KR101789776B1 - Bias correcting apparatus for yaw angle estimation of mobile robots and method thereof - Google Patents
Bias correcting apparatus for yaw angle estimation of mobile robots and method thereof Download PDFInfo
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- KR101789776B1 KR101789776B1 KR1020150175190A KR20150175190A KR101789776B1 KR 101789776 B1 KR101789776 B1 KR 101789776B1 KR 1020150175190 A KR1020150175190 A KR 1020150175190A KR 20150175190 A KR20150175190 A KR 20150175190A KR 101789776 B1 KR101789776 B1 KR 101789776B1
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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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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- 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
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The present invention relates to a bias correction apparatus and method for tracking a traveling angle of a traveling robot capable of accurately estimating a traveling angle of a traveling robot by correcting a bias error generated by a gyro sensor in a traveling robot using a gyro sensor, A gyro for measuring the rotational angular velocity of the robot, an encoder for measuring a pulse according to the rotation of the traveling wheel of the traveling robot, and a controller for counting the pulses measured by the encoder to identify the traveling state of the traveling robot, A bias estimator for estimating a bias for each exercise state by expanding an interval in which a gyro bias can be estimated, and a bias corrector for removing and correcting an estimated bias calculated through a bias estimator in an output value measured through the gyro.
Description
The present invention relates to a bias correcting apparatus and method for estimating the traveling angle of a traveling robot that can accurately estimate a traveling angle of a traveling robot by correcting a bias error generated by a gyro sensor in a traveling robot using a gyro sensor.
Recently, the robot industry has evolved from the concept of 'traditional robot' which was a substitute for labor, and has developed into the concept of 'humanoid friendly' intelligent robot.
The intelligent robot recognizes the external environment, judges the situation itself, and supports various services based on autonomous motion. Therefore, intelligent robots are expected to be used in various fields, leading to the future robot market.
One of the key technologies for realizing such an intelligent robot is location recognition technology with spatial perception ability. In particular, in order to commercialize indoor home service robot, development of location recognition technology based on low-cost yaw angle estimation It is becoming important.
The MEMS gyro sensor, which measures the angular velocity of the position recognition technology based on the low-level travel angle estimation, has advantages of low cost, low power, small size and light weight, but the integration process is inevitably required to measure the travel angle. And there is a fatal disadvantage that the error is diverged with time.
To solve this drawback, a heuristic drift reduction (HDR) based algorithm has been implemented to minimize the cumulative error. In particular, the HDR based algorithm estimates the bias drift, which is one of the main factors causing the integration error of the gyro sensor It is a technology to compensate.
However, the traveling angle estimation using the conventional HDR-based algorithm has a limitation that the traveling robot must be in a stationary state since the average value of the angular velocity output data is estimated and calculated during a certain period in a completely stopped state without movement of the traveling robot. In addition, since the gyro output that has already been contaminated by the physical bias drift generated by the gyro sensor and the small vibration generated by the traveling robot itself is used as a reference, the accuracy of the determination is also degraded.
For example, in the case of the robot cleaner, the value outputted from the gyro sensor changes as the brush rotates even in the stop state as shown in the waveform shown in FIG. If the brush is rotated even in the stationary state, the value output from the gyro sensor due to the vibration component is not accurate and the output value reflecting the vibration component is used.
In addition, the robot cleaner has a very short stop state during operation in an actual autonomous cleaning mode, so that it is difficult to estimate an accurate bias drift.
Therefore, there is a need for a method capable of estimating the bias drift not only in the stationary state of the traveling robot but also in the straight forward state where the actual angular velocity is small.
Accordingly, the applicant of the present invention has proposed the present invention based on the above-mentioned necessity. As a prior art document related thereto, there is disclosed an apparatus and a method for correcting the bias of a gyro mounted on a mobile robot in Patent Registration No. 10-0772915 , Registered Date: October 29, 2007).
SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-mentioned problems, and it is an object of the present invention to provide a gyroscope that can identify a motion state of a traveling robot and extend a bias drift estimation interval generated by the gyro sensor, And a bias correcting device and method for estimating the traveling angle of a traveling robot that can estimate the traveling angle adaptively through the compensation.
Another object of the present invention is to minimize the accumulation of integration errors by identifying the motion state of the traveling robot and performing switching control so as not to perform integration calculation for the traveling angle estimation in the stationary section.
According to an aspect of the present invention, there is provided a bias correcting apparatus for estimating a traveling angle of a traveling robot, the apparatus comprising: a gyro measuring a rotational angular velocity of the traveling robot; An encoder for measuring a pulse according to the rotation of the traveling wheel of the traveling robot; A bias counting unit for counting pulses measured by the encoder to identify a motion state of the traveling robot and a bias estimation unit for estimating a bias for each motion state by expanding an interval in which the bias of the gyro can be estimated according to a motion state of the traveling robot, government; And a bias correcting unit for correcting the output value measured through the gyro by removing the estimated bias calculated through the bias estimating unit.
The bias estimator counts the pulses measured through the encoder to identify the motion state of the traveling robot according to the number of counts, and if the identified motion state is a stop region or a straight region, the bias estimator calculates a heuristic drift reduction (HDR) And estimates a bias from angular velocity values corresponding to the stationary section or the straight section of the angular velocity values measured through the gyro.
The bias estimating unit may include a motion state identifying unit that identifies a motion state of stopping, straightening, and rotating of the traveling robot in accordance with the counted number of pulses measured through the encoder and outputs an identification value according to the identified motion state, ; An attenuation gain controller for adjusting the gains of the HDR-based filters differently with respect to a stop section or a straight section of the traveling robot using the identification value; And a bias calculator for calculating a bias drift by reflecting the adjusted gain value through the attenuation gain controller on the HDR-based filter.
Wherein the motion state identification unit is configured to determine whether the number of counts of the pulses output from the two encoders is 0 or not, At the same time, it is possible to identify the straight section and the rotation section according to whether the absolute value of the difference between the counts outputted from the two encoders exceeds the threshold value.
The damping gain control unit determines whether or not the angular velocity value corresponding to the stop, straight line, and rotation interval among the angular velocity values measured through the gyro is equal to or smaller than the reference angular velocity threshold value, in addition to the identification value output through the motion state identification unit So that the gain value can be calculated for the section where both conditions are satisfied.
Also, the attenuation gain control unit may calculate a gain value for each section using the following equation.
[Mathematical Expression]
(only,
Is a gain value, Is an identification value, Is the angular velocity value corresponding to the stop, straight and rotation section through the gyro, and 0.7 deg / s is the reference angular velocity threshold value for determining the fine rotation occurring in the straight section.)The bias calculator may calculate an estimated bias for each motion state of the traveling robot using the following HDR-based estimation equation.
[Estimation formula]
,
(only,
Is a bias drift estimation value, x is a gyro output value, Constant)The bias correcting apparatus may further include a switching unit for selectively blocking the execution of the integral calculation for the traveling angle estimation according to the motion state of the traveling robot identified through the bias estimating unit.
The switching unit may stop the integration operation and prevent integration errors from accumulating when the traveling state of the traveling robot is in the stopping period.
According to another aspect of the present invention, there is provided a bias correcting method for estimating a traveling angle of a traveling robot, the method comprising the steps of: measuring a rotational angular velocity of a gyro of the traveling robot; ; Measuring a pulse according to rotation of the traveling wheel of an encoder mounted on a traveling wheel of the traveling robot; The bias estimating unit of the traveling robot counts the pulses measured through the encoder to identify the motion state of the traveling robot and expands the interval in which the bias of the gyro can be estimated according to the motion state of the traveling robot, Estimating a bias by each bias; And a step in which the bias correction unit of the traveling robot removes the estimated bias calculated through the bias estimation unit from the output value measured through the gyro and corrects the bias.
According to the present invention, the bias error generated by the gyro sensor is corrected by expanding the bias estimation period so that the traveling robot can estimate the bias drift not only in the stationary section but also in the rectilinear section in which the traveling robot shakes finely by identifying the motion state of the traveling robot There is an effect that can be. This bias error correction can more accurately estimate the traveling angle of the traveling robot.
In addition, according to the present invention, there is an effect of minimizing the accumulation of integration errors by identifying the motion state of the traveling robot and performing switching control so as not to perform integral calculation for estimating the traveling angle in the stop section.
FIG. 1 is a waveform diagram of a gyro output value measured in a stationary state of a general robot cleaner.
2 is a block diagram of a bias correction apparatus for estimating a traveling angle of a traveling robot according to an embodiment of the present invention.
3 is a conceptual diagram for explaining the traveling angle of the traveling robot according to the embodiment of the present invention.
4 is a detailed configuration diagram of a bias estimator applied to a bias correcting apparatus for estimating a traveling angle of a traveling robot according to an embodiment of the present invention.
5 is a table showing identification values defined according to the motion state of the traveling robot in the bias estimating unit according to the embodiment of the present invention.
6 is a flowchart illustrating a bias correction method for estimating a traveling angle of a traveling robot according to an embodiment of the present invention.
FIG. 7 is a graph comparing a progress angle estimation value output through a bias correction method according to an embodiment of the present invention with a reference device and a conventional HDR-based progress angle estimation filter.
8 is a comparative graph showing an enlarged view of a part of the graph of FIG.
BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings.
The present invention is not limited to the embodiments disclosed below but may be embodied in various forms without departing from the spirit and scope of the invention. To fully disclose the scope of the invention to a person skilled in the art, and the invention is only defined by the scope of the claims.
For reference, in the embodiment of the present invention, the low-performance low-cost encoder installed in the traveling robot is used to identify the traveling state of the traveling robot, that is, the traveling state, and the traveling state is not only the stationary period, The bias drift component included in the output of the gyro sensor is extended to a region where the bias drift factor can be estimated, thereby providing a configuration for correcting a bias drift of the gyro sensor. In this case, the bias drift is estimated using a filter based on the existing HDR (Heuristic Drift Reduction) algorithm, and the gain of the HDR filter is adaptively controlled according to the stop section or the straight section, It is possible to provide a traveling robot capable of estimating the traveling angle.
FIG. 2 is a block diagram of a bias correcting apparatus for estimating a traveling angle of a traveling robot according to an embodiment of the present invention. FIG. 3 is a conceptual diagram illustrating a traveling angle of a traveling robot according to an embodiment of the present invention.
The
The
The
The
Assuming that the position coordinates of the traveling
Referring again to FIG. 2, the
In the present embodiment, the gyro output value (
) Is a value in a state in which bias correction is not performed, that is, an actual rotational angular velocity value ( ) To the bias element , ). The bias is a fixed bias generated by the initial operating current when the power is applied ) And bias drift ) May be included.The
The
The
The
The
The
The
The value outputted through the
The
For example, when the traveling robot is stationary, there is no change in the traveling angle. Therefore, the
Accordingly, when the traveling robot is in the stopped state ("
) Stops the integral operation and maintains the previous traveling angle, and performs the integration operation when the traveling robot is in the straight state or in the rotating state. The equation is expressed as follows.
In the above formula,
Is an identification value that identifies the motion state of the traveling robot, Is in a stopped state, Is a straight state, Lt; / RTI > Is a bias-corrected gyro output value, and? Represents a traveling angle.FIG. 4 is a detailed configuration diagram of a bias estimating unit according to an embodiment of the present invention, and FIG. 5 is a table showing identification values defined according to a motion state of the traveling robot in the bias estimating unit according to the embodiment of the present invention.
The
The motion
Generally, as shown in FIG. 5 (a), the traveling robot can roughly classify the motions occurring outside the intermittent stop state into three types. The definition of each movement is as follows.
- swaying: The traveling robot keeps the linear motion and simultaneously makes a slight shake to the left and right
- Curving: slowly rotating according to a large radius of curvature
- Turning: Rapid rotation according to small radius of curvature.
The motion
The absolute value of the difference in the number of counts output from the two encoders (
) ≪ / RTI > ), It is about the period of curving or turning, and the threshold value ( ), It can be defined as a section where the straight motion and the fine swaying of the left and right coexist.5 (b), the motion
The attenuation
Also, the attenuation
[Mathematical Expression]
here,
Is a gain value, Is an identification value, Is an angular velocity value corresponding to a stop, a straight line, and a rotation section through a gyro, and 0.7 deg / s is a reference angular velocity threshold value for determining a fine rotation occurring in a straight line section. That is, if the angular velocity value is larger than the reference angular velocity threshold value, the rotation is strong, and if the angular velocity value is smaller than the reference angular velocity threshold value, it can be judged as a weak rotation. Here, 0.7 deg / s corresponds to one example for convenience of understanding and can be changed according to the specifications of the traveling robot.According to the above equation, the damping
In addition, when the motion state of the traveling robot is a straight line or a stop section
, ), And at the same time, an angular velocity value ( ) Is less than the reference angular velocity threshold of 0.7 deg / s, the previous gyro output value and the angular velocity value corresponding to each section ( ) To the gain value ( ).The
[Estimation formula]
,
(only,
Is a bias drift estimation value, x is a gyro output value, Constant)In the above estimation formula,
Is a fixed increment, , Respectively, Is determined according to the rotational direction of the gyro. Outputs a sensor output value, that is, a gyro output value (x) isThe bias drift estimate (
Is a bias drift value included in the
A bias correction method for traveling angle estimation of a traveling robot according to an embodiment of the present invention will be described with reference to the above configuration.
6 is a flowchart illustrating a bias correction method for estimating a traveling angle of a traveling robot according to an embodiment of the present invention. For reference, the description will be made with reference to the constituent elements of Fig. 2 and Fig.
First, in step S100, the
Gyro output value (
) Is the actual rotational angular velocity value ( ) To the bias element , ). That is, the gyro output value ) Is as follows.
In step S110, the
In the next step S200, the
In the next step S210, the
At this stage, the motion
For example, when the traveling wheels are respectively provided on the left and right sides, the number of counts of pulses outputted from the two left and right encoders (120a and 120b in FIG. 3)
, ) Is all 0, ). Also, the number of counts of pulses output from the two encoders ( , ) Is not zero and at the same time the absolute value of the difference in the number of counts output from the two encoders ) ≪ / RTI > ), The rotation period, the threshold value ( ), It is identified as a straight section.In the next step S220, the
Gain value
) Can be calculated using the following equation.[Mathematical Expression]
here,
Is a gain value, Is an identification value, Is an angular velocity value corresponding to a stop, a straight line, and a rotation section through a gyro, and 0.7 deg / s is a reference angular velocity threshold value for determining a fine rotation occurring in a straight line section.In the next step S230, the
[Estimation formula]
,
(only,
Is a bias drift estimation value, x is a gyro output value, Constant)The bias drift estimate (
) Is the bias drift ) Can be calculated.In step S240, the
At this time, the bias drift estimation value
) This bias drift ( ), The final output value (" ) Is the actual rotational angular velocity value measured through the gyro ( ).
Finally, in step S250, the traveling robot calculates the corrected final output value (
). ≪ / RTI >Meanwhile, before estimating the traveling angle, the
The verification experiment was conducted based on the estimated progress angle result table.
To accomplish this, a gyro sensor, which meets the electrical interface and size specifications shown in the table below, was manufactured on the existing robot cleaner (VR20H9050UW). The MCU of the inertial sensor module is based on ATmega328 (Atmel), and the MEMS gyro adopts MPU6050 (Invensense) z-axis gyro sensor. The encoder used RB-35GM (D & J WITH) equipped with a commercial robot cleaner (VR20H9050UW). The standard equipment was Raptor-4, Motion capture equipment of MotionAnalysis.
[table]
FIG. 7 shows the result of the traveling angle estimation of the reference equipment, the traveling robot to which the bias correcting device according to the embodiment of the present invention is applied, and the conventional HDR-based traveling robot, FIG. 8 shows an enlarged view .
As shown in the graph of FIG. 7, the conventional HDR-based traveling
In FIG. 8, the difference is more clearly shown in the 275 to 300 seconds enlarged section. That is, the existing HDR-based traveling robot P2 shows an error of 20 degrees or more, and the proposed traveling robot P3 of the present invention shows an error of less than 1 degree.
Therefore, it can be seen that the performance of the traveling robot P3 according to the present invention is stabilized regardless of the time by adaptively estimating and correcting the bias according to the intervals through the motion state identification.
While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the invention. Accordingly, the embodiments disclosed in the specification of the present invention are not intended to limit the present invention. The scope of the present invention should be construed according to the following claims, and all the techniques within the scope of equivalents should be construed as being included in the scope of the present invention.
100: bias correcting device 110:
120: Encoder 130: Gyro
140: Signal filter unit 150: Bias estimation unit
160: bias correction unit 170: switch unit
180: Progress angle estimation unit 152: Motion state identification unit
154: attenuation gain control unit 156:
Claims (16)
An encoder for measuring a pulse according to the rotation of the traveling wheel of the traveling robot;
A bias counting unit for counting pulses measured by the encoder to identify a motion state of the traveling robot and a bias estimation unit for estimating a bias for each motion state by expanding an interval in which the bias of the gyro can be estimated according to a motion state of the traveling robot, government; And
A bias correcting unit for correcting the bias value calculated by the bias estimating unit from the output value measured through the gyro,
Lt; / RTI >
The bias estimator may include:
And counting the pulses measured through the encoder to identify the motion state of the traveling robot according to the counting number, and adjusting the gain value of the HDR (Heuristic Drift Reduction) -based filter according to the identified motion state as the stopping period or the straightening period And estimates a bias from an angular velocity value corresponding to the stationary section or the straight section of angular velocity values measured through the gyro.
The bias estimator may include:
A motion state identification unit for identifying a motion state of stopping, straightening, and turning of the traveling robot according to the counted number of pulses measured through the encoder and outputting an identification value according to the identified motion state;
An attenuation gain controller for adjusting the gains of the HDR-based filters differently with respect to a stop section or a straight section of the traveling robot using the identification value; And
A bias calculator for calculating a bias drift by reflecting the adjusted gain value through the attenuation gain controller on the HDR-
And estimating the traveling angle of the traveling robot.
Wherein the motion state identification unit comprises:
When the number of counts of the pulses output from the two left and right encoders is all 0, the number of counts of the pulses output from the two encoders is not zero, Wherein the controller identifies the straight section and the rotation section according to whether the absolute value of the difference between the number of counts exceeds a threshold value.
Wherein the attenuation gain control unit comprises:
It is determined whether or not the angular velocity value corresponding to the stop, straight line, and rotation interval among the angular velocity values measured through the gyro is equal to or less than the reference angular velocity threshold value, in addition to the identification value output through the motion state identification unit. And the gain value is calculated for a period during which the traveling robot estimates the traveling angle of the traveling robot.
Wherein the attenuation gain control unit comprises:
And calculates a gain value for each zone using the following equation: < EMI ID = 1.0 >
[Mathematical Expression]
(only, Is a gain value, Is an identification value, Is the angular velocity value corresponding to the stop, straight and rotation section through the gyro, and 0.7 deg / s is the reference angular velocity threshold value for determining the fine rotation occurring in the straight section.)
The bias calculator
Based on the following HDR-based estimation equation, an estimated bias for each motion state of the traveling robot is calculated.
[Estimation formula]
,
(only, Is a bias drift estimation value, x is a gyro output value, Constant)
An encoder for measuring a pulse according to the rotation of the traveling wheel of the traveling robot;
A bias counting unit for counting pulses measured by the encoder to identify a motion state of the traveling robot and a bias estimation unit for estimating a bias for each motion state by expanding an interval in which the bias of the gyro can be estimated according to a motion state of the traveling robot, government;
A bias correcting unit for removing an estimated bias calculated by the bias estimating unit from an output value measured through the gyro to correct the bias; And
And a switching unit for selectively blocking the execution of the integration operation for the traveling angle estimation according to the motion state of the traveling robot identified through the bias estimating unit,
And estimating the traveling angle of the traveling robot.
The switching unit
Wherein when the motion state of the traveling robot is in a stop section, the integration operation is stopped to prevent integration errors from accumulating, and the bias correction apparatus for estimating the traveling angle of the traveling robot.
Measuring a rotational angular velocity of the gyro of the traveling robot;
Measuring a pulse according to rotation of the traveling wheel of an encoder mounted on a traveling wheel of the traveling robot;
The bias estimating unit of the traveling robot counts the pulses measured through the encoder to identify the motion state of the traveling robot and expands the interval in which the bias of the gyro can be estimated according to the motion state of the traveling robot, Estimating a bias by each bias; And
Wherein the bias correction unit of the traveling robot removes the estimated bias calculated through the bias estimation unit from the output value measured through the gyro and corrects
Lt; / RTI >
The step of estimating the bias for each exercise state comprises:
The bias estimating unit of the traveling robot counts the pulses measured by the encoder and identifies the motion state of the traveling robot according to the counted number;
Adjusting a gain value of a heuristic drift reduction (HDR) -based filter by the bias estimator according to whether the identified motion state is a stop section or a straight section; And
Calculating a bias from an angular velocity value corresponding to the stationary section or the straight section of the angular velocity value measured by the bias estimating section through the gyro;
And estimating the traveling angle of the traveling robot.
Wherein identifying the motion state comprises:
Wherein the bias estimating unit identifies a motion state of stopping, straightening, and turning of the traveling robot according to the counted number of pulses measured through the encoder,
When the number of counts of the pulses output from the two left and right encoders is all 0, the number of counts of the pulses output from the two encoders is not zero, Wherein the step of recognizing the straight line is based on whether or not the absolute value of the difference between the number of counting times exceeds a threshold value.
The step of adjusting the gain value comprises:
The bias estimator determines whether the angular velocity value corresponding to the stop, straight line, and rotation interval of the angular velocity values measured through the gyro is equal to or less than the reference angular velocity threshold value, in addition to the identification value output through the motion state identification unit And calculates a gain value for a period in which all of the conditions are satisfied. 6. A bias correction method for estimating a traveling angle of a traveling robot, comprising:
The step of adjusting the gain value comprises:
And calculating a gain for each zone using the following equation: < EMI ID = 1.0 >
[Mathematical Expression]
(only, Is a gain value, Is an identification value, Is the angular velocity value corresponding to the stop, straight and rotation section through the gyro, and 0.7 deg / s is the reference angular velocity threshold value for determining the fine rotation occurring in the straight section.)
The step of calculating the bias includes:
Wherein the estimated bias is calculated for each motion state of the traveling robot using the following HDR-based estimation formula.
[Estimation formula]
,
(only, Is a bias drift estimation value, x is a gyro output value, Constant)
Measuring a rotational angular velocity of the gyro of the traveling robot;
Measuring a pulse according to rotation of the traveling wheel of an encoder mounted on a traveling wheel of the traveling robot;
Identifying a motion state of the traveling robot by counting pulses measured by the encoder through a bias estimation unit of the traveling robot;
Preventing an integration error from accumulating by blocking execution of an integration operation for estimating a traveling angle when the switching unit of the traveling robot is in a stopping period, the motion state of the traveling robot identified through the bias estimating unit;
Estimating a bias for each motion state by expanding a section where the bias estimating unit can estimate a bias of the gyro according to a motion state of the traveling robot; And
Wherein the bias correction unit of the traveling robot removes the estimated bias calculated through the bias estimation unit from the output value measured through the gyro and corrects
And estimating the traveling angle of the traveling robot.
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KR101115012B1 (en) * | 2009-08-28 | 2012-03-07 | 부산대학교 산학협력단 | Apparatus and Method for Compenating Angular Velocity Error for Robot |
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KR101115012B1 (en) * | 2009-08-28 | 2012-03-07 | 부산대학교 산학협력단 | Apparatus and Method for Compenating Angular Velocity Error for Robot |
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