CN208172547U - A kind of foot based on Inertial Measurement Unit-machine following control system - Google Patents
A kind of foot based on Inertial Measurement Unit-machine following control system Download PDFInfo
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- CN208172547U CN208172547U CN201820804570.XU CN201820804570U CN208172547U CN 208172547 U CN208172547 U CN 208172547U CN 201820804570 U CN201820804570 U CN 201820804570U CN 208172547 U CN208172547 U CN 208172547U
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Abstract
The foot based on Inertial Measurement Unit-machine following control system that the utility model discloses a kind of, belongs to pattern-recognition and field of intelligent control.The control system includes：(1) data acquisition unit, the inertial data for collecting work foot；(2) data transmission unit, for inertial data to be transferred to control unit and transmits control signals to actuator；(3) control unit, movement of the foot in sensor coordinate system that will work is transformed into earth coordinates, the movement of execution unit end is also transformed into earth coordinates simultaneously, according to the work foot inertial data after conversion, control signal is issued, the motion state for the foot that works is mapped to execution unit；(4) execution unit, for executing the order of control unit；(5) interaction open/stop unit, for controlling the connection and disconnection that map between work foot and mechanical arm, adjust the proportionality coefficient that work foot is mapped to execution unit.
Description
Technical field
The utility model belongs to pattern-recognition and field of intelligent control, is related to a kind of foot-machine following control system, especially relates to
And a kind of foot based on Inertial Measurement Unit-machine following control system.
Background technique
Foot-machine model- following control, i.e. employment foot remove the actuators such as control mechanical arm, and the movement of people's foot is enabled to be mapped to machinery
In arm, mechanical arm can follow the movement of people's foot, belong to one kind of human-computer interaction.With microelectric technique and sensor technology
Development and the rise of virtual reality technology, the application of foot-machine model- following control are also more and more.
Existing foot-machine system for tracking includes following several classes：(1) control stick, operating difficulties, since the flexibility ratio of foot is not so good as
Hand, even for sound people, the control of control stick is also relatively difficult；(2) pedal, function is limited, such as the brake of automobile, only
Two states are stepped on and unclamped, need additional mechanical structure toward contact；(3) dance rug (foot key in game application
Disk), it is desirable that people's foot moves in dance rug, and space is limited to；(4) depth camera, such as the Kinect of Microsoft, to interference
Quite sensitive, precision is limited, and the accuracy rate of identification is lower, higher cost.
Inertial Measurement Unit (Inertial Measurement Unit, abbreviation IMU) be measurement object 3-axis acceleration with
And the device of attitude angle (or angular speed).One IMU contains three axis accelerometer and three-axis gyroscope, accelerometer detectable substance
The acceleration signal of body independent three axis in carrier coordinate system system, and gyroscope then detects angle of the carrier relative to navigational coordinate system
Speed signal.Inertial Measurement Unit is widely used in inertial navigation field, and measurement obtains the acceleration of people during the motion, so
Afterwards to acceleration quadratic integral, the moving displacement of people can be obtained.
It is therefore, smaller for the human-computer interaction application of the executing agencies such as foot control mechanical arm, being badly in need of a kind of space limitation,
The high-accuracy control method not fettered realizes human-computer interaction using the displacement that people's foot moves as control signal.
Summary of the invention
The purpose of the utility model is to overcome above-mentioned the deficiencies in the prior art, a kind of foot-machine based on IMU is provided and is followed
Control system, specific technical solution are as follows.
A kind of foot based on Inertial Measurement Unit-machine following control system, including：(1) data acquisition unit, for acquiring
The inertial data (acceleration and angular speed value) of work foot；(2) data transmission unit, it is single for inertial data to be transferred to control
Member and transmit control signals to actuator；(3) control unit, movement of the foot in sensor coordinate system that will work are transformed into
In earth coordinates, while the movement of execution unit end is also transformed into earth coordinates, according to the work foot after conversion
The motion state for the foot that works is mapped to execution unit by inertial data, issues control signal；(4) execution unit, such as mechanical arm,
For executing the order of control unit；(5) interaction open/stop unit, for controlling the connection mapped between work foot and mechanical arm
With disconnection, the proportionality coefficient that work foot is mapped to execution unit is adjusted.
IMU acquisition data beWhereinFor 3-axis acceleration data,For three-axis gyroscope data.And
And the unit volume should be smaller, weight also should be relatively light, to be fixed on people's foot.
Data transmission unit should be lower using power consumption, the good wired or wireless transmission mode of transmission real-time, such as USB, string
Mouth, bluetooth etc..
Control unit should be strong using operational capability, and the control unit with multiple communication interface, such as PC, STM32.It holds
Row unit should have multi-motion freedom degree, and support communication, should especially have software control interface,
And support high-level programming language, such as the mechanisms such as programmable mechanical arm.
Unit is opened/stops in interaction can be selected the device for having key and sliding block.Auxiliary foot presses the button every time, is ok
Primary switching is realized between work foot and the connection and off-state of mechanical arm mapping.Auxiliary foot pushes sliding block side-to-side movement,
Adjust mapping proportion coefficients k with can be convenient.
A kind of foot based on Inertial Measurement Unit-machine following control system provided by the utility model, working principle are as follows.
The inertial data of IMU acquisition is by true inertia values sk(θ) and noise vkComposition, i.e.,：
yk=sk(θ)+vk
WhereinSubscript a and ω respectively represent acceleration and angular speed, θ be it is unknown still
Parameter influential on IMU output.Here it is assumed that noise is independent identically distributed, and all submitting to mean value is 0, covariance matrix
For the Gaussian Profile of C, wherein I3For 3 × 3 unit matrix, O3For 3 × 3 null matrix：
WhereinFor real number, the noise variance of accelerometer and gyroscope is respectively indicated, different IMU'sIt is not identical, it can be acquired by looking into the technical manual calculating of IMU.
The installation position of IMU is arbitrary.Using the blending algorithm based on acceleration, angular speed, resolving obtains IMU big
Movement of the IMU in sensor coordinate system is transformed into earth coordinates by the posture in ground coordinate system.Simultaneously mechanical arm
The movement of end is also transformed into earth coordinates, and design work foot is facilitated to move the mapping between manipulator motion.In detail
Blending algorithm can be obtained from bibliography (1).
After data acquisition unit collects the inertial data of work foot, by data transmission unit by the inertia number for the foot that works
According to being transferred to control unit.Control unit is by the ripe algorithm of the above-mentioned prior art, by fortune of the IMU in sensor coordinate system
Turn is changed in earth coordinates, while the movement of the end of mechanical arm is also transformed into earth coordinates.Control unit root
According to the inertial data of the work foot after conversion, the motion state for the foot that works is mapped to mechanical arm, issues control signal.
Mechanical arm model- following control includes two kinds of optional operating modes：Track is with amiable location following mode.Track follows mould
In formula, mechanical arm tail end follows the geometric locus of work foot, reaches home；In location following mode, mechanical arm tail end can edge
Nearest path or other planning paths, reach terminal.
It is one proportionality coefficient k of setting by the method that the motion state for the foot that works is mapped to mechanical arm.In different controlling fileds
Scape, the actual motion range for the foot that works and desired mechanical arm tail end motion range are widely different, thus Set scale coefficient k.
In the follow the mode of position, when the displacement for the foot that works is p, the displacement that mechanical arm tail end is realized is kp；Mould is followed in track
In formula, when the curvature of the motion profile for the foot that works is c, length is l, the realized motion profile curvature of mechanical arm tail end is c, length
For kl.K value is bigger, and the motion range of mechanical arm tail end is bigger, but kinematic accuracy is lower；K value is smaller, the fortune of mechanical arm tail end
Dynamic range is smaller, but kinematic accuracy is higher.
Interaction is opened/is stopped unit and controlled by auxiliary foot, and unit is opened/stops in interaction can be selected the dress with key or sliding block
It sets.Auxiliary foot presses the button every time, can realize between work foot and the connection and off-state of mechanical arm mapping primary
Switching.Auxiliary foot pushes sliding block side-to-side movement, adjusts mapping proportion coefficients k with can be convenient.
Relative to previous human-computer interaction application, the foot based on IMU-machine following control system provided by the utility model,
Since movement of the work foot in sensor coordinate system is transformed into earth coordinates by control unit, while the end of mechanical arm
The movement at end is also transformed into earth coordinates, and the installation position of IMU is arbitrary；Due to being provided with the proportionality coefficient of mapping,
So to the size of space there is no limit；The displacement of output has been the displacement of three axis, therefore can be realized to X, Y, Z tri-
The control in a direction, and many complicated controls, the precision and real-time of control can be realized according to different application scenarios
Preferably.
Detailed description of the invention
Fig. 1 is foot of the utility model based on Inertial Measurement Unit-machine following control system composition figure；
Fig. 2 is the foot based on Inertial Measurement Unit-machine following control system connection figure of the utility model embodiment；
Fig. 3 is three axis original definition figures of the mechanical arm of the utility model embodiment；
Fig. 4 is the track follow the mode and location following pattern diagram of the utility model embodiment mechanical arm.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing to this reality
It is further elaborated with novel.It should be appreciated that the specific embodiments described herein are only to explain that this is practical new
Type is not used to limit the utility model.
Fig. 1 is foot of the utility model based on Inertial Measurement Unit-machine following control system composition figure, and Fig. 2 is this reality
With the foot based on IMU-machine following control system of new embodiment.IMU is connected by USB interface with PC, and mechanical arm then passes through
Serial ports is connected with PC.But be not limited to the communication mode of serial ports, the utility model embodiment using wired connection side
Formula, if control unit uses STM32, Arduino etc. to carry out wireless communication, entire control system can simplify again.
The embodiments of the present invention select the MTI-300 series IMU of Xsens company production, the IMU that can export more
Accurate 3-axis acceleration and angular speed.The sample frequency of IMU is set as 100Hz, i.e. the sampling period is 0.01s.But not
It is confined to the IMU and serves as sensor, other lower-cost IMU are applying sensor fusion algorithm, obtaining more accurate three
It is after axle acceleration and angular speed and feasible.
The DOBOT magician type mechanical arm that boundary science and technology is got in the embodiments of the present invention selection serves as control object, it
It can be moved along tri- directions X, Y, Z.The repetitive positioning accuracy of mechanical arm is 0.02mm.The mechanical arm support as bluetooth, serial ports,
The communications such as WiFi, thus can be controlled with a variety of different control units.The utility model embodiment uses
The serial ports of PC is communicated with mechanical arm, then the C++ program by writing on PC, the control interface of mechanical arm is called, to realize
Control to mechanical arm.
The start stop apparatus of the utility model embodiment has selected a kind of device with key and sliding block.Key is only stepped on
With release two states, it is equivalent to a switching signal, by simple single chip circuit, the state of key can be passed through into indigo plant
Tooth is sent on PC, to control the disconnection and connection of mechanical arm；The position of sliding block is then equivalent to an analog signal, passes through AD
Conversion, can also send PC by bluetooth for the relative position of sliding block.In the utility model embodiment, company when key is stepped on
Connect mechanical arm, when release then disconnects mechanical arm.
Foot based on Inertial Measurement Unit-machine following control system provided by the embodiment of the utility model, specifically includes：
1. connect system by Fig. 2, fix IMU on the left foot (work foot) of people, right crus of diaphragm (auxiliary foot) control button and
Sliding block when key is stepped on, calls the control interface of mechanical arm to connect mechanical arm, and initial work again in host computer procedure
The origin position of foot and mechanical arm, wherein the factory original coordinates axis of mechanical arm and origin definition are as shown in Figure 3.Key unclamps
When, then disconnect the control to mechanical arm.
2. calling the data-interface of IMU in host computer procedure in the case where mechanical arm connection, IMU measurement is obtained
3-axis acceleration data and three axis angular rate data；
3. coordinate system is transformed into earth coordinates by sensor coordinate system, acceleration of people's foot in earth coordinates is obtained
Angle value and location information.
4. the direction of motion of people's foot is mapped in mechanical arm.The control interface of mechanical arm is called in a program, so that it may
Control the movement of mechanical arm.Moreover, tri- axis of X, Y, Z of sensor can just correspond to three directions of mechanical arm, passes through and configure
The parameter word of the direction of motion is controlled in mechanical arm, so that it may allow mechanical arm to move along different directions, achieve the purpose that model- following control.
5. model- following control includes two kinds of optional operating modes：Track is with amiable location following mode.To allow mechanical arm from point A
It moves to for point B, in the present embodiment, track follow the mode is that the motion profile for allowing mechanical arm to fully comply with work foot carries out
Movement；Location following mode is then that mechanical arm is allowed directly to move from point A to point B along straight line.Under the follow the mode of track, due to machine
The motion profile of tool arm end is curve, and the distance of manipulator motion is relatively long, but can achieve the purpose of avoidance；And
Under location following mode, the move distance of mechanical arm tail end is shortest, thus the real-time controlled is preferable.As shown in Figure 4.
6. after having judged the direction of motion of mechanical arm, it is also necessary to set work foot motion state and be mapped to mechanical arm
Proportionality coefficient k.Proportionality coefficient k can move left and right sliding block by auxiliary foot and be modified, while can also be in host computer interface
Middle real-time display.In the present embodiment, when sliding block is in it is intermediate when, the value of k is 1；It turns left when pushing sliding block, the value of k reduces, machine
The motion range of tool arm end reduces, but kinematic accuracy is got higher；It turns right when pushing sliding block, the value of k increases, the fortune of mechanical arm tail end
Dynamic range increases, but kinematic accuracy is lower.
In order to verify the performance of the present embodiment control system, using the control system employment foot control mechanical arm from point (0,
0,0) it moves to point (200,200,200) (real-time coordinates of mechanical arm can monitor in host computer interface), and preferred site
Follow the mode is followed using straight line：It just starts with auxiliary foot to move right sliding block, sets 1.4 for k, mechanical arm can be fast
Quick access near point (200,200,200)；It is moved to the left sliding block after the mechanical arm point of arrival (185.28,154.36,192.12), it will
K is set as 0.2, so that mechanical arm being capable of accurate arrival specified point.The point that final mechanical arm can reach be (202.18,
201.42,198.14).If there are requirements at the higher level to precision, the value for reducing k can be continued..
The above is the preferred embodiment of the utility model, but the utility model should not be limited to the embodiment
With attached drawing disclosure of that.So all do not depart from the lower equivalent or modification completed of spirit disclosed in the utility model, all
Fall into the range of the utility model protection.
Bibliography
[1]Skog I,Handel P,Nilsson J O,et al.Zero-velocity detection—An
algorithm evaluation[J].IEEE Transactions on Biomedical Engineering,2010,57
(11):2657-2666.
Claims (6)
1. a kind of foot based on Inertial Measurement Unit-machine following control system, which is characterized in that including：
(1) data acquisition unit, the inertial data for collecting work foot；
(2) data transmission unit, for inertial data to be transferred to control unit and transmits control signals to actuator；
(3) control unit, movement of the foot in sensor coordinate system that will work is transformed into earth coordinates, while handle executes list
The movement of first end is also transformed into earth coordinates, according to the work foot inertial data after conversion, control signal is issued, by work
The motion state for making foot is mapped to execution unit；
(4) execution unit, for executing the order of control unit；
(5) interaction open/stop unit, for controlling the connection and disconnection that map between work foot and mechanical arm, adjust work foot and reflect
It is mapped to the proportionality coefficient of execution unit.
2. foot according to claim 1-machine following control system, which is characterized in that the Inertial Measurement Unit acquisition
Data areWhereinFor 3-axis acceleration data,For three-axis gyroscope data.
3. foot according to claim 1-machine following control system, which is characterized in that the data transmission unit used
Transmission mode is USB, serial ports or bluetooth.
4. foot according to claim 1-machine following control system, which is characterized in that described control unit be PC or
STM32。
5. foot according to claim 1-machine following control system, which is characterized in that the execution unit is programmable machine
Tool arm.
6. foot according to claim 1-machine following control system, which is characterized in that the interaction open/stop unit be with
The device of key and sliding block.
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