KR101770913B1 - An angular velocity estimator using driving force and a robot including the same - Google Patents

An angular velocity estimator using driving force and a robot including the same Download PDF

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Publication number
KR101770913B1
KR101770913B1 KR1020160018879A KR20160018879A KR101770913B1 KR 101770913 B1 KR101770913 B1 KR 101770913B1 KR 1020160018879 A KR1020160018879 A KR 1020160018879A KR 20160018879 A KR20160018879 A KR 20160018879A KR 101770913 B1 KR101770913 B1 KR 101770913B1
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KR
South Korea
Prior art keywords
angular velocity
driving force
robot
driving
actuator
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KR1020160018879A
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Korean (ko)
Inventor
김지수
최지훈
조동일
심형보
이태재
장병문
고형호
조규진
정순필
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국방과학연구소
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/02—Rotary gyroscopes
    • G01C19/04—Details
    • G01C19/06—Rotors
    • G01C19/065—Means for measuring or controlling of rotors' angular velocity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/02—Rotary gyroscopes
    • G01C19/04—Details
    • G01C19/06—Rotors
    • G01C19/08—Rotors electrically driven

Abstract

According to the present invention, an apparatus to estimate an angular velocity using a driving force, comprises: an actuator (100) to generate a driving force; a power transmission device (200) to transfer the driving force generated from the actuator (100) to a driving device (400); and an angular velocity estimation unit (300) receiving the driving force from the power transmission device (200) to be vibrated to generate a linear velocity, measuring a Coriolis force generated by the linear velocity to estimate an angular velocity. According to the present invention, to be robust to an external malicious attack such as a sound wave using a resonant frequency in an existing gyro sensor, the angular velocity to generate the Coriolis force is able to be acquired.

Description

TECHNICAL FIELD [0001] The present invention relates to an angular velocity estimating apparatus using a driving force and a robot including the angular velocity estimating apparatus.

The present invention relates to an angular velocity estimating apparatus using a driving force and a robot including the angular velocity estimating apparatus. More particularly, the present invention relates to an angular velocity estimating apparatus that vibrates a sensor using a driving force of a robot without resonating the sensor itself, .

Position estimation is an essential technique for navigation, posture stabilization, and so on. The location estimation technique essentially includes a process of estimating directions. To achieve this, most robots use angular velocity

Figure 112016016017499-pat00001
) Is used for direction estimation.

Angular velocity (

Figure 112016016017499-pat00002
) Have been developed in various forms, and can be largely classified into a rotary type, an optical type, and a vibration type. A rotary gyro sensor is a gyro sensor that detects the rotation by using the principle of inertia and car motion to keep the properties of the rotating body rotating at a high speed. Typically, a dynamically tuned gyroscope is included. The rotary gyro sensor has a complicated mechanical structure of a rotating body such as a motor, a rotor, and a gimbals. In addition, since the sensor is bulky and expensive, it has been used only in the military field in the past. However, as the gyro sensors of other types are developed, the utilization rate is gradually decreasing.

     The optical gyro sensor is a sensor that senses the rotation using the Sagnac effect. The optical gyro sensor detects the path difference of light generated by the rotation of the two light rays in opposite directions to each other in the circular closed path of the circular shape, and calculates the angular velocity . In the absence of rotation, the paths of the two radiated lights are constant, so they are detected at the same time without a path difference. In the case of rotation, the two light paths are different from each other, so that light interference occurs. And the angular velocity is calculated. Optical gyro sensors are very popular in military applications because of their high accuracy, but their use is limited in general industrial products. Typical optical gyro sensors include fiber optic gyroscopes and ring laser gyroscopes.

A vibrating gyro sensor is a sensor that detects rotation using the Coriolis force. There is a mass that resonates at a constant frequency inside the sensor. The mass velocity of the mass due to resonance

Figure 112016016017499-pat00003
) Is the angular speed with respect to the rotation direction of the robot
Figure 112016016017499-pat00004
), The mass will be the Coriolis force (
Figure 112016016017499-pat00005
). When the mass inside the sensor receives the Coriolis force, the mass is displaced with respect to the sensor frame, and the rotation angular velocity can be estimated by detecting the displacement through a sensing method such as a capacitance type or a resistance type. Currently, the majority of oscillatory gyro sensors are manufactured in a miniaturized form based on micromachining technology and are very inexpensive and widely used in a wide range of fields such as robotics, control, and automobiles. Typical examples include a comb-shaped gyro sensor and a bulk acoustic wave gyro sensor. The comb structure gyro sensor is the most widely used vibration type gyro sensor structure, and the edge of the mass body is made into a comb structure to increase the capacitive variation according to the displacement of the mass. In the tuning fork shape, And resonates in the opposite direction to cancel the influence of the acceleration. The bulk acoustic-wave gyro sensor has a ring-shaped mass, and has a structure capable of acting as a spring inside the ring, and is deformed into an elliptical shape to vibrate. When rotation occurs, a change occurs in the shape of an ellipse, And the angular velocity is measured.

  In the case of micromachining based gyro sensors, which are currently applied to most robots, controls, and automobiles, the sensor is resonated at a fixed frequency, so that when the external vibration of the same frequency is input, the operation of the sensor is stopped due to excessive amplitude amplification have. Using this, gyro sensor disabling attack techniques using sound waves are being developed. For example, research results have been published that disrupt a dron by disrupting a gyro sensor by applying a sonic attack to a dron with a gyro sensor.

Further, additional power consumption is required for resonance of the sensor, and since the sensor always resonates regardless of the state of the robot, unnecessary power is wasted even when the robot is stopped or in a standby state.

Registration Practical Utility Model No. 20-0062838 (Feb. 2, 1992)

SUMMARY OF THE INVENTION It is an object of the present invention to provide an angular velocity estimating apparatus and an angular velocity estimating method for an angular velocity estimating apparatus which does not resonate a sensor (gyro sensor) And a robot including the same.

An apparatus for estimating an angular velocity using a driving force according to the present invention includes: an actuator (100) for generating a driving force; A power transmission device 200 for transmitting the driving force generated in the actuator 100 to the driving device 400; And a control unit (200) that receives a driving force from the power transmission device (200)

Figure 112016016017499-pat00006
), And the linear velocity (
Figure 112016016017499-pat00007
) Coriolis force generated by
Figure 112016016017499-pat00008
) Was measured and the angular velocity
Figure 112016016017499-pat00009
And an angular velocity estimator 300 for estimating an angular velocity.

The rotation axis of the angular velocity estimating apparatus using the driving force and the linear velocity

Figure 112016016017499-pat00010
) Are not parallel to each other.

The power transmission device 200 is configured to transmit the linear velocity

Figure 112016016017499-pat00011
) Or an amplitude increasing device for increasing the amplitude of the vibration.

The angular velocity estimator 300 estimates angular velocity based on the Coriolis force generated by the linear velocity

Figure 112016016017499-pat00012
), And the Coriolis force (
Figure 112016016017499-pat00013
) Of the angular velocity estimating apparatus using the driving force generated by the angular velocity estimating apparatus
Figure 112016016017499-pat00014
An acceleration measuring unit 310 for measuring an acceleration; The acceleration measured by the acceleration measuring unit 310
Figure 112016016017499-pat00015
), The Coriolis force (
Figure 112016016017499-pat00016
A signal processor 320 for extracting an acceleration component by the acceleration sensor 320; And the Coriolis force extracted from the signal processing device (320)
Figure 112016016017499-pat00017
) As an angular velocity (
Figure 112016016017499-pat00018
And a signal conversion unit 330 for converting the signal to a signal.

In the acceleration measuring unit 310,

Figure 112016016017499-pat00019
) Is expressed by the following equation.

Figure 112016016017499-pat00020

Figure 112016016017499-pat00021

Figure 112016016017499-pat00022

(here,

Figure 112016016017499-pat00023
Is the linear velocity of the angular velocity estimator,
Figure 112016016017499-pat00024
Is the Coriolis force, m is the mass of the angular velocity estimator,
Figure 112016016017499-pat00025
Is a noise,
Figure 112016016017499-pat00026
Is a high-frequency component existing in the acceleration component,
Figure 112016016017499-pat00027
being)

In the signal processing device 320, through filtering such as the following equation, the acceleration (

Figure 112016016017499-pat00028
), A linear acceleration force, a high frequency component (
Figure 112016016017499-pat00029
) And noise
Figure 112016016017499-pat00030
) Was removed, and the Coriolis force (
Figure 112016016017499-pat00031
) Of the acceleration component.

Figure 112016016017499-pat00032

In the signal converting unit 330, the Coriolis force (

Figure 112016016017499-pat00033
) As an angular velocity (
Figure 112016016017499-pat00034
).

Figure 112016016017499-pat00035

The robot including the angular velocity estimation apparatus using the driving force according to the present invention is characterized in that the actuator 100 is a motor or an engine that generates a driving force for moving the robot.

The power transmission device 200 of the robot is a chain 210 that transmits the driving force generated in the actuator 100 to the driving device 400. The driving device 400 is connected to the chain 210, A plurality of wheels 410 that rotate by a driving force and connect the wheels 410 located on the same side of the plurality of wheels 410 so that the rotational motion of the wheel 410 is transmitted to the robot in a forward and backward oscillation The angular velocity estimator 300 may be mounted on the first frame 500 to detect the linear velocity

Figure 112016016017499-pat00036
) Of the robot (1).

The power transmission device 200 of the robot transmits a driving force generated in the actuator 100 to the driving device 400 and is connected to a plurality of first gears 222 ); And a first gear 222 driven by the belt 221 among the plurality of first gears 123 to convert rotational motion of the gear 222 into oscillating motion in the forward and backward directions of the robot Wherein the driving device 400 is a plurality of wheels 410 rotated by a driving force transmitted by the chain 210. The angular velocity estimating unit 300 estimates angular velocity Mounted on the second frame 223,

Figure 112016016017499-pat00037
) Of the robot (1).

The power transmission device (200) of the robot includes a second gear (231) rotated by a driving force generated by the actuator (100); And a third frame 232 for converting the rotational motion of the second gear 231 into a linear vibration motion in the forward and backward directions of the robot, And a plurality of legs 420 mounted at one end to drive the robot using a linear vibration motion of the third frame 232 located at a point of a lever principle, (I.e., the lower end) of the leg 420,

Figure 112016016017499-pat00038
) Of the robot (1).

The power transmission device 200 of the robot is a propeller shaft 240 that transmits the driving force generated by the actuator 100 to the driving device 400. The driving device 400 is driven by the propeller shaft 240 The angular velocity estimating unit 300 is installed at one end of the propeller 430. When the angular velocity estimating unit 300 detects a direction perpendicular to the propeller shaft 240, The linear velocity (

Figure 112016016017499-pat00039
) Of the vibrating plate.

As described above, according to the present invention, it is possible to obtain the linear velocity for generating the Coriolis force so as to be robust against external malicious attacks such as sound waves using the resonance frequency of the conventional gyro sensor.

It is also possible to operate even if no additional power is supplied to resonate the acceleration measuring device (i.e., sensor).

In addition, when the robot is stopped or in the standby state, unnecessary power waste can be reduced because the acceleration measuring device (i.e., sensor) is not resonated.

1 is a block diagram of an angular velocity estimation apparatus using a driving force according to the present invention.
2 is a block diagram of an angular velocity estimation unit in an angular velocity estimation apparatus using a driving force according to the present invention.
3 is a schematic view of a first embodiment of a robot including an angular velocity estimation apparatus using a driving force according to the present invention.
4 is a schematic view of a second embodiment of a robot including an angular velocity estimation device using a driving force according to the present invention.
5 is a schematic view of a third embodiment of a robot including an angular velocity estimation device using a driving force according to the present invention.
6 is a schematic view of a fourth embodiment of a robot including an angular velocity estimation apparatus using a driving force according to the present invention.

It is to be understood that the words or words used in the present specification and claims are not to be construed in a conventional or dictionary sense and that the inventor can properly define the concept of a term to describe its invention in the best way And should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention. Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention and are not intended to represent all of the technical ideas of the present invention. Therefore, various equivalents It should be understood that water and variations may be present. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram of an angular velocity estimation apparatus using a driving force according to the present invention, and FIG. 2 is a block diagram of an angular velocity estimation unit in an angular velocity estimation apparatus using a driving force according to the present invention. Referring to FIGS. 1 and 2, the angular velocity estimating apparatus using the driving force includes an actuator 100, a power transmitting apparatus 200, and an angular velocity estimating unit 300.

The actuator 100 generates a driving force and may be a motor or an engine that generates driving force for moving the robot including the angular velocity estimating apparatus.

The power transmission device 200 transmits the driving force generated in the actuator 100 to the driving device 400. The power transmission device 200 is configured to transmit the linear velocity

Figure 112016016017499-pat00040
) Or an amplitude increasing device for increasing the amplitude of the vibration.

That is, the actuator is a device that generates the initial power of the robot, and the power transmission device includes all the parts that move within the robot to receive power and move. Generally, the power train moves with a frequency proportional to the power of the actuator. The angular velocity estimating apparatus is an apparatus that integrates an acceleration estimating apparatus with a power transmitting apparatus existing in a robot. That is, the present invention is an apparatus for acquiring a linear velocity generating a Coriolis force required for angular velocity estimation from a robot driving power.

The angular velocity estimating unit 300 receives the driving force from the power transmitting device 200,

Figure 112016016017499-pat00041
), And the linear velocity (
Figure 112016016017499-pat00042
) Coriolis force generated by
Figure 112016016017499-pat00043
) Was measured and the angular velocity
Figure 112016016017499-pat00044
).

At this time, the rotation axis of the angular velocity estimating apparatus using the driving force and the linear velocity

Figure 112016016017499-pat00045
) Are not parallel to each other. Thus, the Coriolis force (
Figure 112016016017499-pat00046
Is not eliminated by the external product X of the angular velocity component and the linear velocity component but the angular velocity and the linear velocity exist (
Figure 112016016017499-pat00047
) Always occurs.

The angular speed estimating unit 300 calculates the linear velocity

Figure 112016016017499-pat00048
) Is small, the Coriolis force (
Figure 112016016017499-pat00049
) Can not be sufficiently generated. Therefore, sufficient Coriolis force (
Figure 112016016017499-pat00050
I) increasing the vibration frequency through the gear ratio difference of the power transmission apparatus 200, ii) increasing the amplitude using the lever principle,
Figure 112016016017499-pat00051
(The gear ratio adjusting device or the amplitude increasing device described above). This is because the linear velocity
Figure 112016016017499-pat00052
) Is obtained from the derivative of the Fourier series expression with respect to the frequency f of the displacement r (see equations (1) to (3) to be described later).

The angular velocity estimation unit 300 includes an acceleration measurement unit 310, a signal processing unit 320, and a signal conversion unit 330.

The acceleration measuring unit 310 measures the Coriolis force generated by the linear velocity

Figure 112016016017499-pat00053
), And the Coriolis force (
Figure 112016016017499-pat00054
) Of the angular velocity estimating apparatus using the driving force generated by the angular velocity estimating apparatus
Figure 112016016017499-pat00055
). ≪ / RTI > In more detail, in the acceleration measuring unit 310,
Figure 112016016017499-pat00056
Is expressed (i.e., derived) as shown in Equation (1) below. Further, the above equation (1) is derived from the following equations (2) and (3).

Figure 112016016017499-pat00057

Figure 112016016017499-pat00058

Figure 112016016017499-pat00059

In the above equations (1) to (3), m is the mass of the angular velocity estimator,

Figure 112016016017499-pat00060
Is the Coriolis force,
Figure 112016016017499-pat00061
Is a noise,
Figure 112016016017499-pat00062
Is a high-frequency component existing in the acceleration component,
Figure 112016016017499-pat00063
to be.

Referring to Equations (1) to (3) above, the linear velocity

Figure 112016016017499-pat00064
) Increases the Coriolis force
Figure 112016016017499-pat00065
And the centrifugal force due to the rotation received by the angular velocity estimation unit 300
Figure 112016016017499-pat00066
), Each acceleration (
Figure 112016016017499-pat00067
) Is relatively small. The linear velocity (
Figure 112016016017499-pat00068
(The gear ratio adjusting device or the amplitude increasing device described above) can be driven by receiving power from the actuator 100 without requiring any additional power.

The signal processing unit 320 receives the acceleration measured by the acceleration measuring unit 310

Figure 112016016017499-pat00069
), The Coriolis force (
Figure 112016016017499-pat00070
) Of the acceleration component. In more detail, in the signal processing apparatus 320, through the filtering as shown in Equation (4), the acceleration (
Figure 112016016017499-pat00071
), A linear acceleration force, a high frequency component (
Figure 112016016017499-pat00072
, At this time
Figure 112016016017499-pat00073
) And noise
Figure 112016016017499-pat00074
) Was removed, and the Coriolis force (
Figure 112016016017499-pat00075
) Of the acceleration component.

Figure 112016016017499-pat00076

At this time, the filtering may be a filtering method using a band filter, a notch filter, or an adaptive notch filter. Also,

Figure 112016016017499-pat00077
Is the measured acceleration, and the arrow in Equation (4) represents the filtering process.

The signal converting unit 330 converts the Coriolis force extracted from the signal processing device 320

Figure 112016016017499-pat00078
) As an angular velocity (
Figure 112016016017499-pat00079
). In more detail, in the signal converting unit 330, the Coriolis force (
Figure 112016016017499-pat00080
) As an angular velocity (
Figure 112016016017499-pat00081
).

Figure 112016016017499-pat00082

That is, in the signal converting unit 330, the vibration component of the speed of the acceleration measuring unit 310 is removed through various demodulation signal processing processes such as envelope detection, and an angular velocity

Figure 112016016017499-pat00083
) Signal. At this time, an arrow in Equation (5) represents a demodulation signal processing process. When estimating the bandwidth of the filter for removing noise and the vibration frequency component of the angular velocity estimator 300 for the signal demodulation process as shown in Equations 1 to 5 above, an operation input of the actuator 100 and an operation of the actuator 100 ), Which can measure the speed of the sensor, can be used.

3 is a schematic view of a first embodiment of a robot including an angular velocity estimation apparatus using a driving force according to the present invention. Referring to FIG. 3, a first embodiment of a robot including an angular velocity estimation apparatus using a driving force according to the present invention includes an actuator 100, a power transmission device 200, an angular velocity estimation unit 300, a driving device 400, And a frame 500.

The actuator 100 is a motor or an engine for generating a driving force for moving the robot. The power transmitting device 200 includes a chain 210 for transmitting the driving force generated by the actuator 100 to the driving device 400, to be.

The driving device 400 is a plurality of wheels 410 rotated by a driving force transmitted by the chain 210. The first frame 500 includes a plurality of wheels 410, (410) to convert the rotational motion of the wheel (410) into the oscillating motion of the robot in the longitudinal direction.

The angular velocity estimating unit 300 is mounted on the first frame 500,

Figure 112016016017499-pat00084
) Of the robot. Accordingly, the angular velocity estimating unit 300 vibrates using the driving force of the robot without the angular velocity estimating unit 300 itself resonating (that is, without resonance by a separate device).

4 is a schematic view of a second embodiment of a robot including an angular velocity estimation apparatus using a driving force according to the present invention. 4, the second embodiment of the robot including the angular velocity estimation apparatus using the driving force according to the present invention includes the actuator 100, the power transmission device 200, the angular velocity estimation unit 300, the driving device 400, .

The actuator 100 is a motor or an engine that generates a driving force for moving the robot.

The power transmission device 200 includes a plurality of first gears 222 and a second frame 223. The plurality of first gears 222 transmit the driving force generated in the actuator 100 to the driving device 400 and are connected to each other by a belt 221 and have different gear ratios. The second frame 223 is mounted on the first gear 222 of the plurality of first gears 123 driven by the belt 221 to rotate the gear 222 And it is converted into a vibration motion in the forward and backward directions.

The driving device 400 is a plurality of wheels 410 that rotate by the driving force transmitted by the chain 210.

The angular velocity estimating unit 300 is mounted on the second frame 223,

Figure 112016016017499-pat00085
) Of the robot. Accordingly, the angular velocity estimating unit 300 vibrates using the driving force of the robot without the angular velocity estimating unit 300 itself resonating (that is, without resonance by a separate device).

The second embodiment is characterized in that the belt 221, the first gear 222 and the second frame 223 increase the vibration frequency through i) the gear ratio difference of the power transmitting device 200 and ii) To increase the amplitude, and the linear velocity (

Figure 112016016017499-pat00086
) From the first embodiment.

That is, the angular velocity estimator 300 calculates the linear velocity

Figure 112016016017499-pat00087
) Is small, the Coriolis force (
Figure 112016016017499-pat00088
) Can not be sufficiently generated. Therefore, unlike the first embodiment, by the belt 221, the first gear 222 and the second frame 223,
Figure 112016016017499-pat00089
).

5 is a schematic view of a third embodiment of a robot including an angular velocity estimation apparatus using a driving force according to the present invention. 5, a third embodiment of a robot including an angular velocity estimation apparatus using a driving force according to the present invention includes an actuator 100, a power transmission device 200, an angular velocity estimation unit 300, a driving device 400, .

The actuator 100 is a motor or an engine that generates a driving force for moving the robot.

The power transmission device 200 includes a second gear 231 and a third frame 232. The second gear 231 rotates by the driving force generated by the actuator 100. The third frame 232 serves to convert the rotational motion of the second gear 231 into a linear vibration motion in the longitudinal direction of the robot.

One end of the driving device 400 is mounted on the third frame 232 and a plurality of legs (not shown) driving the robot using the linear vibration motion of the third frame 232, (420).

The angular velocity estimating unit 300 is mounted on the leg 420 and calculates a linear velocity of the other end (i.e., lower end) of the leg 420

Figure 112016016017499-pat00090
) Of the robot. Accordingly, the angular velocity estimating unit 300 vibrates using the driving force of the robot without the angular velocity estimating unit 300 itself resonating (that is, without resonance by a separate device).

6 is a schematic view of a fourth embodiment of a robot including an angular velocity estimation apparatus using a driving force according to the present invention. 6, a fourth embodiment of a robot including an angular velocity estimating apparatus using a driving force according to the present invention includes an actuator 100, a power transmitting apparatus 200, an angular velocity estimating unit 300, a driving unit 400, .

The actuator 100 is a motor or an engine for generating a driving force for moving the robot and the power transmission device 200 includes a propeller shaft 240 for transmitting the driving force generated by the actuator 100 to the driving device 400 )to be.

The driving device 400 includes a plurality of propellers 430 rotated by driving force transmitted by the propeller shaft 240 and the angular velocity estimator 300 is mounted on one end of the propeller 430 , And when the direction perpendicular to the propeller shaft 240 is referred to as the linear velocity

Figure 112016016017499-pat00091
). Accordingly, the angular velocity estimating unit 300 vibrates using the driving force of the robot without the angular velocity estimating unit 300 itself resonating (that is, without resonance by a separate device).

It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory only and are not restrictive of the invention, as claimed, and will be fully understood by those of ordinary skill in the art. The present invention is not limited thereto. It will be apparent to those skilled in the art that various substitutions, modifications and variations are possible within the scope of the present invention, and it is obvious that those parts easily changeable by those skilled in the art are included in the scope of the present invention .

100 Actuator
200 Power Transmission
210 chain
221 belt
222 first gear
223 Second frame
231 Second gear
232 third frame
300 angular velocity estimating unit
310 acceleration measuring unit
320 signal processing device
330 signal conversion unit
400 drive
410 wheels
420 legs
430 Propeller
500 first frame

Claims (12)

An actuator (100) for generating a driving force;
A power transmission device 200 for transmitting the driving force generated in the actuator 100 to the driving device 400; And
And receives the driving force from the power transmission device 200 to receive the linear velocity
Figure 112016016017499-pat00092
), And the linear velocity (
Figure 112016016017499-pat00093
) Coriolis force generated by
Figure 112016016017499-pat00094
) Was measured and the angular velocity
Figure 112016016017499-pat00095
An angular velocity estimation unit 300 for estimating an angular velocity;
Wherein the angular velocity estimating apparatus includes: The method according to claim 1,
The rotation axis of the angular velocity estimating apparatus using the driving force and the linear velocity
Figure 112016016017499-pat00096
And the direction of the angular velocity is not parallel. The method according to claim 1,
The power transmission device 200 is configured to transmit the linear velocity
Figure 112016016017499-pat00097
Or a gear ratio adjusting device for increasing the amplitude of the vibration or an amplitude increasing device for increasing the amplitude of the vibration. The method according to claim 1,
The angular velocity estimation unit 300
The Coriolis force generated by the linear velocity (
Figure 112016016017499-pat00098
), And the Coriolis force (
Figure 112016016017499-pat00099
) Of the angular velocity estimating apparatus using the driving force generated by the angular velocity estimating apparatus
Figure 112016016017499-pat00100
An acceleration measuring unit 310 for measuring an acceleration;
The acceleration measured by the acceleration measuring unit 310
Figure 112016016017499-pat00101
), The Coriolis force (
Figure 112016016017499-pat00102
A signal processor 320 for extracting an acceleration component by the acceleration sensor 320; And
The Coriolis force extracted from the signal processing device 320
Figure 112016016017499-pat00103
) As an angular velocity (
Figure 112016016017499-pat00104
A signal converter 330 for converting the signal into a signal;
And an angular velocity estimating unit for estimating angular velocity using the driving force. 5. The method of claim 4,
In the acceleration measuring unit 310,
Figure 112016016017499-pat00105
) Is expressed by the following equation.
Figure 112016016017499-pat00106

Figure 112016016017499-pat00107

Figure 112016016017499-pat00108

(here,
Figure 112016016017499-pat00109
Is the linear velocity of the angular velocity estimator,
Figure 112016016017499-pat00110
Is the Coriolis force, m is the mass of the angular velocity estimator,
Figure 112016016017499-pat00111
Is a noise,
Figure 112016016017499-pat00112
Is a high-frequency component existing in the acceleration component,
Figure 112016016017499-pat00113
being) 6. The method of claim 5,
In the signal processing device 320, through filtering such as the following equation, the acceleration (
Figure 112016016017499-pat00114
), A linear acceleration force, a high frequency component (
Figure 112016016017499-pat00115
) And noise
Figure 112016016017499-pat00116
) Was removed, and the Coriolis force (
Figure 112016016017499-pat00117
) Of the angular velocity of the vehicle.
Figure 112016016017499-pat00118
 The method according to claim 6,
In the signal converting unit 330, the Coriolis force (
Figure 112016016017499-pat00119
) As an angular velocity (
Figure 112016016017499-pat00120
) Of the angular velocity of the vehicle.
Figure 112016016017499-pat00121
 A robot including an angular velocity estimation apparatus using the driving force according to any one of claims 1 to 7,
Wherein the actuator (100) is a motor or an engine that generates a driving force for moving the robot. 9. The method of claim 8,
The power transmission device 200 is a chain 210 for transmitting the driving force generated in the actuator 100 to the driving device 400,
The driving device 400 includes a plurality of wheels 410 rotated by driving force transmitted by the chain 210,
And a first frame 500 connecting the wheels 410 on the same side of the plurality of wheels 410 to convert the rotational motion of the wheel 410 into the oscillation motion in the forward and backward directions of the robot ,
The angular velocity estimation unit 300 is mounted on the first frame 500,
Figure 112016016017499-pat00122
Wherein the robot is oscillated in the forward and backward directions of the robot according to the angular velocity of the robot. 9. The method of claim 8,
The power transmission device 200 includes a plurality of first gears 222 that transmit driving force generated by the actuator 100 to the driving device 400 and are connected to each other by a belt 221 and whose gear ratios are different from each other; And
A first gear 222 mounted on the first gear 222 driven by the belt 221 among the plurality of first gears 123 and adapted to convert rotational motion of the gear 222 into oscillating motion in the forward and backward directions of the robot, 2 frame 223;
Further comprising:
The driving device 400 includes a plurality of wheels 410 rotated by a driving force transmitted by the chain 210,
The angular velocity estimation unit 300 is mounted on the second frame 223,
Figure 112016016017499-pat00123
Wherein the robot is oscillated in the forward and backward directions of the robot according to the angular velocity of the robot. 9. The method of claim 8,
The power transmission device 200 includes a second gear 231 rotated by a driving force generated by the actuator 100; And
A third frame 232 for converting the rotational motion of the second gear 231 into a linear vibration motion in the longitudinal direction of the robot;
/ RTI >
One end of the driving device 400 is mounted on the third frame 232 and a plurality of legs (not shown) driving the robot using the linear vibration motion of the third frame 232, (420)
The angular velocity estimating unit 300 is mounted on the leg 420 and calculates a linear velocity of the other end of the leg 420
Figure 112016016017499-pat00124
Wherein the robot is oscillated in the forward and backward directions of the robot according to the angular velocity of the robot. 9. The method of claim 8,
The power transmission device 200 is a propeller shaft 240 that transmits the driving force generated by the actuator 100 to the driving device 400,
The driving device 400 includes a plurality of propellers 430 rotated by a driving force transmitted by the propeller shaft 240,
The angular velocity estimating unit 300 is installed at one end of the propeller 430 and detects the angular velocity of the propeller shaft 240 when the linear velocity
Figure 112016016017499-pat00125
And the angular velocity estimating device using the driving force.
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110450142A (en) * 2019-09-09 2019-11-15 哈工大机器人（合肥）国际创新研究院 A kind of six-degree-of-freedom parallel robot based on double tops instrument component
KR20240043267A (en) 2022-09-27 2024-04-03 고려대학교 산학협력단 Device and method for detecting signal injection attack using relation between gyroscope and magnetometer

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JP3264580B2 (en) 1993-03-24 2002-03-11 トヨタ自動車株式会社 Angular velocity detector
JP4821865B2 (en) 2009-02-18 2011-11-24 ソニー株式会社 Robot apparatus, control method therefor, and computer program
JP2012245906A (en) 2011-05-28 2012-12-13 Futaba Corp Drive control device of remote controller
JP2013545986A (en) 2010-12-02 2013-12-26 アルベアト−ルートヴィヒス−ウニヴェアズィテート フライブルク Device for measuring rotational speed

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Publication number Priority date Publication date Assignee Title
JP3264580B2 (en) 1993-03-24 2002-03-11 トヨタ自動車株式会社 Angular velocity detector
JP4821865B2 (en) 2009-02-18 2011-11-24 ソニー株式会社 Robot apparatus, control method therefor, and computer program
JP2013545986A (en) 2010-12-02 2013-12-26 アルベアト−ルートヴィヒス−ウニヴェアズィテート フライブルク Device for measuring rotational speed
JP2012245906A (en) 2011-05-28 2012-12-13 Futaba Corp Drive control device of remote controller

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110450142A (en) * 2019-09-09 2019-11-15 哈工大机器人（合肥）国际创新研究院 A kind of six-degree-of-freedom parallel robot based on double tops instrument component
KR20240043267A (en) 2022-09-27 2024-04-03 고려대학교 산학협력단 Device and method for detecting signal injection attack using relation between gyroscope and magnetometer

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