KR101846383B1 - Two wheel self-balancing robot and its control method by control moment gyroscope - Google Patents

Abstract

The present invention relates to a self-balancing robot which measures the force applied to a self-balancing robot and maintains the balance using a siege wheel when the siege is below a predetermined level, The present invention relates to a control method of a balanced robot and a self balancing robot, and more particularly, to a two-wheel self-balancing robot using a Seamge, comprising: a robot driving unit for driving a two- A CMG configured at one side of the self-balancing robot to balance the self-balancing robot; An observer for measuring the external force from the outside to the self-balancing robot; And an external force input from the observer when the external force is applied or stopped. If the external force is within a predetermined set value, the CMG is driven. If the external force measured by the observer is determined and exceeds a predetermined set value And a controller for driving the CMG and the robot driving unit so as to drive the robot driving unit in a direction opposite to the external force so as to measure a force applied to the robot, If the balance is maintained and the force exceeding the balance force is exceeded, the wheel can be controlled to maintain the balance, so that the balance can be maintained even in the stopped state and the risk of malfunction or external force can be reduced There is an effect.

Description

TECHNICAL FIELD [0001] The present invention relates to a two-wheel self-balancing robot and a self-balancing robot using the same,

The present invention relates to a control method of a two-wheel self-balancing robot and a self-balancing robot using a control moment gyroscope (CMG), and more particularly, to a control method of a self- If the force is below a certain level, the force applied to the self-balancing robot is measured. If the force is below a certain level, the balance is maintained using the Seamgee. If the Seamge exceeds the balance force or moves, And a method of controlling the two-wheel self-balancing robot and the self-balancing robot.

"Segway," a vehicle developed by Dean Kamen in the United States in 2001, is a means of balancing using two-wheel wheels. 'Segway' is free to move and rotate in a narrow space, and has faster speed than humanoid robots. However, because it is a system that balances on the basis of a two wheel wheel, there is a lot of movement in order to balance when an external force occurs. For this reason, if you are forced to work in one position or move in a situation that does not move, you may not be able to work or lose balance.

Two-wheeled self-balancing robots like Segway have the advantages of being free to move and rotate in a narrow space, but they are vulnerable to external forces just like the final product Segway loses balance and collapses. In addition, when an external force acts, it deviates from its position in order to balance the body, and the larger the force, the greater the disadvantage that it deviates more. There is a problem in that it is difficult to adopt a self balancing robot system in a situation where the robot stays in one position and is unable to move or work.

In order to solve such a problem, when an external force is applied to the two-wheel type magnetic balance robot, the wheel is controlled to be driven in a direction against an external force. However, control to drive in the direction opposite to such an external force is causing a larger problem. For example, when an external force is applied in a state where the vehicle is stationary at a crossing, the risk of the accident rapidly increases because the vehicle is advanced forward. There is a problem in that it causes an accident due to driving the two-wheeled type self-driving robot backward with an external force from behind in a state of being stopped at the crossing, and colliding with a person.

Therefore, there is a need to design a robot platform that combines a two-wheel self-balancing robot, a Segway platform, with a CMG to maintain balance in response to an external force without much motion.

Korean Patent Laid-Open No. 10-2010-0028376 (Title of Invention: Underwater Robot Using Gyro Momentum)

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and it is an object of the present invention to provide a two-wheel self-balancing robot which measures a force applied when a two- If the balance is maintained and the force exceeding the balance force is exceeded, the wheel can be controlled to maintain the balance, so that the balance can be maintained even in the stopped state and the risk of malfunction or external force can be reduced And a control method of the two-wheel self balancing robot and the self balancing robot.

To achieve the above object, a two-wheel self-balancing robot using SeMG includes a robot driving unit for driving the self-balancing robot by driving a two-wheel wheel formed on a side surface thereof; A CMG configured at one side of the self-balancing robot to balance the self-balancing robot; An observer for measuring the external force from the outside to the self-balancing robot; And an observer to determine an external force inputted from the observer when an external force is applied or when the external force is applied, and drives the CMG if the external force is within a predetermined set value, and determines the external force measured by the observer And a control unit for driving the CMG and the robot driving unit to drive the robot driving unit in a direction opposite to the external force when the predetermined set value is exceeded.

The predetermined set value may be set as a threshold value of an impact that the CMG can balance.

The robot driving unit includes: a wheel motor connected to and driving a two-wheel wheel configured in the robot; A first encoder for sensing the number of revolutions of the wheel motor; And an inclination gauge that measures an angle at which the self-balancing robot tilts forward and backward and provides information for advancing or retracting in response to the measured inclination.

The two-wheel self-balancing robot using SeMP can further include a gyro sensor that measures the angular velocity of the self-balancing robot and switches the direction to the left or right.

The CMG includes: a spin motor rotating about the center of a rotating plate; A gimbal motor for rotating the gimbal motor in the direction of the gimbal axis perpendicular to the rotation axis of the spin motor; And a second encoder for sensing the number of revolutions of the spin motor.

The CMG may be a biaxial CMG having two bushings.

A method for controlling a two-wheel self-balancing robot using Seam to achieve the above object includes: driving the self-balancing robot; Measuring an external force applied to the self-balancing robot; Driving the surface CMG when the measured external force is within a predetermined set value when an external force applied to the self-balancing robot is measured; And controlling the CMG to drive the robot driving unit in a direction opposite to a direction in which the external force is applied when the measured external force exceeds the predetermined set value measured.

A method of controlling a two-wheel self-balancing robot using SeMP to achieve the above object comprises the steps of: driving a self balancing robot using SeMP; Moving the self-balancing robot to move; Determining whether the self-balancing robot is stopped; Driving the CMG if it is determined that the self-balancing robot is in a stopped state; Measuring an external force applied to the self-balancing robot; And controlling the CMD to drive the robot driving unit in a direction opposite to a direction in which the external force is applied when the external force applied to the self-balancing robot exceeds a predetermined set value measured .

The predetermined set value may be set as a threshold value of an impact that the CMG can balance.

Therefore, the control method of the two-wheel self-balancing robot and the robot of the present invention measures the force applied to the robot, and if the force is below a certain level, the balance is maintained using the Seamgee. If the Seamge exceeds the balance force, It is possible to maintain the balance by controlling the wheels so that the balance can be stably maintained even in the stopped state, and it is possible to reduce the risk of malfunction or external danger.

FIG. 1 is a photograph of a two-wheel self balancing robot using Seam according to an embodiment of the present invention. FIG.
BACKGROUND OF THE INVENTION Field of the Invention [0001] The present invention relates to a two-
3 is a flowchart illustrating a process for controlling a two-wheel self-balancing robot using a seed according to an embodiment of the present invention.
4 is a flowchart illustrating a process for controlling a two-wheel self-balancing robot using a seed according to another embodiment of the present invention.

Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings showing embodiments of the present invention.

2 is a block diagram schematically showing a configuration of a two-wheel self-balancing robot using SeMG according to an embodiment of the present invention. FIG. 1 is a photograph of a two-wheel self- balancing robot using SeMG according to an embodiment of the present invention. to be.

1 and 2, the self balancing robot 100 of the present invention includes a robot driving unit 110, a CMG 120, an observer 130, and a control unit 140.

The robot driving unit 110 drives the wheel 114 by the wheel motor 112 to move the magnetic balancing robot 100 forward or backward.

The robot driving unit 110 includes a wheel motor 112 for driving the two wheels 114 together or a first encoder 113 for sensing the number of rotations of the wheel motor 112, And an inclinometer 115 for detecting the inclination angle. As described above, the robot driving unit 110 uses two wheel motors 112 when the two-wheel wheels 114 are individually driven. Or the robot driving unit 110 may use one wheel motor 112 when driving the two-wheel wheel 114 connected by the rank axis.

The two-wheeled wheel 114 of the robot driving unit 110 is configured on both sides so as to touch the ground and the self-balancing robot 100 moves forward or backward by the rotation of the two- Further, the inclinometer 115 recognizes the inclination angle, and advances, stops or reverses the self-balancing robot 100. For example, the self-balancing robot 100 advances according to an inclined angle detected by the inclinometer 115, and advances at a higher speed as the inclination angle increases. In addition, the self-balancing robot 100 senses an inclined angle after the inclination sensor 115 senses it, and stops or reverses it. For example, when the self-balancing robot 100 senses that the inclinometer 115 tilts backward during its operation, it stops. When it detects that the self-balancing robot 100 tilts backward, the robot 100 moves backward. The left turn and the right turn can be operated by a handle.

The first encoder 113 senses the number of revolutions of the wheel motor 112 and can recognize the distance and speed of the wheel motor 112.

The CMG 120 is configured on one side of the self balancing robot 100 so that the self balancing robot 100 is balanced. In the photograph of FIG. 1, the CMG 120 is placed on the upper side. However, this is a prototype product for testing the self-balancing robot 100, and it is not necessarily arranged on the top, but can be mounted on the inside of the main body. On the other hand, the CMG 120 is a device configured to balance one or more rotary plates 122 having a certain degree of load while being rotated in two axial directions.

Accordingly, the CMG 120 has two motors 124 and 126 on one rotary plate 122. [ A spin motor 124 for rotating the rotary plate 122 about the center of the rotary plate 122 and a gimbal motor 126 for rotating the rotary plate 122 in a direction perpendicular to the spin motor 124. The rotation plate 122 of the CMG 120 rotates in two directions, and the balance is maintained, so that the attitude can be maintained without collapsing like a top. The rotation plate 122 of the CMG 120 is rotated and held by the spin motor 124 and rotated by the gimbal motor 126 to another axis when the condition is satisfied.

The second encoder 128 senses the number of rotations of the spin motor 124. For example, when a large force such as a stop state is not required, the rotation number of the second encoder 128 is maintained at an appropriate level. Or when the impact is applied from the outside, it is rotated by a larger number of revolutions to keep the balance. When the impact is applied to the outside, the wobble motor 126 rotates. Or if a larger impact is applied, the rotation of the second encoder 128 is made larger to maintain the balance.

In the figure, a CMG 120 with two rotating plates 122 is shown. The CMG 120 having two rotary plates 122 is referred to as a biaxial CMG and the CMG 120 having one rotary plate 122 is referred to as a uniaxial CMG. Accordingly, two spin motors 124 and two gimbal motors 126 are used in the case of a two-axis CMG 120, and one spin motor 124 is used in the case of a single- And one gimbal motor 126 are used.

The observer 130 is a sensor for detecting an external force. The observer 130 is composed of a pressure sensor 132 and a gyro sensor 134. The observer 130 senses an external force by using the information of the pressure sensor 132 and the gyro sensor 134 together. For example, when an external impact is applied in a stationary state, the pressure sensor 132 senses a force from the outside, and the self-balancing robot 100 is shaken by an external force. At this time, the gyro sensor 134 grasps the movement of the self-balancing robot 100 and determines the direction in which the force is applied. That is, the pressure sensor senses the amount of force and the gyro sensor 134 senses the direction in which the force is applied and drives the corresponding force in the direction in which the force is applied.

On the other hand, the gyro sensor 134 measures the angular velocity of the self balancing robot 100 and can provide information for switching the direction to the left or right. In the above-described embodiment, the gyro sensor 134 is described as providing the information for changing the direction. However, the gyro sensor 134 may provide information for changing the direction of the left and right according to the angle of turning of the handle.

The control unit 140 senses the operation of the robot driving unit 110 and senses the on / off state of the self balancing robot 100. When the self balancing robot 100 is turned on, the controller 140 divides the robot into a stationary state and an operating state. For example, when the self balancing robot 100 is turned on, it is in a stop state immediately, but does not recognize the stop state. That is, the control unit 140 does not recognize that the state before the self-balancing robot 100 is operating is stopped.

The control unit 140 recognizes the direction and force of the external force inputted from the observer 130 when an external force is applied in a state where the robot driving unit 110 is operating. The controller 140 controls the CMG 120 to drive the external power when the force of the external force is within a predetermined set value. That is, when an external force is applied, the CMG 120 operates. Here, the predetermined set value may be the limit value of the impact that the CMG 120 can balance. Accordingly, the predetermined set value may be a value varying according to the resolution value of the CMG 120. [ For example, if the limit of the impact value of the CMG 120 is 500 N (Newton), 500 N can be set as an experimental value.

The control unit 140 determines the external force measured by the observer 130 and drives the surface CMG 120 and the robot driving unit 110 together when the predetermined value is exceeded. At this time, the controller 140 controls the robot 114 to rotate the robot 114 in the direction opposite to the direction in which the external force acts. That is, when the external force exceeds a predetermined set value, the CMG 120 and the robot driving unit 110 are driven together to prevent the self-balancing robot 100 from being balanced and collapsing due to a large external force.

3 is a flowchart illustrating a process for controlling a two-wheel self-balancing robot using Seam according to an embodiment of the present invention.

3, in step S202, the controller 140 controls the self-balancing robot 100 by the robot driving unit 110 after the self balancing robot 100 is turned on by a command such as a user turning on the power 100 are driven.

In step S204, the controller 140 senses the operation of the robot driving unit 110 and recognizes that the self-balancing robot 100 is moved by the operation of the robot driving unit 110.

In step S206, it is determined whether or not an external force is applied to the self-balancing robot 100 during movement. In one embodiment, the control unit 140 may periodically measure the rate of change with respect to the encoder value of the first encoder 113 to sense an external force, and if the rate of change is increased above a specified reference or decreased below a specified reference, Can be judged to have been added.

If it is determined in step S206 that an external force is applied during the movement, the controller 140 receives the measured external force information from the connected observer 130 (S208).

In step S210, the control unit 140 reads the received external force information and determines whether the measured external force is within a predetermined set value.

In step S210, the controller 140 reads the received external force information, and drives the surface CMG 120 when the measured external force is within a predetermined set value (step S212).

In step S210, the control unit 140 reads the received external force information, and drives the surface CMG 120 and the robot driving unit 110 together when the measured external force exceeds a predetermined set value (step S214). In particular, the control unit 140 recognizes the direction in which the external force is applied by the gyro sensor 134 and controls the robot driving unit 110 to drive the robot driving unit 110 in a direction opposite to the direction in which the external force acts. For example, when an external force is applied from behind, the robot driving unit 110 is driven to move the self balancing robot 100 backward. In one embodiment, the control unit 140 may step-up the counter force through at least one step proportional to the magnitude of the surface external force when the external force exceeds a predetermined set value. Hereinafter, the controller 140 may provide the number of steps and the counter force in each step according to the following equation, and if the external force is within the predetermined set value, the controller 140 drives the CMG 120 excluding the robot driving unit 110 Can be driven.

[Mathematical Expression]

(1) Number of steps (N) = [magnitude of external force (F) / specific force (fm)]

Here, [] is the rounding function, N is the natural number, and the specific counterforce (fm) is a force that can be stably generated in a given motor and is less than the maximum counter force (fmax)

(2) The opposing force fi in step i = (i-1) + f (i-1) / (fmax - fm) ))) / i

Here, i is a natural number, and the opposing force at 0 corresponds to 0

In other words, (2) the function is initially operated with the maximum counter force and gradually decreases the counter force.

FIG. 4 is a flowchart illustrating a process of controlling a self-balancing robot using Seam according to another embodiment of the present invention.

4, in step S302, the controller 140 controls the self-balancing robot 100 (100) by the robot driving unit 110 after the self balancing robot 100 is turned on by an operation command, ) Is driven.

In step S304, the controller 140 senses the operation of the robot driving unit 110 and recognizes that the self-balancing robot 100 moves by the operation of the robot driving unit 110. [

In step S306, the controller 140 detects the operation of the robot driving unit 110 and determines whether the self-balancing robot 100 is stopped. The control unit 140 may read the information of the first encoder 113 that senses the rotation of the wheel motor 112 to determine whether the self balancing robot 100 is stopped.

If it is determined in step S306 that the self balancing robot 100 is stopped, the CMG 120 is driven (step S308).

In step S310, it is determined whether or not an external force is applied in a stopped state.

If it is determined in step S310 that an external force is applied during the movement, the controller 140 receives the measured external force information from the connected observer 130 in step S312.

It is determined whether or not the external information received in step S314 exceeds a predetermined set value (step S314).

If it is determined in step S314 that the external force exceeds a predetermined set value, the CMG 120 and the robot driving unit 110 are driven together (step S316). In particular, the control unit 140 recognizes the direction of the external force applied by the gyro sensor 134 and controls the robot driving unit 110 to drive the magnetic balancing robot 100 in a direction opposite to the direction in which the external force acts. For example, when an external force is applied from behind, the robot-driving unit 110 may be driven to move the self-balancing robot 100 backward.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, 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 appended claims. will be. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

100: Self balance robot 110: Robot driving part
112: Wheel motor 113: 1st circle toe
114: Wheel 115: Inclinometer
117: Gyro sensor 120: CMG
122: spindle 124: spin motor
126: Gimbal motor 128: 2nd encoder
130: Observer 134: Gyro sensor
140:

Claims (9)

In a two-wheel self-balancing robot using a SMP,
A wheel motor connected to the two-wheel wheel provided on the side of the self-balancing robot to drive the wheel, a first encoder for sensing the number of revolutions of the wheel motor, and a controller for measuring the angle of inclination of the self- A robot driving unit which includes an inclinometer for providing information for advancing or reversing, and for driving the self-balancing robot by driving the two-wheel wheel;
A CMG configured at one side of the self-balancing robot to balance the self-balancing robot;
An observer for measuring an external force applied to the self-balancing robot from the outside; And
Determines the external force inputted from the observer when the external force is applied or stops, drives the CMG if the external force is within a predetermined set value, determines the external force measured by the observer, and if the predetermined value is exceeded And a control unit for driving the CMG and the robot driving unit to drive the robot driving unit in a direction opposite to the external force,
Wherein the control unit periodically measures a rate of change with respect to an encoder value of the first encoder to determine an external force input from the observer, and when the external force exceeds the predetermined set value, The robot is provided with a counter force in a stepwise manner and the number of the at least one step is determined through a mathematical formula and a seongge which determines a counter force in each step is used.
[Mathematical Expression]
(1) Number of steps (N) = [magnitude of external force (F) / specific force (fm)]
Here, [] is the rounding function, N is the natural number, and the specific counterforce (fm) is a force that can be stably generated in a given motor and is less than the maximum counter force (fmax)
(2) The opposing force fi in step i = (i-1) + f (i-1) / (fmax - fm) ))) / i
Here, i is a natural number, and the opposing force at 0 corresponds to 0
In other words, (2) the function is initially operated with the maximum counter force and gradually decreases the counter force.
The two-wheel self-balancing robot according to claim 1, wherein the predetermined set value is set as a threshold value of an impact that the CMG can balance.
delete The method according to claim 1,
And a gyro sensor for measuring the angular velocity of the self-balancing robot and switching the direction to the left or right.
The method of claim 1,
A spin motor rotating about the center of the rotating plate;
A gimbal motor for rotating the gimbal motor in the direction of the gimbal axis perpendicular to the rotation axis of the spin motor; And
And a second encoder for sensing the number of revolutions of the spin motor.
6. The method of claim 5,
A two-wheel self-balancing robot using SeMP, wherein the two axes are two-axis CMG.
A method of controlling a two-wheel self-balancing robot using a Sejong,
A wheel motor driven by a wheel motor connected to a two-wheel wheel constituted by the self-balancing robot, detecting the number of revolutions of the wheel motor by a first encoder, measuring an angle of inclination of the self- And driving the self-balancing robot by providing information for advancing or retracting in response to the measured inclination;
Measuring an external force applied to the self-balancing robot;
Driving the surface CMG when the measured external force is within a predetermined set value when an external force applied to the self-balancing robot is measured; And
Driving the CMG and driving the robot driving unit in a direction opposite to a direction in which the external force is applied, when the measured external force exceeds the predetermined set value when the external force is measured,
Wherein the controlling step periodically measures the rate of change with respect to the encoder value of the first encoder to determine an external force inputted from the observer, and when the external force exceeds the predetermined setting value, A method for controlling a two-wheel self-balancing robot using a seed, the step of providing a counter force in one step and determining a number of the at least one step and a counter force in each step through an equation.
[Mathematical Expression]
(1) Number of steps (N) = [magnitude of external force (F) / specific force (fm)]
Here, [] is the rounding function, N is the natural number, and the specific counterforce (fm) is a force that can be stably generated in a given motor and is less than the maximum counter force (fmax)
(2) The opposing force fi in step i = (i-1) + f (i-1) / (fmax - fm) ))) / i
Here, i is a natural number, and the opposing force at 0 corresponds to 0
In other words, (2) the function is initially operated with the maximum counter force and gradually decreases the counter force.
A method of controlling a two-wheel self-balancing robot using a Sejong,
A wheel motor driven by a wheel motor connected to a two-wheel wheel constituted by the self-balancing robot, detecting the number of revolutions of the wheel motor by a first encoder, measuring an angle of inclination of the self- Driving the two-wheel self-balancing robot using the seed to provide information for advancing or retracting in response to the measured inclination;
Moving the self-balancing robot to move;
Determining whether the self-balancing robot is stopped;
Driving the CMG if it is determined that the self-balancing robot is in a stopped state;
Measuring an external force applied to the self-balancing robot; And
When the external force applied to the self-balancing robot is measured, when the measured external force exceeds a predetermined set value, driving the CMG and driving the robot driving unit in a direction opposite to the direction in which the external force is applied and,
Wherein the controlling step periodically measures the rate of change with respect to the encoder value of the first encoder to determine an external force inputted from the observer, and when the external force exceeds the predetermined setting value, A method for controlling a two-wheel self-balancing robot using a seed, the step of providing a counter force in one step and determining a number of the at least one step and a counter force in each step through an equation.
[Mathematical Expression]
(1) Number of steps (N) = [magnitude of external force (F) / specific force (fm)]
Here, [] is the rounding function, N is the natural number, and the specific counterforce (fm) is a force that can be stably generated in a given motor and is less than the maximum counter force (fmax)
(2) The opposing force fi in step i = (i-1) + f (i-1) / (fmax - fm) ))) / i
Here, i is a natural number, and the opposing force at 0 corresponds to 0
In other words, (2) the function is initially operated with the maximum counter force and gradually decreases the counter force.
9. The method according to any one of claims 7 to 8,
Wherein the CMG is set to a limit value of an impact that can be balanced.

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