectively connected with the attitude data measurement module, the environment acquisition module, the data processing module and the solar panel.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. Also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (7)
1. A gesture measurement system, the system comprising:
the system comprises an attitude data measurement module, an environment acquisition module, a data processing module, a control module and a data transmission module;
the gesture data measurement module is arranged on the telescopic bracket; the gesture data measurement module is connected with the data processing module; the gesture data measurement module is used for measuring gesture data of the robot; the gesture data comprises angular velocity, magnetic heading and acceleration;
the data processing module is connected with the control module; the data processing module is used for carrying out amplification and filtering processing on the gesture data to obtain gesture data of the robot after the amplification and filtering processing;
the gesture data measurement module specifically comprises:
a gyroscope, an electronic compass, and an accelerometer;
the gyroscope, the electronic compass and the accelerometer are all connected with a data processing module;
the gyroscope is used for measuring the angular speed of the robot;
the electronic compass is used for measuring the magnetic heading of the robot;
the accelerometer is used for measuring the acceleration of the robot;
the data processing module specifically comprises:
3 amplifying and filtering units;
the input ends of the 3 amplifying and filtering units are respectively connected with the gyroscope, the electronic compass and the accelerometer; the output ends of the 3 amplifying and filtering units are connected with the control module;
the environment acquisition module is connected with the control module; the environment acquisition module is used for acquiring external environment information of the robot and transmitting the external environment information to the control module;
the control module is connected with the data transmission module; the control module is used for determining the height offset between the gesture data measurement module and the last measurement according to the gesture data after the amplification and filtering processing; the control module is also used for adjusting the height of the telescopic bracket according to the height offset;
the data transmission module is connected with the remote terminal and is used for transmitting the height offset, the external environment information and the gesture data after the amplifying and filtering processing to the remote terminal.
2. The attitude measurement system according to claim 1, wherein the environment acquisition module specifically comprises:
a camera and a temperature and humidity sensor;
the camera and the temperature and humidity sensor are connected with the control module;
the camera is used for collecting video information outside the robot;
the temperature and humidity sensor is used for collecting the temperature and humidity outside the robot.
3. The attitude measurement system according to claim 2, wherein the environment acquisition module further comprises:
an illumination sensor and a light source;
the illumination sensor and the light source are connected with the control module;
the illumination sensor is used for collecting illumination intensity outside the robot;
the control module is used for starting the light source when the illumination intensity outside the robot is lower than a first illumination intensity threshold value; when the illumination intensity outside the robot is higher than a second illumination intensity threshold value, the light source is turned off; the first illumination intensity threshold value is the minimum illumination intensity required by the video camera to acquire the video; the second illumination intensity threshold is greater than the first illumination intensity threshold.
4. The attitude measurement system according to claim 1, further comprising:
a storage module;
the storage module is connected with the control module; the storage module is used for storing the gesture data after the amplification and filtering processing and the external environment information.
5. The attitude measurement system according to claim 1, further comprising:
a display module;
the display module is connected with the control module; the display module is used for displaying the gesture data after the amplifying and filtering processing and the external environment information.
6. The attitude measurement system according to claim 1, further comprising:
the Beidou module;
the Beidou module is connected with the control module; the Beidou module is used for acquiring the position information of the robot.
7. The attitude measurement system according to claim 1, further comprising:
a power module and a solar panel;
the power module is respectively connected with the attitude data measurement module, the environment acquisition module, the data processing module and the solar panel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110923150.XA CN113607165B (en) | 2021-08-12 | 2021-08-12 | Attitude measurement system |
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| CN202110923150.XA CN113607165B (en) | 2021-08-12 | 2021-08-12 | Attitude measurement system |
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| CN113607165A CN113607165A (en) | 2021-11-05 |
| CN113607165B true CN113607165B (en) | 2024-04-16 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101219682A (en) * | 2007-10-31 | 2008-07-16 | 东华大学 | Mechanical running mechanism |
| CN106323279A (en) * | 2016-08-16 | 2017-01-11 | 上海交通大学 | Moving object wireless posture monitoring system |
| CN107121128A (en) * | 2017-05-27 | 2017-09-01 | 中国北方车辆研究所 | A kind of measuring method and system of legged type robot terrain parameter |
| JP2017227463A (en) * | 2016-06-20 | 2017-12-28 | 清水建設株式会社 | Position and attitude determination device |
| CN110836655A (en) * | 2019-11-13 | 2020-02-25 | 长沙桑铼特农业机械设备有限公司 | Machine tool operation posture detection device, agricultural operation machine and ground adhering operation method |
| CN111361509A (en) * | 2018-12-26 | 2020-07-03 | 财团法人工业技术研究院 | Automatic adjusting method and system for vehicle sensor |
-
2021
- 2021-08-12 CN CN202110923150.XA patent/CN113607165B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101219682A (en) * | 2007-10-31 | 2008-07-16 | 东华大学 | Mechanical running mechanism |
| JP2017227463A (en) * | 2016-06-20 | 2017-12-28 | 清水建設株式会社 | Position and attitude determination device |
| CN106323279A (en) * | 2016-08-16 | 2017-01-11 | 上海交通大学 | Moving object wireless posture monitoring system |
| CN107121128A (en) * | 2017-05-27 | 2017-09-01 | 中国北方车辆研究所 | A kind of measuring method and system of legged type robot terrain parameter |
| CN111361509A (en) * | 2018-12-26 | 2020-07-03 | 财团法人工业技术研究院 | Automatic adjusting method and system for vehicle sensor |
| CN110836655A (en) * | 2019-11-13 | 2020-02-25 | 长沙桑铼特农业机械设备有限公司 | Machine tool operation posture detection device, agricultural operation machine and ground adhering operation method |
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